Time synchronization control method and system for machine tool-galvanometer laser processing system

Abstract

The invention provides a time synchronization control method and system for a machine tool-galvanometer laser processing system, and relates to the technical field of machine tool-galvanometer laser processing, and the method comprises the steps: building a machine tool-galvanometer laser processing system dynamic model, giving an overall expected track of the machine tool-galvanometer laser processing system dynamic model, and carrying out the overall expected track of the machine tool-galvanometer laser processing system dynamic model; respectively obtaining a macro expected trajectory of the macro motion model and a micro expected trajectory of the micro motion model based on a zero-phase bidirectional filtering motion decomposition method; respectively inputting the macro expected trajectory and the micro expected trajectory as reference trajectories into a control system of the macro motion model and a control system of the micro motion model for control, and respectively obtaining the displacement of the machine tool and the deflection angle of the micro motion platform; and the displacement amount and the deflection angle amount are used for controlling and generating a synthetic trajectory, calculating a trajectory error, inputting the trajectory error into a control system of a micro-motion galvanometer platform dynamic model, and performing time synchronization control, so that an actual tracking error can be converged to a boundary within preset convergence time, and the quick response performance of the system is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of machine tool-mirror laser processing, in particular to a time synchronization control method and system of a machine tool-mirror laser processing system. BACKGROUND

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute the prior art.

[0003] In the control architecture of the macro-micro dual-drive system, the decoupled system is faced with problems such as inconsistent convergence time and insufficient trajectory coordination accuracy due to the significant difference in dynamic response characteristics of the macro-micro unit elements.

[0004] Taking a motion table-mirror decoupled system in laser precision machining as an example, the motion table needs to complete large-stroke low-frequency positioning, and the mirror needs to compensate for trajectory errors at high frequency. If the coordination accuracy is insufficient, it will lead to laser focal point deviation and uneven energy distribution, causing distortion of the machining surface structure. Existing control methods mostly use fixed time convergence or static decoupling strategies, but their limitations lie in ignoring the dynamic coupling effect and uncontrollable convergence time.

[0005] Further, uncontrollable convergence time will weaken the dynamic response capability of the system. In actual engineering applications, when evaluating whether the macro-micro dual-drive system achieves the expected working performance, the convergence time almost plays a decisive role. Existing macro-micro coordination control methods are mostly macro-micro switching control, which cannot pre-set the convergence time of macro and micro tracking errors, resulting in that the system response speed is subject to initial state and nonlinear disturbance and other factors. Because the convergence mechanism is not affected by time and space, etc., the error cannot be converged to the specified interval within the predetermined time. SUMMARY

[0006] In order to solve the above problems, the present disclosure proposes a time synchronization control method and system of a machine tool-mirror laser processing system, establishes a scanning mirror optical path model and a dynamics model of the machine tool-mirror laser processing system, decomposes the expected trajectory based on a zero-phase bidirectional filtering motion decomposition method, and designs an error synthesis module for the errors of the machine tool-mirror, effectively eliminating the error accumulation problem caused by the dynamic inconsistency of the macro-micro system, and proposes a time synchronization control strategy to realize the consistency of the convergence time of the macro and micro systems and double protection of spatial accuracy.

[0007] According to some embodiments, the present disclosure adopts the following technical solutions: A time synchronization control method of a machine tool-mirror laser processing system, comprising: A scanning galvanometer optical path model is established, and a machine tool-galvanometer laser processing system dynamics model is constructed based on the scanning galvanometer optical path model; the machine tool-galvanometer laser processing system dynamics model comprises a macro-motion machine tool platform dynamics model and a micro-motion galvanometer platform dynamics model; Given the overall desired trajectory of the machine tool-galvanometer laser processing system dynamics model, the trajectory is filtered and decomposed based on the zero-phase bidirectional filter motion decomposition method to obtain the macro desired trajectory of the macro-motion machine tool platform dynamics model and the micro desired trajectory of the micro-motion galvanometer platform dynamics model, respectively; The macro desired trajectory and the micro desired trajectory are input into the control systems of the macro-motion machine tool platform dynamics model and the micro-motion galvanometer platform dynamics model, respectively, for control, and the displacement of the macro-motion machine tool platform and the deflection angle of the micro-motion galvanometer platform are output, respectively; The displacement and the deflection angle are used to control the movement of the machine tool-galvanometer laser processing system and generate a synthesized trajectory, the trajectory error is calculated based on the synthesized trajectory, and the trajectory error is input into the control system of the micro-motion galvanometer platform dynamics model and is subjected to time synchronization control, so that the actual tracking error can converge within the boundary within a predetermined convergence time.

[0008] According to some embodiments, the present disclosure adopts the technical solutions as follows: A time synchronization control system of a machine tool-galvanometer laser processing system comprises: A dynamics model construction module is configured to establish a scanning galvanometer optical path model, and construct a machine tool-galvanometer laser processing system dynamics model based on the scanning galvanometer optical path model; the machine tool-galvanometer laser processing system dynamics model comprises a macro-motion machine tool platform dynamics model and a micro-motion galvanometer platform dynamics model; A trajectory filtering module is configured to give the overall desired trajectory of the machine tool-galvanometer laser processing system dynamics model, and perform trajectory filtering and decomposition based on the zero-phase bidirectional filter motion decomposition method to obtain the macro desired trajectory of the macro-motion machine tool platform dynamics model and the micro desired trajectory of the micro-motion galvanometer platform dynamics model, respectively; An error synthesis module is configured to input the macro desired trajectory and the micro desired trajectory as reference trajectories into the control systems of the macro-motion machine tool platform dynamics model and the micro-motion galvanometer platform dynamics model, respectively, for control, and output the displacement of the macro-motion machine tool platform and the deflection angle of the micro-motion galvanometer platform, respectively; the displacement and the deflection angle are used to control the movement of the machine tool-galvanometer laser processing system and generate a synthesized trajectory, the trajectory error is calculated based on the synthesized trajectory, and the trajectory error is input into the micro-motion galvanometer platform dynamics model; A time synchronization control module is configured to perform time synchronization control so that the actual tracking error can converge within the boundary within a predetermined convergence time.

[0009] According to some embodiments, the present disclosure adopts the technical solutions as follows: A computer program product comprising a computer program which, when executed by a processor, implements the time synchronization control method of the machine tool-mirror laser processing system.

[0010] According to some embodiments, the present disclosure adopts the technical solutions as follows: A non-transitory computer-readable storage medium for storing computer instructions, which, when executed by a processor, implement the time synchronization control method of the machine tool-mirror laser processing system.

[0011] According to some embodiments, the present disclosure adopts the technical solutions as follows: An electronic device comprising a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory; when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the time synchronization control method of the machine tool-mirror laser processing system.

[0012] Compared with the prior art, the present disclosure has the beneficial effects that: The time synchronization control method of the machine tool-mirror laser processing system of the present disclosure establishes a scanning mirror optical path model and a dynamics model of the machine tool-mirror laser processing system; designs a motion decomposition method based on zero-phase bidirectional filtering; designs an error synthesis module for the errors of the machine tool-mirror; and proposes a time synchronization control method for the machine tool-mirror laser processing system to meet the requirements of convergence time synchronization and controllability of the machine tool-mirror laser processing system, thereby realizing the convergence time consistency and spatial precision dual guarantee of the macro and micro systems, and enhancing the robustness, adaptability, and parameter flexibility of the system through the adaptive control gain mechanism.

[0013] The time synchronization control method of the machine tool-mirror laser processing system of the present disclosure gives the overall desired trajectory of the dynamics model of the machine tool-mirror laser processing system, performs trajectory filtering decomposition based on the zero-phase bidirectional filtering motion decomposition method, and effectively eliminates the error accumulation problem caused by the dynamic inconsistency of the macro and micro systems.

[0014] The time synchronization control method of the machine tool-mirror laser processing system of the present disclosure meets the requirements of convergence time synchronization and controllability of the machine tool-mirror laser processing system, and the proposed time synchronization control method realizes controllable system convergence time, thereby improving the rapid response performance of the system and realizing the convergence time consistency and spatial precision dual guarantee of the macro and micro systems. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the present disclosure, illustrate preferred embodiments of the present disclosure, and to explain the present disclosure illustrating the preferred embodiments.

[0016] Figure 1 A control structure diagram of a time synchronization control method of a machine tool-mirror laser processing system of an embodiment of the present disclosure; Figure 2 A tracking error convergence curve of the time synchronization control method of an embodiment of the present disclosure and a conventional adaptive neural preset time control method; Figure 3 A real convergence interval comparison diagram of a mirror and a machine tool of the time synchronization control method of an embodiment of the present disclosure and a conventional adaptive neural preset time control method; wherein, Figure 3 (a) in the above figure is a real convergence interval comparison diagram of a mirror sliding mode variable, Figure 3 (b) in the above figure is a real convergence interval comparison diagram of a machine tool sliding mode variable; Figure 4 A mirror and a machine tool control gain comparison diagram of the time synchronization control method of an embodiment of the present disclosure and a conventional adaptive neural preset time control method; wherein, Figure 4 (a) in the above figure is a mirror control gain comparison diagram; Figure 4 (b) in the above figure is a machine tool control gain comparison diagram; Figure 5 A mirror and a machine tool control input comparison diagram of the time synchronization control method of an embodiment of the present disclosure and a conventional adaptive neural preset time control method; wherein, Figure 5 (a) in the above figure is a mirror control input comparison diagram; Figure 5 (b) in the above figure is a machine tool control input comparison diagram; Figure 6 A position tracking curve and a tracking error curve of a machine tool servo axis of the time synchronization control method of an embodiment of the present disclosure; wherein, Figure 6 (a) in the above figure is a position tracking curve of a machine tool servo axis; Figure 6 (b) in the above figure is a machine tool servo axis tracking error curve; Figure 7 An actual trajectory curve and a tracking error curve of a mirror axis of the time synchronization control method of an embodiment of the present disclosure; wherein, Figure 7 (a) in the above figure is an actual trajectory curve of a mirror axis; Figure 7 (b) in the above figure is a mirror axis tracking error curve; Figure 8 A scanning mirror laser light path diagram of an embodiment of the present disclosure; Figure 9 Fig. 1 is a schematic diagram of a machine tool-mirror laser processing system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0017] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0018] It should be noted that the following detailed description is illustrative only, and is intended to provide further description of the present disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0020] Embodiment 1 A time synchronization control method of a machine tool-mirror laser processing system is provided in an embodiment of the present disclosure, and the method steps include: Step one: establish a scanning mirror optical path model, and construct a machine tool-mirror laser processing system dynamics model based on the scanning mirror optical path model; the machine tool-mirror laser processing system dynamics model includes a macro motion machine tool platform dynamics model and a micro motion mirror platform dynamics model; Step two: give the overall desired trajectory of the machine tool-mirror laser processing system dynamics model, and perform trajectory filtering decomposition based on a zero-phase bidirectional filtering motion decomposition method to obtain a macro desired trajectory of the macro motion machine tool platform dynamics model and a micro desired trajectory of the micro motion mirror platform dynamics model, respectively; Step three: input the macro desired trajectory and the micro desired trajectory as reference trajectories into the control systems of the macro motion machine tool platform dynamics model and the micro motion mirror platform dynamics model, respectively, for control, and output the displacement amount of the macro motion machine tool platform and the deflection angle amount of the micro motion mirror platform, respectively; Step four: control the machine tool-mirror laser processing system to move and generate a synthesized trajectory using the displacement amount and the deflection angle amount, calculate a trajectory error based on the synthesized trajectory, input the trajectory error into the control system of the micro motion mirror platform dynamics model, and perform time synchronization control, so that the actual tracking error can converge within the boundary within a predetermined convergence time.

[0021] As an embodiment, a time synchronization control method of a machine tool-mirror laser processing system of the present disclosure is designed to realize a macro-micro time synchronization convergence method to achieve controllable system convergence time, and the specific implementation process is as follows: Step 1: Calculate the horizontal and vertical coordinates of the spot in the scanning mirror light path according to the deflection angle value of the scanning mirror, establish a scanning mirror light path model, which is specifically expressed as: (1) Wherein, and represent the horizontal and vertical coordinates of the spot, , is the deflection angle of the X-axis and Y-axis of the scanning mirror; f is the focal length of the field lens.

[0022] Step 2: The machine tool-mirror laser processing system includes a macro motion machine tool platform and a micro motion mirror platform, and a macro motion machine tool platform dynamics model and a micro motion mirror platform dynamics model are established respectively, and the macro motion machine tool platform dynamics model and the micro motion mirror platform dynamics model constitute a machine tool-mirror laser processing system dynamics model; (1) Macro motion machine tool platform dynamics model: (2) Wherein, , , , , the mass of the motion table is , the spring stiffness coefficient is , and the damping coefficient is , represents the driving force of the X-axis motor of the motion table, represents the displacement of the macro motion table in the X direction, represents the uncertainty of the X-axis of the macro motion table and the lumped external unknown disturbance.

[0023] (2) Micro motion mirror platform dynamics model: (3) Wherein, represents the piezoelectric driving force of the X mirror, is the focal length of the field lens, , , are related parameters for modeling.

[0024] Step 3: Given the overall desired trajectory of the machine tool-mirror laser processing system dynamics model, perform trajectory filtering decomposition based on the zero-phase bidirectional filtering motion decomposition method; Specifically, let the overall desired trajectory of the machine tool-mirror laser processing system dynamics model be , the macro desired trajectory of the macro motion system (macro motion machine tool platform dynamics model) is , the micro desired trajectory of the micro motion system (micro motion galvanometer platform dynamics model) is . The overall desired trajectory of the machine tool-galvanometer laser processing system dynamics model uses zero-phase bidirectional filtering to generate the desired trajectory of the macro motion system , the specific process is as follows: (1) First, use the moving average filtering method to do forward filtering to get the desired trajectory of the macro motion machine tool platform dynamics model: (4) Wherein, is the desired trajectory at the nth sampling time, i is an odd number, is the desired trajectory of the macro motion system at the nth sampling, and is the low-frequency component of the overall desired trajectory of the system, satisfying the acceleration limit condition as follows: (5) (6) Wherein, represents the maximum acceleration of the macro motion table.

[0025] (2) Reverse the result of (4) to get: (6) Wherein, is the signal length.

[0026] (3) Filter the reversed result again to get: (7) (4) Reverse the result of (7) again to get the macro desired trajectory finally assigned to the macro motion system: (8) Further, the micro desired trajectory of the micro motion galvanometer platform dynamics model is the part left after subtracting the low-frequency component assigned to the macro motion system from the overall desired trajectory, and the expression is as follows: (9) Wherein, represents the desired trajectory of the micro motion system at the nth sampling, satisfying the limit condition as follows: (10) Wherein, represents the maximum field of view range of the galvanometer.

[0027] ​​Step 4: The macro desired trajectory and the micro desired trajectory are input into the control system of the macro motion machine tool platform dynamics model and the micro motion galvanometer platform dynamics model as reference trajectories, respectively, to control the macro motion machine tool platform and the micro motion galvanometer platform, respectively, to output the displacement of the macro motion machine tool platform and the deflection angle of the micro motion galvanometer platform. Specifically, the decomposed macro desired trajectory and the micro desired trajectory are input into the respective control systems as respective reference trajectories, controlled by the controller proposed in the following formula (11), and then the displacement output by the macro motion system and the deflection angle output by the micro motion system are input into the error synthesis module to generate a synthesized trajectory. The synthesized trajectory is subtracted from the overall desired trajectory of the system to obtain the error of the micro motion system, which is input into the micro motion control system and controlled by the controller proposed in the following formula (11).

[0028] As an embodiment, in view of the requirement of convergence time synchronization and controllability of the machine tool-galvanometer laser processing system, a time synchronization control method for the machine tool-galvanometer laser processing system is proposed, and the control process is specifically represented as: The control input expressions of the macro-micro motion system and the micro motion system are as follows: (11) wherein, represents the nominal control law part, represents the switching control law part i =1, 2), and represent the controllers of the machine tool (macro motion system) platform and the galvanometer (micro motion system) platform, respectively.

[0029] The desired trajectories of the macro motion system and the micro motion system are , and the velocity trajectories are , . Let , wherein , , , .

[0030] The state space equations of the macro motion system and the micro motion system are: (12) wherein, (13) wherein, and represent the displacement and velocity of the machine tool platform along the X direction, and X galvanometer deflection corresponding to the displacement and velocity along X direction on the processing surface. , is a function of the macro-motion system and the micro-motion system state, and the coefficient value in the function is unknown. , is a known constant, is the focal length of the field lens.

[0031] The tracking error of the macro-motion system and the micro-motion system is: (14) wherein, .

[0032] (1) Nominal control rate : Let the disturbance term , the tracking error at this time becomes: (15) wherein, , , , is the expected position tracking error and the expected speed tracking error of the macro-motion system and the micro-motion system respectively.

[0033] Let the time-varying function RCDF( i, j =1, 2), the expression is as follows: (16) wherein, represent the expected tracking position and speed tracking error of the system (equation 12), is a constant ( i, j =1, 2). In addition, corresponding to RCDF is: (17) The nominal control law of the system is: (18) (2) The disturbance term is not 0, and the switching control law .

[0034] The sliding mode variable is designed as, (19) wherein, , . For the nominal system, there is, (20) where, , denote the coefficients in front of the controller in the system. For the perturbed system, similarly, there are, (21) The switching control law is designed as, (22) where, is an adaptive gain, and the expression is, (23) where, is a predefined convergence space.

[0035] Further, the stability proof of the time synchronization control method of the present disclosure is as follows: Assumption 1: The lumped disturbance , is matched and bounded, that is, it satisfies the following inequality: (24) where, , are unknown constants.

[0036] Lemma 1: Consider a differentiable function , and is the inverse function of . Assume that satisfies the following conditions: (1) When , , and and are of the same order infinitesimal, that is, (25) (2) The derivative of satisfies, (26) Let , be a constant and satisfy , monotonic and continuous on the interval , where denotes a predetermined convergence time and satisfies . Then, (27) In equation (27), define as a reference convergence function (RCF), and For its differential form, it is called Reference convergence differential function (RCDF).

[0037] Lemma 2: Consider the differential equation of the following form, (28) Where time-varying function is RCDF, if is bounded and converges to 0 at time, then is bounded and converges to 0 at time.

[0038] Lemma 3: Consider the differential equation of the following form, (29) Where time-varying function is RCDF, if is bounded and converges to 0 at time, then is bounded and converges to 0 at time.

[0039] Theorem 1: Consider the machine-mirror system, the sliding mode variable and hypothesis 1, if the controller (equation 11) is used, then the sliding mode variable will eventually be limited in the convergence interval , and the macro and micro systems achieve time synchronization convergence.

[0040] Proof: Design Lyapunov function , (30) Take the first order derivative with respect to time, and combine equation (19), equation (20), equation (21), we have, (31) Substitute equation (22), the above equation can be written as: (32) To make the system stable, it is necessary to satisfy , that is (33) Let , then (34) Need to let , that is (35) When , (36) When , (37) Boundary , when , Therefore, the sliding mode variable can converge to the boundary, that is, (38) Theorem 1 is proved.

[0041] Substituting equation (19) into equation (18), we have (39) Because when , , (40) That is, the actual tracking error can converge to the boundary within . Thus, the macro-motion system and the micro-motion system complete the synchronous convergence in the time scale.

[0042] The simulation experiment is carried out by the present disclosure, Figure 2 It is illustrated that when the control method proposed by the present disclosure is adopted, the tracking error of the galvanometer and the machine tool can be guaranteed to converge to the boundary at the predetermined time , while the actual convergence time of the traditional adaptive neural preset time control method is greater than , the values are 4.18s (machine tool) and 3.24s (galvanometer) respectively, which are reduced by 76.1% and 69.1% respectively, and at the same time, the tracking error of the method proposed by the present disclosure can be limited to a smaller space than the traditional adaptive neural preset time control method.

[0043] Figure 3 It is shown that the actual convergence interval of the sliding mode variable of the galvanometer and the machine tool of the method proposed by the present disclosure and are smaller than the respective predetermined convergence interval and , and the actual convergence interval of the traditional adaptive neural preset time control method and , wherein the actual convergence interval of the machine tool is slightly smaller than the predetermined convergence interval , but the actual convergence interval of the galvanometer is much larger than the predetermined convergence interval , which illustrates that the method proposed by the present disclosure has stronger interference suppression ability.

[0044] Figure 4 The control gain contrast chart of the two methods can be seen directly from the figure. The gain values of the machine tool and the galvanometer system of the method proposed by the disclosure are much smaller than those of the comparison method, and the gain overestimation is less likely to occur.

[0045] Figure 5 It can be seen that the control inputs of the two systems of the algorithm proposed by the disclosure are smoother and have smaller change amplitudes than the comparison method. Therefore, the method of the disclosure can not only realize the time synchronization convergence of the macro-micro decoupling system, but also is superior to the traditional adaptive neural preset time control method. Figure 6 and Figure 7 The algorithm of the disclosure is further verified on a machine tool-galvanometer platform.

[0046] Embodiment 2 In an embodiment of the disclosure, a time synchronization control system of a machine tool-galvanometer laser processing system is provided, comprising: a dynamic model construction module, configured to establish a scanning galvanometer optical path model, and construct a machine tool-galvanometer laser processing system dynamic model based on the scanning galvanometer optical path model; the machine tool-galvanometer laser processing system dynamic model comprises a macro motion machine tool platform dynamic model and a micro motion galvanometer platform dynamic model; a trajectory filtering module, configured to give a whole desired trajectory of the machine tool-galvanometer laser processing system dynamic model, and perform trajectory filtering decomposition based on a zero-phase bidirectional filtering motion decomposition method to obtain a macro desired trajectory of the macro motion machine tool platform dynamic model and a micro desired trajectory of the micro motion galvanometer platform dynamic model, respectively; an error synthesis module, configured to input the macro desired trajectory and the micro desired trajectory as reference trajectories into control systems of the macro motion machine tool platform dynamic model and the micro motion galvanometer platform dynamic model, respectively, to control the macro motion machine tool platform dynamic model and the micro motion galvanometer platform dynamic model, respectively, to output a displacement amount of the macro motion machine tool platform and a deflection angle amount of the micro motion galvanometer platform; the displacement amount and the deflection angle amount are used to control the movement of the machine tool-galvanometer laser processing system and generate a synthesized trajectory, the trajectory error is calculated based on the synthesized trajectory, and the trajectory error is input to the micro motion galvanometer platform dynamic model; a time synchronization control module, configured to perform time synchronization control, so that the actual tracking error can converge within the boundary within a predetermined convergence time.

[0047] Embodiment 3 In an embodiment of the disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the time synchronization control method of the machine tool-galvanometer laser processing system.

[0048] Embodiment 4 In an embodiment of the present disclosure, a non-transitory computer readable storage medium is provided for storing computer instructions, which, when executed by a processor, implement the time synchronization control method of the machine-lens laser processing system.

[0049] Embodiment 5 In an embodiment of the present disclosure, an electronic device is provided, comprising a processor, a memory, and a computer program; wherein the processor is connected with the memory, and the computer program is stored in the memory; when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device implements the time synchronization control method of the machine-lens laser processing system.

[0050] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices generate a device that realizes the functions specified in the flowcharts and / or block diagrams. Figure One The functions specified in one or more flows and / or blocks Figure One The device that realizes the functions specified in one or more flows and / or blocks.

[0051] These computer program instructions can also be loaded onto a computer or other programmable data processing device to cause a series of operation steps to be performed on the computer or other programmable data processing device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable data processing device provide a process for realizing the functions specified in the flowcharts and / or block diagrams. Figure One The functions specified in one or more flows and / or blocks Figure One The steps that realize the functions specified in one or more flows and / or blocks.

[0052] Although the specific embodiments of the present disclosure are described above with reference to the accompanying drawings, the present disclosure is not limited to the above-described embodiments, and various modifications or changes can be made by those skilled in the art without creative labor, which are still within the protection scope of the present disclosure.

Claims

1. A time synchronization control method for a machine tool-galvanometer laser processing system, characterized in that: include: Establishing a scanning galvanometer optical path model, and constructing a machine tool-galvanometer laser processing system dynamics model based on the scanning galvanometer optical path model; the machine tool-galvanometer laser processing system dynamics model includes a macro-motion machine tool platform dynamics model and a micro-motion galvanometer platform dynamics model; Given the overall expected trajectory of the machine tool-galvanometer laser machining system dynamics model, the trajectory filter decomposition is performed based on the zero-phase bidirectional filtering motion decomposition method to obtain the macro expected trajectory of the macro motion machine platform dynamics model and the micro expected trajectory of the micro motion galvanometer platform dynamics model. The macro-desired trajectory and the micro-desired trajectory are used as reference trajectories and input into the control systems of the macro-motion machine tool platform dynamics model and the micro-motion galvanometer platform dynamics model respectively for control. The displacement of the macro-motion machine tool platform and the deflection of the micro-motion galvanometer platform are output respectively. The displacement and deflection angle are used to control the movement of the machine tool-galvanometer laser processing system and generate a synthetic trajectory. The trajectory error is calculated based on the synthetic trajectory, and then the trajectory error is input into the control system of the micro-motion galvanometer platform dynamic model. Time synchronization control is then performed to ensure that the actual tracking error can converge within the boundary within the predetermined convergence time.

2. The time synchronization control method of a machine tool-galvanometer laser processing system according to claim 1, characterized in that: The horizontal and vertical coordinates of the light spot in the scanning galvanometer optical path are calculated according to the deflection value of the galvanometer, and the scanning galvanometer optical path model is established. The machine tool-galvanometer laser processing system includes a macro-motion machine tool platform and a micro-motion galvanometer platform. The macro-motion machine tool platform dynamics model and the micro-motion galvanometer platform dynamics model are established respectively. The macro-motion machine tool platform dynamics model and the micro-motion galvanometer platform dynamics model constitute the machine tool-galvanometer laser processing system dynamics model.

3. The time synchronization control method of a machine tool-galvanometer laser processing system according to claim 1, characterized in that: Given the overall expected trajectory of the machine tool-galvanometer laser processing system dynamics model, trajectory filtering decomposition is performed based on the zero-phase bidirectional filtering motion decomposition method, including forward filtering using the sliding average filtering method to obtain the expected trajectory of the macro-motion machine tool platform dynamics model, which is the low-frequency component of the overall expected trajectory. The low-frequency component is inverted, the inverted low-frequency component is filtered again, and the filtered result is inverted again to obtain the macro-expected trajectory finally assigned to the macro-motion machine tool platform dynamics model.

4. The time synchronization control method of a machine tool-galvanometer laser processing system according to claim 3, characterized in that: The micro expected trajectory of the micro motion galvanometer platform dynamic model is the remaining part after subtracting the macro expected trajectory of the macro motion machine tool platform dynamic model from the overall expected trajectory. The micro expected trajectory of the micro motion galvanometer platform dynamic model is not larger than the maximum field of view of the galvanometer.

5. The time synchronization control method of a machine tool-galvanometer laser processing system according to claim 1, characterized in that: The macro expected trajectory and the micro expected trajectory are used as reference trajectories and input into the control systems of the macro motion machine tool platform dynamics model and the micro motion galvanometer platform dynamics model for respective control. The displacement of the macro motion machine tool platform and the deflection of the micro motion galvanometer platform are output respectively. The displacement and deflection are input into the error synthesis module to generate a synthetic trajectory. The synthetic trajectory is subtracted from the overall expected trajectory, and the result is used as the trajectory error of the micro motion galvanometer platform dynamics model and input into the control system of the micro motion galvanometer platform for control.

6. The time synchronization control method of a machine tool-galvanometer laser processing system according to claim 1, characterized in that: The time synchronization control process includes: constructing the control input expression of the macro-motion machine tool platform dynamics model and the micro-motion galvanometer platform dynamics model, and constructing the state space equation of their control systems, calculating the tracking errors of the two control systems, and making the actual tracking errors converge to within the boundaries within the predetermined convergence time, so that the macro and micro systems complete synchronous convergence on the time scale.

7. A time synchronization control system for a machine tool-galvanometer laser processing system, characterized in that: include: A dynamic model construction module is used to establish a scanning galvanometer optical path model, and to construct a machine tool-galvanometer laser processing system dynamic model based on the scanning galvanometer optical path model; the machine tool-galvanometer laser processing system dynamic model includes a macro-motion machine tool platform dynamic model and a micro-motion galvanometer platform dynamic model; The trajectory filtering module is used to perform trajectory filtering decomposition based on the zero-phase bidirectional filtering motion decomposition method given the overall expected trajectory of the machine tool-galvanometer laser processing system dynamics model, and obtain the macro expected trajectory of the macro motion machine platform dynamics model and the micro expected trajectory of the micro motion galvanometer platform dynamics model respectively; The error synthesis module is used to input the macro-desired trajectory and the micro-desired trajectory as reference trajectories into the control systems of the macro-motion machine tool platform dynamics model and the micro-motion galvanometer platform dynamics model for control, and output the displacement of the macro-motion machine tool platform and the deflection of the micro-motion galvanometer platform respectively; the displacement and deflection are used to control the movement of the machine tool-galvanometer laser processing system and generate a synthetic trajectory; the trajectory error is calculated based on the synthetic trajectory, and the trajectory error is then input into the micro-motion galvanometer platform dynamics model; The time synchronization control module is used to perform time synchronization control so that the actual tracking error can converge to within the boundary within the predetermined convergence time.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the time synchronization control method of a machine tool-galvanometer laser processing system according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the time synchronization control method of the machine tool-galvanometer laser processing system as described in any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: include: A processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement a time synchronization control method for a machine tool-galvanometer laser processing system as described in any one of claims 1 to 6.

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