Laser additive manufacturing control method, device and equipment based on energy feedback

Abstract

The invention provides a laser additive manufacturing control method, device and equipment based on energy feedback. The method provided by the invention comprises the following steps: pre-fitting a first corresponding relation between laser power variation and deposition rate variation, a second corresponding relation between scanning speed variation and deposition rate variation and a third corresponding relation between light spot diameter and deposition rate variation; the current actual deposition rate is determined, and the deposition rate deviation value is determined according to the actual deposition rate and the expected deposition rate; the deposition rate deviation value serves as input of a PID control algorithm, and control output quantity is determined; determining the change direction of the laser power and the change direction of the scanning speed according to the deposition rate deviation value; determining a laser power variation, a scanning speed variation and a light spot diameter variation; and respectively adjusting the laser power, the scanning speed and the light spot diameter. The laser additive manufacturing control method based on energy feedback is used for achieving accurate control and optimization of the micro additive manufacturing process.

Description

Technical Field

[0001] The present application relates to the field of additive manufacturing technology, and in particular to a laser additive manufacturing control method, device and equipment based on energy feedback. Background Art

[0002] With the rapid development of the manufacturing industry, especially in the fields of aerospace, automobile manufacturing, electronic equipment, etc., the demand for high-precision and high-performance micro-components is growing. As an advanced manufacturing method, laser additive manufacturing technology has attracted widespread attention because it can achieve micro-scale processing accuracy and customized manufacturing of complex structures. Laser additive manufacturing technology uses laser beams to precisely control the melting and deposition process of materials, and can directly form complex three-dimensional structures without the use of molds, greatly improving manufacturing efficiency and flexibility.

[0003] Existing laser additive manufacturing technology usually uses preset processing parameters for manufacturing. In order to achieve high-precision manufacturing, engineers will set key parameters such as laser power, scanning speed, and spot diameter before manufacturing based on experience or experimental data. However, since the preset processing parameters cannot adapt to dynamic changes during the processing process, it is difficult to ensure manufacturing accuracy and stability. Secondly, due to the lack of a real-time feedback adjustment mechanism, traditional methods cannot adjust processing parameters in time when faced with changes in material properties or interference from the external environment, thereby affecting the final manufacturing quality. In summary, for the manufacture of micro-components, traditional methods are difficult to guarantee manufacturing accuracy. Summary of the invention

[0004] In view of this, the present application provides a laser additive manufacturing control method, device and equipment based on energy feedback to improve the accuracy of laser additive manufacturing.

[0005] Specifically, the present application is implemented through the following technical solutions:

[0006] The first aspect of the present application provides a laser additive manufacturing control method based on energy feedback, the method comprising:

[0007] Pre-fitting a first corresponding relationship between a laser power variation and a deposition rate variation, a second corresponding relationship between a scanning speed variation and a deposition rate variation, and a third corresponding relationship between a spot diameter and a deposition rate variation;

[0008] Determining a current actual deposition rate, and determining a deposition rate deviation value based on the actual deposition rate and the expected deposition rate;

[0009] Using the deposition rate deviation value as an input of a PID control algorithm to determine a control output;

[0010] Determining a change direction of the laser power and a change direction of the scanning speed according to the deposition rate deviation value;

[0011] According to the control output, the first corresponding relationship, the second corresponding relationship, the third corresponding relationship, and the change direction of the laser power and the change direction of the scanning speed, the laser power change, the scanning speed change and the spot diameter change are determined; wherein the laser power change and the scanning speed change are used to adjust the control output so that the control error is zero; during one printing process, the spot diameter change is zero;

[0012] The laser power, the scanning speed and the spot diameter are adjusted respectively according to the laser power change, the scanning speed change and the spot diameter change.

[0013] In a second aspect, the present application provides a laser additive manufacturing control device based on energy feedback, the device comprising a processing module, a determination module and an adjustment module; wherein the processing module is used to pre-fit a first correspondence between a laser power variation and a deposition rate variation, a second correspondence between a scanning speed variation and a deposition rate variation, and a third correspondence between a spot diameter and a deposition rate variation;

[0014] The determination module is used to determine a current actual deposition rate, and determine a deposition rate deviation value according to the actual deposition rate and the expected deposition rate;

[0015] The determination module is further used to use the deposition rate deviation value as an input of a PID control algorithm to determine a control output;

[0016] The determination module is further used to determine the change direction of the laser power and the change direction of the scanning speed according to the deposition rate deviation value;

[0017] The determination module is further used to determine the laser power variation, the scanning speed variation and the spot diameter variation according to the control output, the first corresponding relationship, the second corresponding relationship, the third corresponding relationship, and the change direction of the laser power and the change direction of the scanning speed; wherein the laser power variation and the scanning speed variation are used to adjust the control output so that the control error is zero; during one printing process, the spot diameter variation is zero;

[0018] The adjustment module is used to adjust the laser power, the scanning speed and the spot diameter respectively according to the laser power change, the scanning speed change and the spot diameter change.

[0019] The third aspect of the present application provides a laser additive manufacturing control device based on energy feedback, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0020] The energy feedback-based laser additive manufacturing control method, device and equipment provided in the present application pre-fits a first correspondence between a laser power variation and a deposition rate variation, a second correspondence between a scanning speed variation and a deposition rate variation, and a third correspondence between a spot diameter and a deposition rate variation. Thus, in the control process of laser additive manufacturing, the current actual deposition rate is determined, and a deposition rate deviation value is determined according to the actual deposition rate and the expected deposition rate. The deposition rate deviation value is then used as an input of a PID control algorithm to determine a control output. Then, according to the deposition rate deviation value, a change direction of the laser power and a change direction of the scanning speed are determined. According to the control output, the first correspondence, the second correspondence, the third correspondence, and the change direction of the laser power and the change direction of the scanning speed, a laser power variation, a scanning speed variation and a spot diameter variation used to adjust the control output so that the control error is zero are determined. Finally, the laser power, the scanning speed and the spot diameter are adjusted respectively according to the laser power variation, the scanning speed variation and the spot diameter variation. In this way, on the one hand, when controlling the change in laser power and scanning speed, the first correspondence, the second correspondence, the third correspondence and the PID control algorithm are combined to coordinate and determine, which can minimize the control error, improve accuracy, and thus improve the precision of manufacturing; on the other hand, by establishing a mathematical model between laser power, scanning speed, spot diameter and deposition rate, each parameter can be accurately adjusted to ensure that the final deposition rate reaches the expected value, reduce processing errors and instability, and improve the surface quality, strength and precision of the product. On the third hand, by combining the control output (such as PID control) with the correspondence between laser power, scanning speed and spot diameter, parameters can be adjusted in a dynamic environment to keep the system stable and efficient under changing conditions, avoiding process instability caused by parameter mismatch. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flowchart of Embodiment 1 of the laser additive manufacturing control method based on energy feedback provided in this application;

[0022] Figure 2 A flowchart of Embodiment 2 of the laser additive manufacturing control method based on energy feedback provided in this application;

[0023] Figure 3A schematic diagram of a stainless steel thin wall shown as an exemplary embodiment of the present application;

[0024] Figure 4 A schematic diagram of a stainless steel thin wall according to another exemplary embodiment of the present application;

[0025] Figure 5 A schematic diagram of a stainless steel thin-wall thickness characterization test according to an exemplary embodiment of the present application;

[0026] Figure 6 A hardware structure diagram of a laser additive manufacturing control device based on energy feedback in which the laser additive manufacturing control device based on energy feedback of the present application is located;

[0027] Figure 7 This is a schematic structural diagram of Example 1 of the laser additive manufacturing control device based on energy feedback provided in this application. DETAILED DESCRIPTION

[0028] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0029] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0031] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0032] Figure 1 This is a flow chart of Embodiment 1 of the laser additive manufacturing control method based on energy feedback provided in this application. Figure 1 , the method provided in this embodiment may include:

[0033] S101 , pre-fitting a first correspondence between a laser power variation and a deposition rate variation, a second correspondence between a scanning speed variation and a deposition rate variation, and a third correspondence between a spot diameter and a deposition rate variation.

[0034] Specifically, the laser power variation refers to the difference between the value after the change and the value before the change of the output power of the laser in the laser additive manufacturing process.

[0035] It should be noted that the laser power directly affects the melting depth and melting rate of the molten pool and is one of the key factors in controlling the deposition rate.

[0036] Furthermore, in the laser additive manufacturing process, when the laser beam irradiates the workpiece surface, the laser energy is absorbed by the material and converted into heat energy, causing the material to melt locally to form a liquid area, which is called a "molten pool". In specific implementation, the laser beam moves rapidly above the molten pool, melting the material layer by layer and depositing it onto the substrate, thereby forming the desired three-dimensional structure.

[0037] Furthermore, the deposition rate is the thickness of material deposited on the workpiece surface per unit time in laser additive manufacturing. It can be understood that the deposition rate change refers to the difference between the deposition rate after the change and the deposition rate before the change in a deposition rate change, reflecting the change in the material deposition speed during the manufacturing process.

[0038] Furthermore, scanning speed refers to the speed at which the laser beam moves on the surface of the workpiece. It can be understood that the scanning speed change is the difference between the changed value and the changed value in one change of the scanning speed. The speed of scanning will affect the cooling rate of the molten pool and the solidification process of the material, thereby affecting the deposition rate and the microstructure of the component.

[0039] Furthermore, the spot diameter is the diameter of the spot formed when the laser beam irradiates the surface of the workpiece. It should be noted that the size of the spot diameter directly affects the distribution of laser energy and the size of the melting area of ​​the molten pool.

[0040] In a specific implementation, data on laser power, scanning speed, spot diameter, and corresponding deposition rate are collected. For example, in one embodiment, data on laser power, scanning speed, spot diameter, and corresponding deposition rate can be obtained based on a sensor on a laser device.

[0041] Furthermore, the collected data are sorted and analyzed, and the correlation between the change in laser power and the change in deposition rate is determined as the first corresponding relationship; the correlation between the change in scanning speed and the change in deposition rate is determined as the second corresponding relationship; and the correlation between the spot diameter and the change in deposition rate is determined as the third corresponding relationship.

[0042] A specific embodiment will be given below to introduce the specific implementation process of this step in detail, which will not be repeated here.

[0043] S102: Determine a current actual deposition rate, and determine a deposition rate deviation value according to the actual deposition rate and the expected deposition rate.

[0044] Specifically, the actual deposition rate is the material thickness actually deposited on the workpiece surface per unit time during the laser additive manufacturing process.

[0045] In a specific implementation, for example, in one possible implementation, the thickness of the material on the surface of the workpiece can be measured by a thickness sensor, and the actual deposition rate can be determined based on this; for example, in another possible implementation, the weight of the workpiece can be measured by a weight sensor, and the actual deposition rate can be determined.

[0046] Further, the expected deposition rate is the deposition rate data set before the start of manufacturing. It can be understood that the expected deposition rate represents the material deposition rate expected to be achieved during the manufacturing process.

[0047] In specific implementation, after obtaining the actual deposition rate, the actual deposition rate is subtracted from the expected deposition rate to obtain a deposition rate deviation value. For example, in one embodiment, the expected deposition rate is X mm / s, the actual deposition rate is Y mm / s, and the deposition rate deviation value is (XY) mm / s.

[0048] S103: Using the deposition rate deviation value as an input of a PID control algorithm to determine a control output.

[0049] Specifically, the PID control algorithm (Proportional-Integral-Derivative Control, PID for short) controls the output of the system by calculating the proportion, integral and differential of the deposition rate deviation value. It should be noted that the deposition rate deviation value can be tracked and adjusted quickly and accurately through the PID control algorithm.

[0050] In specific implementation, the deposition rate deviation value is processed based on the PID control algorithm, and the PID control algorithm collaboratively determines the size and direction of the control output according to the calculation results of the three links of proportion, integration and differentiation.

[0051] In specific implementation, the control output can be calculated according to the following formula:

[0052] u(t)=K p e(t)+K i ∫e(t)dt+K d (de(t)) / dt;

[0053] Where u(t) is the control output, e(t) is the deposition rate deviation, Kp is the proportional gain of the PID control algorithm, K i is the integral gain of the control algorithm, K d is the differential gain of the control algorithm, ∫e(t)dt represents the integral term of the deposition rate deviation, and (de(t)) / dt represents the differential term of the deposition rate deviation.

[0054] It should be noted that, in a possible implementation, K p , K i , K d It is predetermined and will not change during the control process.

[0055] Furthermore, in another possible implementation, during the control process, the proportional gain, the integral gain and the differential gain are dynamically changed, and the dynamic change process is shown in the following formula:

[0056] Knew=kold+ae(t);

[0057] Among them, Knew is the new gain after the change (the gain can be proportional gain, integral gain and differential gain); Kold is the old proportional gain before the change; a is the learning rate (adjustment step size); e(t) is the current deposition rate deviation value.

[0058] It should be noted that the control quantity output is used as a control signal to adjust the laser power, scanning speed and spot diameter so that the actual deposition rate approaches the expected deposition rate.

[0059] Specifically, during the deposition process, the laser power determines the intensity of the energy input, and the scanning speed affects the movement or deposition speed of the deposited material. The deposition rate can be changed by adjusting the laser power and the scanning speed.

[0060] S104, determining a change direction of the laser power and a change direction of the scanning speed according to the deposition rate deviation value.

[0061] As mentioned above, laser power is a measure of the laser output energy, and scanning speed refers to the speed at which the laser beam moves across the workpiece surface.

[0062] In specific implementation, the direction of change of the laser power can be determined according to the deposition rate deviation value and the correspondence between the preset laser power change direction and the deposition rate deviation value, and the direction of change of the scanning speed can be determined according to the deposition rate deviation value and the correspondence between the preset scanning speed change direction and the deposition rate deviation value. For example, in one embodiment, when the deposition rate deviation value is positive, it means that the actual deposition rate is higher than the expected deposition rate. At this time, the actual deposition rate needs to be reduced to approach the expected value. At this time, the laser power can be reduced and the scanning speed can be increased. For another example, in another embodiment, when the deposition rate deviation value is negative, it means that the actual deposition rate is lower than the expected deposition rate. At this time, the actual deposition rate needs to be increased to approach the expected value. At this time, the laser power can be increased and the scanning speed can be reduced.

[0063] S105. Determine the laser power change, the scanning speed change and the spot diameter change according to the control output, the first correspondence, the second correspondence, the third correspondence, and the change direction of the laser power and the change direction of the scanning speed; wherein the laser power change and the scanning speed change are used to adjust the control output so that the control error is zero; during one printing process, the spot diameter change is zero.

[0064] In the specific implementation, in the specific adjustment process, it is expected to change the dynamic behavior of the deposition process by adjusting the laser power and scanning speed, thereby affecting the deposition rate. Ultimately, when the sum of the control output and the deposition rate change caused by the adjustment reaches zero, the system reaches a steady state or equilibrium state, which means that the deposition rate no longer changes and the system reaches the expected target state.

[0065] In specific implementation, the spot diameter is controlled to remain unchanged during the laser printing process so that the change in the spot diameter is 0. At this time, the output of the system is changed by adjusting the laser power and scanning speed so that the deposition rate reaches the desired value.

[0066] A specific embodiment will be given below to introduce the specific implementation process of this step in detail, which will not be repeated here.

[0067] S106, adjusting the laser power, scanning speed and spot diameter respectively according to the laser power change, scanning speed change and spot diameter change.

[0068] In specific implementation, the laser power, scanning speed and spot diameter are adjusted according to the changes in laser power, scanning speed and spot diameter to ensure the stability and accuracy of the additive manufacturing process.

[0069] For example, in one embodiment, the laser parameters set at the beginning of laser additive manufacturing are: laser power: 200 W; scanning speed: 100 mm / s; spot diameter: 0.05 mm. The laser power change is calculated to be 10 W, and the laser power is adjusted to 210 W; the scanning speed change is calculated to be -5 mm / s, and the scanning speed is adjusted to 95 mm / s; the spot diameter change is calculated to be 0 or 0.01 mm, and the spot diameter is kept unchanged or adjusted to 0.06 mm as needed.

[0070] It should be noted that, in a printing process, the change in the diameter of the light spot is 0, and further, in two adjacent printing processes, the change in the diameter of the light spot may be a preset value, for example, 0.01 mm.

[0071] It can be understood that the method provided in this embodiment uses energy feedback to accurately control the deposition rate in the laser additive manufacturing process, and adjusts the laser power, scanning speed and spot diameter by pre-fitting multiple variable relationships and combining the PID control algorithm. These parameters can be dynamically adjusted according to the deviation between the actual deposition rate and the expected value, thereby reducing control errors and achieving precise control, which can improve manufacturing accuracy, improve the quality and efficiency of laser additive manufacturing, and ensure the accuracy and consistency of the final product.

[0072] The laser additive manufacturing control method based on energy feedback provided in this embodiment pre-fits a first corresponding relationship between a laser power variation and a deposition rate variation, a second corresponding relationship between a scanning speed variation and a deposition rate variation, and a third corresponding relationship between a spot diameter and a deposition rate variation. Thus, in the control process of laser additive manufacturing, the current actual deposition rate is determined, and a deposition rate deviation value is determined according to the actual deposition rate and the expected deposition rate. Then, the deposition rate deviation value is used as an input of a PID control algorithm to determine a control output. Then, according to the deposition rate deviation value, a change direction of the laser power and a change direction of the scanning speed are determined. According to the control output, the first corresponding relationship, the second corresponding relationship, the third corresponding relationship, and the change direction of the laser power and the change direction of the scanning speed, a laser power variation, a scanning speed variation, and a spot diameter variation used to adjust the control output so that the control error is zero are determined. Finally, the laser power, the scanning speed, and the spot diameter are adjusted respectively according to the laser power variation, the scanning speed variation, and the spot diameter variation. In this way, on the one hand, when controlling the change in laser power and scanning speed, the first correspondence, the second correspondence, the third correspondence and the PID control algorithm are combined to coordinate and determine, which can minimize the control error, improve accuracy, and thus improve the precision of manufacturing; on the other hand, by establishing a mathematical model between laser power, scanning speed, spot diameter and deposition rate, each parameter can be accurately adjusted to ensure that the final deposition rate reaches the expected value, reduce processing errors and instability, and improve the surface quality, strength and precision of the product. On the third hand, by combining the control output (such as PID control) with the correspondence between laser power, scanning speed and spot diameter, parameters can be adjusted in a dynamic environment to keep the system stable and efficient under changing conditions, avoiding process instability caused by parameter mismatch.

[0073] A more specific embodiment is given below to illustrate the technical solution of the present application in detail:

[0074] Figure 2 This is a flow chart of Embodiment 2 of the laser additive manufacturing control method based on energy feedback provided in this application. Figure 2 , the method provided in this embodiment may include:

[0075] S201, pre-fitting a first correspondence between a laser power variation and a deposition rate variation, a second correspondence between a scanning speed variation and a deposition rate variation, and a third correspondence between a spot diameter and a deposition rate variation.

[0076] In specific implementation, the correspondence between various change quantities can be obtained from historical experimental data in the laser additive manufacturing process to obtain the first correspondence, the second correspondence and the third correspondence.

[0077] Optionally, in a possible implementation manner, the specific implementation process of this step may include:

[0078] (1) While keeping any two of the laser power, scanning speed and spot diameter unchanged, gradually adjust another target quantity other than the laser power, scanning speed and spot diameter according to a preset adjustment strategy, and determine the change in deposition rate after each adjustment.

[0079] Specifically, the target quantity is the quantity adjusted among the laser power, scanning speed and spot diameter. In specific implementation, any two of the laser power, scanning speed and spot diameter can be kept constant, and the last quantity is the target quantity. For example, in one embodiment, the scanning speed and the spot diameter are kept constant, and the target quantity is the laser power, that is, the target quantity is adjusted according to the preset adjustment strategy. For another example, in another embodiment, the laser power and scanning speed are kept constant, and the target quantity is the spot diameter. For another example, in yet another embodiment, the laser power and the spot diameter are kept constant, and the target quantity is the scanning speed.

[0080] Furthermore, the preset adjustment strategy is used to adjust the target amount. In specific implementation, the preset adjustment strategy may be to gradually increase the target amount in the same step size; the preset adjustment measurement may be to gradually decrease the target amount in the same step size; the preset adjustment measurement may also be to gradually increase or decrease the target amount in different step sizes.

[0081] It should be noted that when the target quantities are different, the preset adjustment strategies may be the same or different, and this embodiment does not limit them. For example, when the target quantities are laser power and scanning speed, the corresponding preset adjustment strategies are different.

[0082] In specific implementation, after each adjustment of the target amount, the change in the deposition rate is determined by measurement or calculation. That is, after the target amount changes, the deposition rate will change, and after each change of the target amount, the change in the deposition rate is determined.

[0083] (2) The change in the target amount at each adjustment and the change in the deposition rate after the adjustment are combined into a set of data points.

[0084] Specifically, each set of data points includes the change in the target amount and the change in the deposition rate.

[0085] In specific implementation, the change of the target amount causes the change of the deposition rate, and the change of the target amount and the change of the deposition rate are recorded and determined as a group of data points.

[0086] (3) Based on multiple groups of data points, fit the corresponding relationship between the change in the target quantity and the change in the deposition rate.

[0087] In specific implementation, all data points of the entire process of target quantity change are recorded, and the corresponding relationship between the target quantity change and the deposition rate change is fitted using a data statistical method. For example, when the target quantity is laser power, the first corresponding relationship between the laser power change and the deposition rate change can be determined. Similarly, when the target quantity is scanning speed, the second corresponding relationship between the scanning speed change and the deposition rate change can be determined. When the target quantity is spot diameter, the third corresponding relationship between the spot diameter and the deposition rate change can be determined.

[0088] It should be noted that by determining any one of the laser power, scanning speed and spot diameter as the target quantity and only controlling the target quantity to change, the first correspondence, the second correspondence and the third correspondence can be obtained respectively. In this way, the correspondence can be accurately obtained, and subsequently, the parameters can be controlled based on the correspondence to improve the accuracy of laser additive manufacturing.

[0089] S202: Determine a current actual deposition rate, and determine a deposition rate deviation value according to the actual deposition rate and the expected deposition rate.

[0090] In specific implementation, the difference between the actual deposition rate and the expected deposition rate can be directly determined as the deposition rate deviation.

[0091] Optionally, in a possible implementation, the current actual deposition rate may be determined by the following method:

[0092] (1) Obtaining parameters of a current molten pool, and determining a size of the molten pool according to the parameters of the current molten pool.

[0093] Specifically, the specific data types included in the parameters of the molten pool are set according to actual needs, and are not limited in this embodiment. Optionally, in a possible implementation, the parameter is any of the following parameters: image, temperature distribution data, and energy distribution data. That is, an image of the molten pool, temperature distribution data, or energy distribution data of the molten pool can be obtained.

[0094] In a specific implementation, the parameters of the molten pool can be monitored in real time by sensors. For example, in one embodiment, the temperature distribution data of the molten pool is collected by an infrared sensor, the energy distribution data is collected by an energy sensor, and the image of the molten pool is collected by a thermal imager, and then the size of the molten pool is determined based on the parameters of the molten pool.

[0095] It should be noted that the molten pool can be approximately regarded as an inward-recessed cuboid. Therefore, after obtaining the parameters of the molten pool, the volume data obtained by the length×width×height of the molten pool is determined as the size of the molten pool.

[0096] (2) Determining the current actual deposition rate according to the size of the molten pool.

[0097] Specifically, the actual deposition rate refers to the amount of material actually deposited on the workpiece per unit time during the laser additive manufacturing process.

[0098] It should be noted that the actual deposition rate is closely related to the size of the molten pool. In specific implementation, the larger the size of the molten pool, the more material is deposited on the workpiece per unit time, that is, the higher the actual deposition rate.

[0099] In specific implementation, when calculating the actual deposition rate, the ratio of the thickness of the deposited material to the time taken for deposition can be directly determined as the actual deposition rate.

[0100] It should be noted that the volume of each layer of the additive material produced by the laser can be determined as the product of the area of ​​the molten pool and the thickness of each layer of the additive material produced by the laser (the thickness is equal to the spot diameter).

[0101] It should be noted that by real-time monitoring of the size of the molten pool, the actual deposition rate can be calculated based on this. In this way, the actual deposition rate can be accurately calculated, and the deposition process can be more accurately controlled based on the actual deposition rate to ensure the thickness and uniformity of each layer of deposition, thereby improving manufacturing accuracy. In addition, by real-time monitoring of the size of the molten pool, abnormal conditions in the manufacturing process can be discovered in a timely manner, thereby enhancing the reliability and stability of the manufacturing process.

[0102] S203: Using the deposition rate deviation value as an input of a PID control algorithm to determine a control output.

[0103] The specific implementation process of this step can refer to the introduction in the above embodiment, which will not be repeated here.

[0104] S204, when the deposition rate deviation value is a positive value, determining the change direction of the laser power to be an increasing direction, and determining the change direction of the scanning speed to be a decreasing direction.

[0105] In specific implementation, when the deposition rate is positive, the actual deposition rate needs to be reduced to approach the expected deposition rate. At this time, the change direction of the laser power is determined to be an increasing direction to increase the laser power; and the change direction of the scanning speed is determined to be a decreasing direction to reduce the scanning speed, so that the deposition rate decreases.

[0106] S205. When the deposition rate deviation value is a negative value, determine that the change direction of the laser power is a decreasing direction, and determine that the change direction of the scanning speed is an increasing direction.

[0107] In specific implementation, when the deposition rate is a negative value, the actual deposition rate needs to be increased to be close to the expected deposition rate. At this time, the change direction of the laser power is determined to be a decreasing direction to reduce the laser power; and the change direction of the scanning speed is determined to be an increasing direction to increase the scanning speed, so that the deposition rate increases.

[0108] S206, determining the change in the light spot diameter to be zero.

[0109] In a specific implementation, the change in the spot diameter is set to 0. In other words, during a printing process, it is ensured that the spot diameter does not change during the laser additive manufacturing process.

[0110] S207 . Determine the laser power change amount and the scanning speed change amount according to the first formula according to the change direction of the laser power and the change direction of the scanning speed.

[0111] Among them, the first formula is:

[0112] u(t) + K'p P + k'v v + k'd d=0;

[0113] Wherein, u(t) is the control output;

[0114] K'p P is the first corresponding relationship; K'p is the proportional gain in the first corresponding relationship; P is the laser power variation;

[0115] The k'v v is the second corresponding relationship; k'v is the proportional gain in the second corresponding relationship; v is the scan variation;

[0116] The k'd d is the third corresponding relationship; k'd is the proportional gain in the third corresponding relationship; d is the scan change.

[0117] In specific implementation, the laser power and the scanning speed are adjusted by combining the first corresponding relationship, the second corresponding relationship, the third corresponding relationship and the control output amount.

[0118] Referring to the first formula, we can see that in the first formula, u(t), K'p, k'v, and k'd are known quantities. P. v. d is the quantity to be solved, and d has been set to 0. At this point, the only quantity left to be solved is P and v.

[0119] In a specific implementation, for example, in one embodiment, a group of data can be selected from multiple groups of data that satisfy the first formula according to the direction of change of the laser power and the direction of change of the scanning speed; wherein each group of data consists of a laser power change and a scanning speed change.

[0120] Specifically, by adjusting the laser power according to the direction of change of the laser power and adjusting the scanning speed according to the direction of change of the scanning speed, multiple sets of data that meet the control output requirements can be obtained. Further, one set of data can be selected from the multiple sets of data.

[0121] In specific implementation, for example, in one embodiment, the control output is determined to be 0.01. At this time, 0.01 + K'p P + k'v v=0, the three groups of data that satisfy the equation are: the first group of data: the laser power change is +5W, the scanning speed change is -200mm / s; the second group of data: the laser power change is +10W, the scanning speed is -100mm / s; group c data is: the laser power change is +15W, the scanning speed is -80mm / s, and group a data is selected as the amount that needs to be adjusted.

[0122] It should be noted that in the process of laser additive manufacturing adjustment, multiple groups of data combinations that meet the requirements are determined according to the control output quantity, and the data combination with the lowest cost or the easiest to operate is selected as the quantity to be adjusted according to actual requirements. In this way, the operability and scientificity of laser additive manufacturing can be improved.

[0123] In addition, in another possible implementation, the laser power variation and the scanning speed variation may be determined according to the following method:

[0124] (1) Determining the amount of change of any one of the laser power and the scanning speed based on a change rule set in advance for the amount and the direction of change of the amount.

[0125] It should be noted that the specific content of the change rule of any quantity is set according to actual needs, and is not limited in this embodiment. In specific implementation, for example, in one embodiment, the change rule can be set to increase a fixed value. For example, in another embodiment, the change rule can be to prioritize adjusting the laser power when the control output is less than a preset value, and prioritize adjusting the scanning speed when the control output is greater than a preset value.

[0126] Furthermore, the variation of the laser power and the variation direction of the scanning speed are determined according to the control output, and then the variation that needs to be adjusted is calculated under the constraint of the set variation rule according to the control output.

[0127] For example, in one embodiment, according to the variation rule set for the laser power, when it is determined that the laser power is increased by 10 W, the laser power variation amount can be +10 W.

[0128] (2) Determine the amount of change of the other of the laser power and the scanning speed based on the amount of change of the quantity and the first formula.

[0129] In a specific implementation, the change determined in step (1) is substituted into the first formula to obtain the change of another quantity. For example, in step 1, the change of the laser power is determined to be P, in this step, the change in laser power is substituted into the first formula to obtain the change in scanning speed.

[0130] It should be noted that the change in one of the laser power or the scanning speed is first determined, and then the change in the other is calculated. In this way, the calculation of the change in the laser power and the scanning speed can be completed reliably and efficiently.

[0131] In addition, in a possible implementation, for any one of the laser power and the scanning speed, the change of the quantity is determined based on the corresponding relationship corresponding to the quantity and the deposition rate deviation value; further, based on the change of the quantity and the first formula, the change of the other quantity of the laser power and the scanning speed is determined.

[0132] For example, the change in laser power can be calculated based on the first corresponding relationship and the deposition rate deviation value, and further, the change in scanning speed can be determined based on the change in laser power and the first formula. For another example, the change in scanning speed can be calculated based on the second corresponding relationship and the deposition rate deviation value, and further, the change in laser function can be determined based on the change in scanning speed and the first formula.

[0133] In this way, since there are multiple variables that need to be determined in the first formula, the change of one quantity is first determined by combining the corresponding relationship and the deposition rate deviation value, and then the remaining changes that need to be determined are determined by the first formula. In this way, the values ​​of multiple parameters are determined in turn, the adjustment of laser parameters can be accurately completed, and scientific adjustment can be achieved.

[0134] S208, adjusting the laser power, scanning speed and spot diameter respectively according to the laser power change, scanning speed change and spot diameter change.

[0135] The specific implementation process of this step can refer to the introduction in the above embodiment, which will not be repeated here.

[0136] The energy feedback-based laser additive manufacturing control method provided in this embodiment has the following advantages: first, by real-time monitoring of the size of the molten pool and calculating the actual deposition rate, the deposition process can be controlled more accurately, significantly improving the accuracy of laser additive manufacturing. Second, by pre-fitting the correspondence between the laser power, scanning speed, and spot diameter and the deposition rate, and according to the deviation between the actual deposition rate and the expected deposition rate, the laser power and scanning speed can be adjusted more accurately, thereby optimizing the manufacturing process. Third, by real-time monitoring of the size of the molten pool, abnormal conditions in the manufacturing process can be discovered in a timely manner, improving the reliability and stability of the manufacturing process.

[0137] A specific example is given below to illustrate the adjustment effect of laser additive manufacturing in detail:

[0138] Figure 3 This is a schematic diagram of a stainless steel thin wall shown in an exemplary embodiment of the present application. Figure 3 , control the laser additive manufacturing process, according to Figure 3 The hexagonal honeycomb thin-walled structure in the experiment was manufactured, and the initial parameters were: expected deposition rate: X mm / s; actual deposition rate: Y mm / s; laser power: 100 W; scanning speed: 1000 mm / s; spot diameter: 0.06 mm.

[0139] Furthermore, the actual deposition rate is monitored in real time and the laser power variation is calculated. P=10 W, scanning speed change v = 100 mm / s, the spot diameter remains unchanged (0.06 mm). At this time, after adjustment, the expected deposition rate and the actual deposition rate are equal, that is, X mm / s = Y mm / s.

[0140] Figure 4 This is a schematic diagram of a stainless steel thin wall according to another exemplary embodiment of the present application. Figure 4 In the specific implementation, the stainless steel thin wall manufactured based on the adjusted laser parameters is as follows Figure 4 As shown. Figure 4 It can be seen that the stainless steel thin wall manufactured by the adjusted laser parameters has excellent performance and can meet the requirements.

[0141] Furthermore, Figure 5 This is a schematic diagram of a stainless steel thin wall thickness characterization test according to an exemplary embodiment of the present application. Figure 5 ,After testing, the adjusted stainless steel thin wall meets the expected ,requirements, that the expected deposition rate and the actual deposition rate are equal.

[0142] A specific example is given below to verify the method provided by this application through experiments:

[0143] According to the calculation, the laser power was increased by 20 W, the scanning speed was increased by 500 mm / s, and the preset spot diameter remained unchanged (0.06 mm), or adjusted to 0.05 mm as needed.

[0144] Furthermore, the adjusted parameters are: laser power: 100 W, 110 W, 130 W; scanning speed: 1000 mm / s~7000 mm / s; spot diameter: 0.06 mm, 0.05 mm.

[0145] Furthermore, after adjustment, the new laser power, scanning speed and spot diameter will increase the melting depth and material deposition rate. After adjustment, the gap between the preset deposition rate X and the actual deposition rate Y is eliminated, achieving the expected goal.

[0146] In the specific implementation, by introducing the adjustment of specific laser power (100 W, 110 W, 130 W), scanning speed (1000~7000 mm / s) and spot diameter (0.06 mm~0.05 mm), the laser additive manufacturing process can be effectively optimized, the manufacturing quality and efficiency can be ensured, and micro laser additive manufacturing can be realized.

[0147] For further information, please refer to Figure 3 and Figure 4 , laser additive manufacturing can be performed according to the parameters shown in Table 1. It can also be performed according to the laser power of 100 W, the scanning speed of 1000 mm / s~3500 mm / s, the laser spot diameter of 60μm, the scanning spacing of 40μm; the powder layer thickness is 50μm, and the strip scanning strategy is adopted and the interlayer rotation is 67° to avoid thermal stress concentration. The substrate is a 316 stainless steel substrate, and the laser air scanning is performed three times before forming to preheat the substrate. The forming substrate is a 316 stainless steel substrate, and the laser air scanning is performed three times before forming to preheat the forming substrate. Based on the above forming process, six stainless steel thin-walled components are formed.

[0148] Table 1

[0149] Molding process Laser power / P (w) Scanning speed / V(mm / s) Spot diameter / D(μm) Layer thickness / d (μm) Thin-walled 100 1000 60 50 Thin wall two 100 1500 60 50 Thin wall three 100 2000 60 50 Thin wall four 100 2500 60 50 Thin wall five 100 3000 60 50 Thin wall six 100 3500 60 50

[0150] Further, for example, in another embodiment, laser additive manufacturing can be performed according to the parameters shown in Table 2, and the laser power can be 110 W, the scanning speed is 1000 mm / s~3500 mm / s, the laser spot diameter is 60 μm, and the scanning spacing is 40 μm; the powder layer thickness is 50 μm, a strip scanning strategy is adopted and the interlayer rotation is 67° to avoid thermal stress concentration, the substrate is a 316 stainless steel substrate, and the laser air scanning is performed three times before forming to preheat the substrate. The forming substrate is a 316 stainless steel substrate, and the laser air scanning is performed three times before forming to preheat the forming substrate. Based on the above forming process, six stainless steel thin-walled components are formed.

[0151] Table 2

[0152] Molding process Laser power / P (w) Scanning speed / V(mm / s) Spot diameter / D(μm) Layer thickness / d (μm) Thin-walled 110 2000 60 50 Thin wall two 110 3000 60 50 Thin wall three 110 4000 60 50 Thin wall four 110 5000 60 50 Thin wall five 110 6000 60 50 Thin wall six 110 7000 60 50

[0153] Furthermore, the laser spot diameter has an important influence on the molding quality and precision in the laser additive manufacturing process. The optimal laser spot diameter is determined according to the melting characteristics of the material, the size and shape of the component, and the reasonable selection and control of the laser spot diameter is the key to achieving high-quality and high-efficiency molding. For example, in another embodiment, laser additive manufacturing can be performed according to the parameters shown in Table 3, and the spot diameter can be optimized and adjusted from 60um to 50um, and the powder layer thickness can be optimized and adjusted from 50um to 30um. The laser power is 130 W, the scanning speed is 3500 mm / s~5000mm / s, the laser spot diameter is 50μm, and the scanning spacing is 40μm; the powder layer thickness is 30μm, and a strip scanning strategy is adopted and the interlayer rotation is 67° to avoid thermal stress concentration. The substrate is a 316 stainless steel substrate, and the laser air scanning is performed three times before forming to preheat the substrate. The forming substrate is a 316 stainless steel substrate, and the laser air scanning is performed three times before forming to preheat the forming substrate. Based on the above forming process, six stainless steel thin-walled components are formed.

[0154] Table 3

[0155] Molding process Laser power / P (w) Scanning speed / V(mm / s) Spot diameter / D(μm) Layer thickness / d (μm) Thin-walled 130 3500 50 30 Thin Wall II 130 4000 50 30 Thin wall three 130 4500 50 30 Thin wall four 130 5000 50 30 Thin wall five 130 5500 50 30 Thin wall six 130 6000 50 30

[0156] The laser additive manufacturing control method provided in this embodiment optimizes process parameters through parametric control, thereby improving the forming effect of stainless steel thin-walled structures. The stainless steel thin-wall is formed by laser additive manufacturing under multi-dimensional parameter control, with high forming accuracy and excellent surface quality, and the fine forming of the thin-walled structure is achieved, so that various small features and contours of the stainless steel thin-walled structure can be accurately reproduced, thereby meeting the needs of precision parts and complex structures. The thickness was tested to be approximately 0.1mm. The one-time forming of the stainless steel thin-walled structure is achieved without the need for additional cutting or processing steps, saving time and cost, and maintaining the strength and durability of the structure, meeting the needs for lightweight and high performance.

[0157] Corresponding to the aforementioned embodiment of a laser additive manufacturing control method based on energy feedback, the present application also provides an embodiment of a laser additive manufacturing control device based on energy feedback.

[0158] The embodiment of the laser additive manufacturing control device based on energy feedback in the present application can be applied to the laser additive manufacturing control equipment based on energy feedback. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, it is formed by the processor of the laser additive manufacturing control device based on energy feedback in which it is located reading the corresponding computer program instructions in the non-volatile memory into the memory and running them. From the hardware level, if Figure 6 As shown, it is a hardware structure diagram of the laser additive manufacturing control device based on energy feedback in the present application, except Figure 6 In addition to the processor, memory, network interface, and non-volatile memory shown, the energy feedback-based laser additive manufacturing control device in which the device in the embodiment is located may also include other hardware according to the actual function of the energy feedback-based laser additive manufacturing control device, which will not be described in detail.

[0159] Figure 7 This is a schematic diagram of the structure of the first embodiment of the laser additive manufacturing control device based on energy feedback provided by this application. Figure 7 The device provided in this embodiment includes a processing module 610, a determination module 620 and an adjustment module 630; wherein:

[0160] The processing module 610 is used to pre-fit a first correspondence between a laser power variation and a deposition rate variation, a second correspondence between a scanning speed variation and a deposition rate variation, and a third correspondence between a spot diameter and a deposition rate variation;

[0161] The determination module 620 is used to determine the current actual deposition rate, and determine the deposition rate deviation value according to the actual deposition rate and the expected deposition rate;

[0162] The determination module 620 is further configured to use the deposition rate deviation value as an input of a PID control algorithm to determine a control output;

[0163] The determination module 620 is further used to determine the change direction of the laser power and the change direction of the scanning speed according to the deposition rate deviation value;

[0164] The determination module 620 is further used to determine the laser power variation, the scanning speed variation and the spot diameter variation according to the control output, the first corresponding relationship, the second corresponding relationship, the third corresponding relationship, and the change direction of the laser power and the change direction of the scanning speed; wherein the laser power variation and the scanning speed variation are used to adjust the control output so that the control error is zero; during one printing process, the spot diameter variation is zero;

[0165] The adjustment module 630 is used to adjust the laser power, the scanning speed and the spot diameter respectively according to the laser power change, the scanning speed change and the spot diameter change.

[0166] The device of this embodiment can be used to perform Figure 1 The steps, specific implementation principles and implementation processes of the method embodiment shown are similar and will not be repeated here.

[0167] Optionally, the determination module 620 is specifically configured to determine the change in the light spot diameter to be zero;

[0168] The determination module 620 is further specifically used to determine the laser power change amount and the scanning speed change amount according to the change direction of the laser power and the change direction of the scanning speed according to the first formula; wherein the first formula is:

[0169] u(t) + K'p P + k'v v + k'd d=0;

[0170] Wherein, u(t) is the control output;

[0171] K'p P is the first corresponding relationship; K'p is the proportional gain in the first corresponding relationship; P is the laser power variation;

[0172] The k'v v is the second corresponding relationship; k'v is the proportional gain in the second corresponding relationship; v is the scan variation;

[0173] The k'd d is the third corresponding relationship; k'd is the proportional gain in the third corresponding relationship; d is the scan change.

[0174] Optionally, the processing module 610 is specifically used to gradually adjust another target quantity among the laser power, the scanning speed and the spot diameter except for any two quantities among the laser power, the scanning speed and the spot diameter according to a preset adjustment strategy while keeping any two quantities among the laser power, the scanning speed and the spot diameter unchanged, and determine the change amount of the deposition rate after each adjustment;

[0175] The processing module 610 is further specifically used to combine the change amount of the target amount during each adjustment and the change amount of the deposition rate after the adjustment into a set of data points;

[0176] Optionally, the determination module 620 is further specifically configured to determine that the change direction of the laser power is an increasing direction, and determine that the change direction of the scanning speed is a decreasing direction when the deposition rate deviation value is a positive value;

[0177] The determination module 620 is further specifically configured to determine, when the deposition rate deviation value is a negative value, that the change direction of the laser power is a decreasing direction, and that the change direction of the scanning speed is an increasing direction.

[0178] Optionally, the determination module 620 is further specifically used to select a group of data from multiple groups of data that satisfy the first formula according to the change direction of the laser power and the change direction of the scanning speed; wherein each group of data consists of a laser power change and a scanning speed change.

[0179] Optionally, the determination module 620 is further specifically configured to determine the change amount of the quantity according to a change rule pre-set for any one of the laser power and the scanning speed, and a change direction of the quantity;

[0180] The determination module 620 is further specifically configured to determine a change in another quantity of the laser power and the scanning speed according to the change in the quantity and the first formula.

[0181] Optionally, the determination module 620 is further specifically configured to obtain parameters of a current molten pool, and determine a size of the molten pool according to the parameters of the current molten pool;

[0182] The determination module 620 is further specifically configured to determine the current actual deposition rate according to the size of the molten pool.

[0183] Optionally, the parameter is any one of the following parameters: image, temperature distribution data and energy distribution data.

[0184] Please continue to refer to Figure 6The present application also provides a laser additive manufacturing control device based on energy feedback, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0185] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of any one of the methods provided in the present application are implemented.

[0186] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0187] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0188] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A laser additive manufacturing control method based on energy feedback, characterized in that: The method comprises: Pre-fitting a first corresponding relationship between a laser power variation and a deposition rate variation, a second corresponding relationship between a scanning speed variation and a deposition rate variation, and a third corresponding relationship between a spot diameter and a deposition rate variation; Determining a current actual deposition rate, and determining a deposition rate deviation value based on the actual deposition rate and the expected deposition rate; Using the deposition rate deviation value as an input of a PID control algorithm to determine a control output; Determining a change direction of the laser power and a change direction of the scanning speed according to the deposition rate deviation value; According to the control output, the first corresponding relationship, the second corresponding relationship, the third corresponding relationship, and the change direction of the laser power and the change direction of the scanning speed, the laser power change, the scanning speed change and the spot diameter change are determined; wherein the laser power change and the scanning speed change are used to adjust the control output so that the control error is zero; during one printing process, the spot diameter change is zero; The laser power, the scanning speed and the spot diameter are adjusted respectively according to the laser power change, the scanning speed change and the spot diameter change.

2. The method according to claim 1, determining the laser power change, the scanning speed change and the spot diameter change according to the control output, the first corresponding relationship, the second corresponding relationship, the third corresponding relationship and the change direction of the laser power and the change direction of the scanning speed, comprising: The change in the spot diameter is determined to be zero; According to the change direction of the laser power and the change direction of the scanning speed, the laser power change amount and the scanning speed change amount are determined according to the first formula; wherein the first formula is: u(t) + K'p P + k'v v + k'd d=0; Wherein, u(t) is the control output; K'p P is the first corresponding relationship; K'p is the proportional gain in the first corresponding relationship; P is the laser power variation; The k'v v is the second corresponding relationship; k'v is the proportional gain in the second corresponding relationship; v is the scan variation; The k'd d is the third corresponding relationship; k'd is the proportional gain in the third corresponding relationship; d is the scan change.

3. The method according to claim 1, characterized in that The pre-fitting of the first correspondence between the laser power variation and the deposition rate variation, the second correspondence between the scanning speed variation and the deposition rate variation, and the third correspondence between the spot diameter and the deposition rate variation comprises: While keeping any two of the laser power, scanning speed and spot diameter unchanged, gradually adjusting another target quantity other than the any two of the laser power, scanning speed and spot diameter according to a preset adjustment strategy, and determining a change in deposition rate after each adjustment; Combining the change in the target amount at each adjustment and the change in the deposition rate after the adjustment into a set of data points; According to multiple groups of data points, the corresponding relationship between the change in the target amount and the change in the deposition rate is fitted.

4. The method according to claim 1, characterized in that: Determining the change direction of the laser power and the change direction of the scanning speed according to the deposition rate deviation value includes: When the deposition rate deviation value is a positive value, the change direction of the laser power is determined to be an increasing direction, and the change direction of the scanning speed is determined to be a decreasing direction; When the deposition rate deviation value is a negative value, the change direction of the laser power is determined to be a decreasing direction, and the change direction of the scanning speed is determined to be an increasing direction.

5. The method according to claim 2, characterized in that: The step of determining the laser power change amount and the scanning speed change amount according to the first formula based on the change direction of the laser power and the change direction of the scanning speed includes: According to the changing directions of the laser power and the scanning speed, a group of data is selected from the multiple groups of data satisfying the first formula; wherein each group of data consists of a laser power change amount and a scanning speed change amount.

6. The method according to claim 2, characterized in that The step of determining the laser power change amount and the scanning speed change amount according to the first formula based on the change direction of the laser power and the change direction of the scanning speed includes: Determine the amount of change of any one of the laser power and the scanning speed according to a change rule set in advance for the amount and the direction of change of the amount; Based on the change in the quantity and the first formula, the change in the other quantity of the laser power and the scanning speed is determined.

7. The method according to claim 1, characterized in that The determining of the current actual deposition rate comprises: Acquire parameters of a current molten pool, and determine a size of the molten pool according to the parameters of the current molten pool; The current actual deposition rate is determined according to the size of the molten pool.

8. The method according to claim 7, characterized in that The parameter is any one of the following parameters: image, temperature distribution data and energy distribution data.

9. A laser additive manufacturing control device based on energy feedback, characterized in that: The device comprises a processing module, a determination module and an adjustment module; wherein: The processing module is used to pre-fit a first correspondence between a laser power variation and a deposition rate variation, a second correspondence between a scanning speed variation and a deposition rate variation, and a third correspondence between a spot diameter and a deposition rate variation; The determination module is used to determine a current actual deposition rate, and determine a deposition rate deviation value according to the actual deposition rate and the expected deposition rate; The determination module is further used to use the deposition rate deviation value as an input of a PID control algorithm to determine a control output; The determination module is further used to determine the change direction of the laser power and the change direction of the scanning speed according to the deposition rate deviation value; The determination module is further used to determine the laser power variation, the scanning speed variation and the spot diameter variation according to the control output, the first corresponding relationship, the second corresponding relationship, the third corresponding relationship and the change direction of the laser power and the change direction of the scanning speed; wherein the laser power variation and the scanning speed variation are used to adjust the control output so that the control error is zero; during one printing process, the spot diameter variation is zero; The adjustment module is used to adjust the laser power, the scanning speed and the spot diameter respectively according to the laser power change, the scanning speed change and the spot diameter change.

10. A laser additive manufacturing control device based on energy feedback, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 8 when executing the program.

Images