Method for eliminating synchronization of multi-axis interpolation response lag and industrial operation equipment

Abstract

The application discloses a synchronization method for eliminating multi-axis interpolation response lag and an industrial operation device, and relates to the technical field of industrial operation devices.The technical scheme of the application comprises determining the response lag time of each of a driving shaft and a driven shaft, determining the response lag time difference of the driving shaft and the driven shaft according to the response lag time of each of the driving shaft and the driven shaft, shifting the original instruction position data sequence of the driving shaft on a time axis based on the response lag time difference, generating a virtual driving shaft position data sequence lagging behind the original instruction position data sequence on the time axis, and controlling each driven shaft to move with the virtual driving shaft position data sequence as a following target, so that the actual position of each driven shaft and the actual position of the driving shaft tend to be synchronized.The application can make the actual following position of a linear shaft and the actual instruction position of a rotary shaft in multi-axis interpolation movement synchronous in time, avoid machining track deviation, and improve product yield.

Description

Technical Field

[0001] This application relates to the field of industrial operating equipment technology, and in particular to a synchronization method and industrial operating equipment for eliminating multi-axis interpolation response lag. Background Technology

[0002] In industrial equipment such as multi-axis CNC machining, laser cutting, and industrial robots, which involve the linkage of rotary and linear axes, the linear axes typically need to follow the rotary axes in interpolation motion to complete complex contour trajectory machining. Ideally, each motion axis should respond instantly upon receiving the position command issued by the controller, ensuring that the actual physical position of each axis is strictly synchronized with the command trajectory.

[0003] However, in actual equipment, due to inherent differences in physical characteristics such as load inertia, servo gain, mechanical transmission stiffness, and frictional damping between the motors driven by rotary and linear axes, the response speeds of each axis to position commands issued at the same moment vary, resulting in varying degrees of response lag. Rotary axes, in particular, often have significantly longer response lag times than linear axes because they typically drive workpieces or fixtures with large inertia. For example, in some types of equipment, the response lag time of a rotary axis can reach approximately 28 milliseconds, while the response lag time of a linear axis is only about 8 milliseconds, resulting in a response lag time difference of approximately 20 milliseconds between the two axes.

[0004] This inconsistency in response lag time directly leads to the following technical problems: before the rotary axis has actually moved to the commanded position, the faster-responding linear axis has already performed a follow-up movement according to the current commanded position of the rotary axis. As a result, the actual movement trajectory of the linear axis is ahead of the actual movement trajectory of the rotary axis in time, and their physical positions cannot be synchronized during dynamic movement. This causes a deviation between the actual contour and the ideal contour of the workpiece, manifesting as machining defects such as overcutting, undercutting, or surface ripples, which seriously reduces product yield.

[0005] To address the aforementioned issues, common solutions in related technologies include: increasing the servo gain of each axis to reduce single-axis following error, applying fixed time delay compensation to each axis, or using feedforward control to suppress disturbances. However, increasing the gain is limited by the mechanical resonant frequency, fixed time compensation cannot adapt to changes in operating conditions, and feedforward control fails to fundamentally solve the "time asynchrony" problem between axes. Therefore, there is an urgent need for a synchronization control method that can dynamically sense the differences in response lag between axes and actively eliminate these differences at the command level. Summary of the Invention

[0006] The main purpose of this application is to provide a synchronization method and industrial operating equipment for eliminating the response lag of multi-axis interpolation. It aims to solve the technical problem that in existing multi-axis interpolation motion, the difference in response lag time between the rotary axis and the linear axis leads to the actual following position of the linear axis being out of sync with the actual command position of the rotary axis, resulting in deviation of the machining trajectory and low product yield.

[0007] To achieve the above objectives, this application proposes a synchronization method for eliminating multi-axis interpolation response lag, applied to an industrial operating device comprising one driving axis and at least one driven axis, wherein the driven axis follows the driving axis in motion, and the response lag time of the driving axis is greater than the response lag time of any of the driven axes, wherein the driving axis is a rotary axis and the driven axis is a linear axis; The method includes the following steps: Determine the response lag time of the driving shaft and the driven shaft respectively, and determine the response lag time difference between the driving shaft and the driven shaft based on their respective response lag times; Based on the response lag time difference, the original command position data sequence of the active axis is shifted on the time axis to generate a virtual active axis position data sequence that lags behind the original command position data sequence on the time axis. Each of the driven axes is controlled to move with the virtual active axis position data sequence as the target, so that the actual position of each driven axis tends to be synchronized with the actual position of the active axis.

[0008] In one embodiment, the step of determining the response lag time of the driving shaft and the driven shaft respectively includes: The command position and feedback position of the drive axis and the driven axis are acquired in real time, and the position deviation of the drive axis and the driven axis is calculated based on the command position and feedback position of the drive axis and the driven axis respectively. Obtain the current motion speed corresponding to each of the driving shaft and the driven shaft; Based on the positional deviation and the current motion speed, the response lag time of the driving shaft and the driven shaft is determined respectively.

[0009] In one embodiment, the step of determining the response lag time of the driving shaft and the driven shaft respectively based on the position deviation and the current motion speed includes: Determine whether the absolute value of the current movement speed is greater than a preset speed threshold; If so, the response lag time at the current moment is determined based on the quotient of the position deviation divided by the current motion speed; If not, then the most recently calculated effective response lag time will be retained and used as the response lag time at the current moment.

[0010] In one embodiment, the step of determining the response lag time of the driving shaft and the driven shaft respectively further includes: The response lag times of the driving shaft and the driven shaft are respectively subjected to low-pass filtering to suppress signal noise.

[0011] In one embodiment, the step of shifting the original command position data sequence of the active axis on the time axis based on the response lag time difference to generate a virtual active axis position data sequence that lags behind the original command position data sequence on the time axis includes: Statistical analysis is performed on multiple response lag time differences obtained within a preset time period, and the response lag time differences are decomposed into a low-frequency component and a high-frequency component; wherein, the low-frequency component refers to the part with a rate of change lower than a preset threshold, and the high-frequency component refers to the part with a rate of change equal to or higher than the preset threshold. The original instruction position data sequence is time-shifted based on the low-frequency component to generate a virtual active axis position data sequence that lags behind the original instruction position data sequence on the time axis. The method further includes: The product of the high-frequency component and the current speed of the driven shaft is used as a position offset and added to the position command of the driven shaft.

[0012] In one embodiment, prior to the step of translating the original command position data sequence of the drive axis on the time axis, the method further includes: Based on the obtained response lag time difference and its rate of change between the driving shaft and the driven shaft, a torque compensation amount is generated; The torque compensation amount is injected into the motor drive unit of the driving shaft and / or the driven shaft in a feedforward manner to actively reduce the response lag time difference at the torque level. The torque compensation amount is a differential voltage signal or a differential current signal.

[0013] In one embodiment, the step of determining the response lag time of the driving shaft and the driven shaft respectively includes: A pre-built hysteresis model is invoked, which characterizes the mapping relationship between response hysteresis time and motion parameters, including the motion speed, acceleration, load torque, and running direction of the driving shaft and the driven shaft, respectively. Input the motion parameters under the current working condition into the hysteresis model, and obtain the response hysteresis time of the driving shaft and the driven shaft predicted by the model.

[0014] In one embodiment, the industrial operating equipment is operated under different preset operating conditions to identify and record the response lag time of each axis, wherein the preset operating conditions cover different combinations of motion speed, acceleration, load torque and running direction; The method further includes: The response lag time recorded under each preset working condition is decoupled into multiple physical characteristic components, including: a static friction component that is independent of speed, a viscous friction component that is proportional to speed, an inertial component that is related to acceleration, an offset component that is related to load torque, and a direction-sensitive component that is related to the running direction. Based on the decoupled physical characteristic components, a lag model of the response lag time with respect to the motion parameters is constructed.

[0015] In one embodiment, during the operation of the industrial equipment under various actual working conditions, the actual response lag time obtained by real-time measurement is used as feedback to optimize and correct the coefficients of the static friction component, viscous friction component, inertial component, offset component and direction-sensitive component online.

[0016] In one embodiment, the step of shifting the original command position data sequence of the active axis on the time axis based on the response lag time difference to generate a virtual active axis position data sequence that lags behind the original command position data sequence on the time axis includes: During the operation of the industrial operating equipment, the current speed of the driving shaft and / or the driven shaft is used as the index variable, and the real-time determined response lag time or the response lag time difference is used as the mapping value to construct a speed-lag mapping table. Curve fitting is performed on the discrete mapping points in the velocity-hysteresis mapping table to generate a velocity-hysteresis characteristic curve, wherein the velocity-hysteresis characteristic curve characterizes the nonlinear relationship between the response hysteresis time and the motion velocity. Based on the current motion speed of the driving shaft and / or the driven shaft, query the speed-hysteresis characteristic curve to obtain the predicted response hysteresis time difference corresponding to the current motion speed; The original instruction position data sequence is time-shifted based on the predicted response lag time difference.

[0017] In one embodiment, the method further includes: After the industrial operating equipment completes debugging and produces the first qualified product, the response lag time of the drive shaft and the driven shaft is recorded as the reference response lag time, or the response lag time difference between the drive shaft and the driven shaft is recorded as the reference response lag time difference. In each subsequent processing cycle or at a preset calibration time point, determine the current response lag time of the drive shaft and the driven shaft, or the current response lag time difference between the drive shaft and the driven shaft. The current response lag time is compared with the baseline response lag time to obtain the lag time deviation, or the current response lag time difference is compared with the baseline response lag time difference to obtain the lag time difference deviation. Based on the relationship between the lag time deviation or the lag time difference deviation and the preset multi-level threshold, a graded response operation is performed; The execution of the hierarchical response operation includes: When the lag time deviation or the lag time difference deviation is less than a first preset threshold, the industrial operating equipment is determined to be in normal condition. When the lag time deviation or the lag time difference deviation is between the first preset threshold and the second preset threshold, a maintenance prompt message is output, and the motion axis that causes the deviation is marked on the human-machine interface. The motion axis is the active axis or the driven axis. When the lag time deviation or the lag time difference deviation is greater than the second preset threshold, a shutdown alarm signal is triggered.

[0018] In addition, to achieve the above objectives, this application also proposes an industrial operating device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the synchronization method for eliminating multi-axis interpolation response lag as described above.

[0019] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the synchronization method for eliminating multi-axis interpolation response hysteresis as described above.

[0020] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the synchronization method for eliminating multi-axis interpolation response hysteresis as described above.

[0021] This application proposes a synchronization method to eliminate multi-axis interpolation response lag, applied to industrial operating equipment containing one drive axis and at least one driven axis. The driven axes follow the drive axis, and the response lag time of the drive axis is greater than the response lag time of any driven axis. The drive axis is a rotary axis, and the driven axes are linear axes. The technical solution of this application includes the following steps: determining the response lag time of each of the drive axis and the driven axis; determining the response lag time difference between the drive axis and the driven axis based on their respective response lag times; translating the original command position data sequence of the drive axis on the time axis based on the response lag time difference to generate a virtual drive axis position data sequence that lags behind the original command position data sequence on the time axis; and controlling each driven axis to move with the virtual drive axis position data sequence as the following target, so that the actual position of each driven axis tends to be synchronized with the actual position of the drive axis.

[0022] In related technologies, the driven axis (linear axis) directly follows the original command position data sequence of the driving axis (rotary axis). Due to the significant response lag of the driving axis, the faster-responding driven axis has already performed the following motion according to the command position before its actual physical position has reached the command position. As a result, the actual position of the driven axis is ahead of the actual position of the driving axis in time, creating a synchronization error.

[0023] In the above technical solution of this application embodiment, the difference in response speed between the driving axis and the driven axis is first quantified by determining the response lag time of each axis, thus obtaining the response lag time difference. This time difference objectively reflects the "lead" of the driven axis relative to the driving axis.

[0024] Furthermore, this embodiment does not directly modify the commands of the driven axis to make it "wait," but rather shifts the original command position data sequence of the driven axis in the past direction on the time axis to generate a virtual driven axis position data sequence that lags behind the original command position data sequence on the time axis. Essentially, this step actively constructs a "delayed" following target for the faster-responding driven axis.

[0025] When the driven axis is controlled to move with the virtual drive axis position data sequence as the target, since the virtual target is lagging behind the original command in time, the actual position generated by the driven axis when executing the lagging command will exactly cancel out the "advanced" actual position generated when it follows the original command. Therefore, the actual physical position of the driven axis tends to align with the actual physical position of the drive axis on the time axis, achieving dynamic synchronization between the two.

[0026] It is through the closed-loop logic of "instruction lag translation and target reconstruction" mentioned above that the technical solution of this application eliminates the asynchrony of physical positions between axes caused by response lag time difference from the root, so that the actual motion trajectory of the driven axis can reproduce the actual motion trajectory of the driving axis in real time and accurately, thereby significantly improving the workpiece contour machining accuracy and product yield. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A flowchart illustrating the first embodiment of the synchronization method for eliminating multi-axis interpolation response hysteresis in this application; Figure 2 A system structure block diagram of industrial operating equipment provided in the embodiments of this application; Figure 3 A schematic diagram illustrating the time translation compensation principle provided in this application embodiment; Figure 4 A schematic diagram of the speed-hysteresis characteristic curve provided in the embodiments of this application; Figure 5 This is a schematic diagram of the hardware operating environment involved in the synchronization method for eliminating multi-axis interpolation response lag in the embodiments of this application.

[0030] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0032] For ease of understanding, the following explains some key terms in this embodiment: In a multi-axis linkage system, the driving axis refers to the axis that serves as the primary motion reference, and its motion trajectory is typically planned directly by the controller. In this application, the driving axis is set as a rotary axis, which usually has a relatively long response lag time.

[0033] A driven axis, in a multi-axis linkage system, is an axis that needs to move synchronously with the driving axis. Its motion commands are usually adjusted according to the motion state of the driving axis. In this application, the driven axis is set as a linear axis, and its response lag time is usually short.

[0034] Response lag time refers to the time required for a motion axis to reach the commanded physical position after receiving a position command. This time reflects the motion axis's response speed to commands and is affected by various factors such as motor characteristics, load inertia, servo parameters, and mechanical transmission. In one embodiment, this response lag time difference is the difference between the response lag time of the driving axis and the response lag time of the driven axis.

[0035] The response lag time difference refers to the difference between the response lag time of the driving axis and the response lag time of the driven axis. This time difference is the direct cause of asynchronous multi-axis linkage. In one embodiment, the response lag time difference is the difference between the response lag time of the driving axis and the response lag time of the driven axis.

[0036] The raw command position data sequence refers to the ideal set of position command data planned by the controller for the drive axis without any adjustments, which is distributed along the time axis according to a preset motion trajectory and speed. For example, the interpolator generates a position command point in each control cycle, and these points constitute the raw command position data sequence in chronological order.

[0037] A virtual drive axis position data sequence refers to a new position data sequence generated by shifting the original command position data sequence along the time axis. This sequence is time-lagging relative to the original command position data sequence and is used as a tracking target for the driven axis.

[0038] Translation on the time axis refers to moving a data sequence forward or backward as a whole in the time dimension, thereby changing its value at a specific moment. In this application, the translation operation aims to generate virtual instructions with a time lag in the instruction of the active axis, so that the virtual instructions received by the passive axis correspond to the instruction position of the active axis at an earlier moment. This makes the actual movement of the passive axis equivalent to waiting for the response lag of the active axis, thus compensating for the response lag of the active axis itself.

[0039] The synchronization method for eliminating multi-axis interpolation response hysteresis proposed in this application is applied to an industrial operating device containing one driving axis and one or more driven axes. In this device, the driven axes are configured to follow the movement of the driving axis. Please refer to... Figure 1 , Figure 1 The flowchart provided for Embodiment 1 of the synchronization method for eliminating multi-axis interpolation response hysteresis in this application includes: Step S100: Determine the response lag time of the driving shaft and the driven shaft respectively, and determine the response lag time difference between the driving shaft and the driven shaft based on their respective response lag times; Step S200: Based on the response lag time difference, the original command position data sequence of the active axis is shifted on the time axis to generate a virtual active axis position data sequence that lags behind the original command position data sequence on the time axis. Step S300: Control each driven axis to move with the virtual active axis position data sequence as the target, so that the actual position of each driven axis tends to be synchronized with the actual position of the active axis.

[0040] Specifically, the driving axis is set as a rotary axis, and the driven axis is set as a linear axis. Since rotary axes typically drive components with large inertia, their response lag time is generally greater than that of any driven axis (linear axis). For example, in a typical industrial robot system, the response lag of a rotary joint might be 20 milliseconds, while the response lag of a linear guideway might be 5 milliseconds. This configuration aims to address the inherent difference in response lag when rotary and linear axes are linked.

[0041] This method first requires determining the response lag time of each of the driving and driven axes, and then calculating the response lag time difference between them. As one implementation, the response lag time can be obtained by performing a step response test on each axis during the equipment commissioning phase. For example, a step position command is sent to both the driving and driven axes, and the time required from the command issuance to the actual position reaching the command value is recorded as their respective response lag times. Then, the response lag time difference is obtained by subtracting the response lag time of the driven axis from its response lag time.

[0042] Furthermore, based on the determined response lag time difference, the original command position data sequence of the active axis is shifted along the time axis to generate a virtual active axis position data sequence that lags behind the original command position data sequence in time. Specifically, each position point in the original command position data sequence can be shifted forward along the time axis according to the value of the response lag time difference. For example, if the response lag time difference is ΔT, then the position command P(t) at time t in the original command position data sequence will be mapped to the data point corresponding to time t-ΔT in the virtual active axis position data sequence. That is, at time t, the virtual command received by the driven axis is P(t-ΔT), which is the command position of the active axis before time ΔT. This makes the actual movement of the driven axis have an equivalent delay compared to the original command of the active axis, thus synchronizing with the actual position of the slower-responding active axis.

[0043] Ultimately, each driven axis is controlled to move using the virtual drive axis position data sequence as its target. This means that the driven axes no longer directly follow the original drive axis commands, but rather the virtual drive axis commands that have been time-shifted. In this way, the virtual commands followed by the driven axes lag behind the original drive axis commands in time. The effect is that the actual movement of the driven axes is equivalent to "waiting" for the response lag time difference, thus compensating for the longer response lag of the drive axis. Therefore, when the drive axis actually moves to its commanded position, the driven axes can also simultaneously reach their corresponding following positions, making the actual positions of each driven axis nearly synchronized with the actual positions of the drive axis, thereby achieving high-precision synchronous control of multi-axis linkage.

[0044] This application effectively solves the problem of machining contour deviation caused by inconsistent response lag when rotary and linear axes are linked in traditional multi-axis industrial equipment by dynamically sensing and compensating for the response lag time difference between the driving and driven axes. By time-shifting the driving axis commands, the faster-responding driven axis can "wait" for the slower-responding driving axis, thereby achieving synchronization of the actual positions of each axis at the physical level. As a result, the deviation between the actual machining contour and the ideal contour of the workpiece is significantly reduced, machining defects such as overcutting, undercutting, or surface ripples are avoided, and product yield is improved.

[0045] In some embodiments described above, this application proposes a method for multi-axis synchronous control by determining the response lag time of the driving and driven axes and performing time translation on the original command position data sequence of the driving axis based on the response lag time difference. However, in actual industrial operating equipment, the response lag time of each motion axis is not constant and may dynamically change due to various factors (such as load changes, friction, drive characteristics, etc.). If these dynamically changing response lag times cannot be accurately and in real time obtained, the accuracy and effect of subsequent time translation compensation will be directly affected, making it difficult to guarantee high-precision synchronization between the driving and driven axes.

[0046] In response, this application further proposes steps for determining the response lag time of the aforementioned driving shaft and driven shaft, specifically including: acquiring the command position and feedback position of the driving shaft and driven shaft in real time; calculating the position deviation of the driving shaft and driven shaft respectively based on the command position and feedback position of the driving shaft and driven shaft; acquiring the current motion speed of the driving shaft and driven shaft respectively; and determining the response lag time of the driving shaft and driven shaft respectively based on the position deviation and the current motion speed.

[0047] Specifically, real-time acquisition of the command and feedback positions of the driving and driven axes, and calculation of their corresponding position deviations, refers to the periodic generation of command positions for the driving and driven axes during the operation of industrial equipment. These command positions represent the ideal positions that the axes should reach at specific moments. Simultaneously, high-precision position sensors installed on each axis (e.g., rotary encoders for rotary axes, optical or magnetic scales for linear axes) can acquire the actual feedback positions of each axis in real time. (Fact correction: Clarifying the sensor types corresponding to different axis types is more in line with engineering practice.) The position deviation is usually calculated by subtracting the feedback position from the command position, i.e.: Position Deviation = Command Position - Feedback Position. This deviation directly reflects the instantaneous difference between the current position and the desired position of the axis, and is an important indicator for measuring the system's tracking performance and response speed.

[0048] Obtaining the current motion speed of the driving and driven axes means that the system acquires the real-time operating speed of the driving and driven axes within each sampling period. This speed can be obtained by performing differential operations on the real-time feedback position data (i.e., calculating the ratio of position change to time interval within consecutive sampling periods), or directly reading it from the speed feedback interface of the servo driver or motor encoder. Motion speed is a key parameter affecting the dynamic response characteristics of the shaft, because the influence of factors such as the shaft's inertia, friction, and the dynamic characteristics of the driver on response hysteresis is often closely related to the shaft's operating speed.

[0049] Determining the response lag time of the driving and driven axes based on position deviation and current speed means that after acquiring the real-time position deviation and current speed, this data can be used to estimate the response lag time of each axis. When an axis moves at a certain speed, if a persistent position deviation exists, this deviation can be considered to be due to a time lag between the axis and the command signal. Therefore, the response lag time can be approximately estimated by dividing the position deviation by the current speed: Response Lag Time ≈ Position Deviation / Current Speed. This calculation method provides an effective means of dynamically evaluating the axis response characteristics based on real-time operating data, reflecting the actual response delay of the axis under current operating conditions. The "≈" here indicates that the calculation provides an approximate, real-time estimate, rather than a strict physical definition.

[0050] Through the above technical solution, this application provides a real-time, dynamic, and data-driven method for determining response lag time. By continuously monitoring the command position, feedback position, and current speed of the drive and driven axes, and calculating the position deviation and response lag time based on this real-time data, the changes in the response characteristics of each axis of industrial operating equipment under dynamic operating conditions can be accurately captured. This real-time and accurate lag time acquisition mechanism provides a reliable input for subsequent time translation of the drive axis command position data sequence based on the response lag time difference, thereby significantly improving the accuracy and robustness of multi-axis interpolation synchronization control, effectively reducing the actual position synchronization error between the drive and driven axes, and ensuring high-precision collaborative operation of industrial operating equipment under complex motion trajectories.

[0051] Please refer to Figure 2 , Figure 2 This is a system structure block diagram of an industrial operating device provided in an embodiment of this application. The synchronization method for eliminating multi-axis interpolation response lag proposed in this application is applied to an industrial operating device containing one driving axis and one or more driven axes. In this device, the driven axes are configured to follow the driving axis. Specifically, the driving axis is set as a rotary axis, and the driven axes are set as linear axes. Since rotary axes typically drive components with large inertia, their response lag time is generally greater than that of any driven axis (linear axis). For example, in a typical industrial robot system, the response lag of a rotary joint may be 20 milliseconds, while the response lag of a linear guide may be 5 milliseconds. This configuration aims to solve the inherent difference in response lag when rotary and linear axes are linked.

[0052] Based on the determined response lag time difference, the original command position data sequence of the drive axis is translated on the time axis to generate a virtual drive axis position data sequence that lags behind the original command position data sequence on the time axis. Specifically, each position point in the original command position data sequence can be translated in the future direction on the time axis according to the value of the response lag time difference. For example, if the response lag time difference is ΔT, then the position command P(t) at time t in the original command position data sequence will be mapped to the data point at time t+ΔT in the virtual drive axis position data sequence. That is, at time t, the virtual command received by the driven axis is P(t-ΔT), which is the command position of the drive axis before time ΔT. This makes the actual movement of the driven axis have an equivalent delay compared to the original command of the drive axis, thus synchronizing with the actual position of the slower-responding drive axis.

[0053] Combination Figure 3 As shown, Figure 3This diagram illustrates the time shift compensation principle provided in an embodiment of this application. It visually demonstrates the temporal correspondence between the original command position data sequence and the virtual drive axis position data sequence. For example... Figure 3 As shown, the original command position data sequence is distributed along a preset trajectory on the time axis. After being shifted by the response lag time difference ΔT, the virtual active axis position data sequence lags behind the original sequence on the time axis. At time t, the data point corresponding to the virtual active axis position data sequence is P(t-ΔT), which is the command position of the original sequence before time ΔT. This time lag means that after receiving the virtual command, the actual movement of the driven axis is equivalent to "waiting" for the response lag time difference, thus synchronizing with the actual position of the active axis.

[0054] In some implementations, methods for determining the response lag time of the driving and driven axes calculate the position deviation by acquiring the command and feedback positions of each axis in real time, and then calculate the response lag time by combining this with the current motion speed. However, in actual industrial operating equipment, especially under conditions of low-speed movement or instantaneous stop, the current motion speed may approach zero. Directly using a near-zero speed as a divisor for calculation will lead to unstable, inaccurate, or even undefinable values ​​for the response lag time, thereby affecting the accuracy and stability of the overall synchronous control.

[0055] In response, this application further proposes a step for determining the response lag time of the driving axis and the driven axis based on the position deviation and the current motion speed, including: determining whether the absolute value of the current motion speed is greater than a preset speed threshold; if so, determining the response lag time at the current moment based on the quotient of the position deviation divided by the current motion speed; if not, maintaining and using the most recently calculated effective response lag time as the response lag time at the current moment.

[0056] Specifically, determining whether the absolute value of the current motion speed is greater than a preset speed threshold is crucial for effectively distinguishing the current operating state of the motion axis. This avoids inaccurate response lag time calculations when the speed is too low or the axis is stationary. In industrial operating equipment, when the axis's motion speed is close to zero, the position deviation may be primarily caused by static friction, dead zones, or measurement noise, rather than pure dynamic lag. In this case, directly dividing the position deviation by a very small speed value would lead to an abnormally large or drastic increase in the calculation result, rendering it meaningless. The preset speed threshold is an empirical value or a parameter determined experimentally, used to define a speed high enough to ensure the reliability of the calculation. If so, the response lag time at the current moment is determined based on the quotient of the position deviation divided by the current motion speed. When the absolute value of the current motion speed of the motion axis is greater than the preset speed threshold, it indicates that the axis is in a relatively stable motion state. At this time, the position deviation mainly reflects the time lag in the dynamic response process. The response lag time can be understood as the time required for the system to reach the commanded position from receiving the command, which is approximately equal to the ratio of the position deviation to the current motion speed. This calculation method provides a relatively accurate and real-time lag time estimate at higher speeds. Otherwise, the most recently calculated effective response lag time is retained and used as the response lag time for the current moment. When the absolute value of the current speed of the moving axis is not greater than a preset speed threshold, i.e., the axis is in a low-speed or stationary state, the method of calculating the response lag time by dividing the position deviation by the current speed is no longer applicable. To avoid introducing noise or unstable calculation results, this application chooses to retain and use the most recently calculated response lag time under effective speed conditions. Here, "effective response lag time" refers to the lag time value obtained through reliable calculation when the speed meets the threshold requirement. This strategy ensures that even when the speed does not meet the calculation conditions, the system can still use a relatively stable and reliable lag time value, thereby maintaining the smooth operation of the control system.

[0057] Through the above technical solution, this application effectively solves the problem of instability and inaccuracy in response lag time calculation when industrial equipment is operating at low speed or stationary. By introducing a speed threshold, when the movement speed is high enough, the response lag time at the current moment can be accurately calculated based on the position deviation and movement speed, ensuring the accuracy of dynamic response. When the movement speed is below the threshold, the most recent valid calculation result is intelligently used, avoiding calculation errors and system oscillations caused by dividing by zero or near-zero speed. This significantly improves the robustness and reliability of response lag time estimation, thus providing a more stable and accurate input for subsequent virtual active axis position data sequence generation and driven axis following control, ultimately improving the overall accuracy and stability of multi-axis interpolation synchronous control, especially its performance under complex motion trajectories and frequent start-stop conditions.

[0058] In some embodiments described above, the command and feedback positions of the drive and driven axes are acquired in real time, and the response lag time of each axis is determined by combining this with the current motion speed. Specifically, when the absolute value of the current motion speed is greater than a preset speed threshold, the response lag time is determined based on the quotient of the position deviation divided by the current motion speed; otherwise, the most recently calculated effective response lag time is retained and used. However, in actual industrial operating environments, the position and speed data collected by sensors are often affected by various random noises, causing the calculated response lag time to fluctuate instantaneously or become inaccurate. If this unstable response lag time is directly used in subsequent control strategies, it may introduce additional control errors, affecting the accuracy and stability of multi-axis synchronous control, and may even lead to unstable equipment operation.

[0059] In this regard, this application further proposes that the step of determining the response lag time of the driving shaft and the driven shaft respectively includes low-pass filtering of the response lag time of the driving shaft and the driven shaft respectively, so as to suppress signal noise.

[0060] Low-pass filtering is a signal processing technique whose core function is to allow signal components below a specific cutoff frequency to pass through while attenuating or blocking signal components above that cutoff frequency. In time series data processing, low-pass filtering is often used to smooth data and remove high-frequency noise, thereby revealing more stable trends or low-frequency variations in the data. In practice, it can be implemented in various ways. For example, a simple moving average filter can be used, where at each time point, the currently calculated response lag time is averaged with the response lag times of the previous N time points to obtain the smoothed value, where the choice of N depends on the desired smoothing level and real-time requirements. Alternatively, an exponentially weighted moving average (EMA) filter can be used, which assigns higher weights to recent data and lower weights to historical data, thus smoothing noise while providing good responsiveness to data changes. Its calculation formula is typically: Smoothing value = α Current value + (1-α) The previous smoothed value.

[0061] Here, α is the smoothing coefficient, ranging from 0 to 1. Furthermore, more complex digital filters, such as Butterworth or Chebyshev filters, can be designed. By setting appropriate cutoff frequencies and filter orders, more accurate frequency response characteristics can be achieved to effectively filter out noise within a specific frequency range. Suppressing signal noise refers to the random and irregular signal components introduced during measurement or calculation due to factors such as sensor accuracy, environmental interference, and internal system fluctuations. This noise typically manifests as high-frequency fluctuations, masking the true trend of signal changes. Low-pass filtering can effectively separate and remove this high-frequency noise from the response lag time signal, thereby obtaining a more stable and accurate estimate of the response lag time.

[0062] By employing the aforementioned technical solution, low-pass filtering is applied to the response lag times of both the driving and driven axes, effectively filtering out random high-frequency noise introduced during the calculation process. This results in more stable and accurate response lag time data, avoiding instantaneous fluctuations caused by noise. Since the response lag time is a crucial parameter for subsequent translation of the original command position data sequence of the driving axis on the time axis, a stable and accurate lag time value ensures more reliable generation of the virtual driving axis position data sequence. Therefore, when each driven axis moves using this virtual driving axis position data sequence as a target, its actual position can achieve more precise and stable synchronization with the actual position of the driving axis. This significantly improves the overall performance of multi-axis interpolation synchronization control and the operational stability of the equipment, effectively preventing the accumulation of synchronization errors and control oscillations caused by inaccurate lag time calculations.

[0063] To address this, this application further proposes a method for shifting the original command position data sequence of the drive shaft on the time axis to generate a virtual drive shaft position data sequence that lags behind the original command position data sequence on the time axis. This method refines the response lag time difference to address potential dynamic changes and noise interference in the response lag time difference during actual operation. In actual industrial operating equipment, the response lag time difference between the drive shaft and the driven shaft is not a constant value; it may fluctuate due to various factors, such as load changes, friction characteristics, temperature drift, and measurement noise. Simply shifting the overall time based on an instantaneous or average response lag time difference may lead to insufficient or over-compensation under dynamic operating conditions, or even introduce new oscillations, thereby affecting the accuracy and stability of multi-axis synchronous control.

[0064] To address the aforementioned problems, this application proposes a more refined compensation strategy. Specifically, the method includes the following steps: First, statistical analysis is performed on multiple response lag time differences acquired within a preset time period, and the response lag time differences are decomposed into a low-frequency component and a high-frequency component. The low-frequency component refers to the portion with a rate of change below a preset threshold, while the high-frequency component refers to the portion with a rate of change equal to or higher than the preset threshold. In practical applications, the measured values ​​of response lag time differences often contain stable, slowly changing systematic deviations as well as rapid, transient dynamic fluctuations or noise. By collecting and accumulating response lag time difference data within a "preset time period" (e.g., over several consecutive control cycles), statistical analysis can be performed, using methods such as moving averages, exponential smoothing, or Kalman filtering to extract its inherent regularity. Decomposing the response lag time difference into low-frequency and high-frequency components aims to separate these components with different characteristics. The low-frequency component typically represents the inherent, slowly changing lag characteristics of the system, such as lag caused by mechanical wear, temperature changes, or long-term load variations. The high-frequency component represents rapidly changing, transient lag, such as lag caused by instantaneous load impacts, vibrations, or measurement noise. This decomposition can be achieved using digital filters. For example, a low-pass filter can be used to extract low-frequency components, and then the high-frequency components can be obtained by subtracting the low-frequency components from the original signal, or a high-pass filter can be used directly to extract the high-frequency components. A preset threshold is used to define the rate of change, thereby distinguishing between low-frequency and high-frequency components.

[0065] Secondly, the original command position data sequence is time-shifted based on the low-frequency component, generating a virtual active axis position data sequence that lags behind the original command position data sequence on the time axis. Since the low-frequency component represents the stable and slowly changing part of the response lag time difference, using it for time shifting of the original command position data sequence of the active axis provides a smooth and stable virtual active axis position data sequence as the target for the slave axis. For example, if the lag time indicated by the low-frequency component is T_low, then at time t, the position command of the virtual active axis will correspond to the position command of the original active axis at time t + T_low. This low-frequency component-based shift ensures that the fundamental, systematic lag between the master and slave axes is effectively and stably compensated, avoiding over-adjustment or oscillation caused by instantaneous fluctuations. By decomposing the response lag time difference into low-frequency and high-frequency components and employing a dual strategy of "time domain compensation for low-frequency components and spatial domain compensation for high-frequency components," both systematic and transient lag differences are addressed.

[0066] Furthermore, the method includes multiplying the high-frequency component by the current velocity of the driven shaft, and adding this product as a position offset to the position command of the driven shaft. The high-frequency component reflects the rapidly changing dynamic portion of the response lag time difference. Although its time value may be small, even a small lag time difference can lead to significant position deviations at high speeds. Therefore, multiplying the high-frequency component (time value) by the current velocity of the driven shaft converts it into a real-time position offset. For example, if the high-frequency component is T_high and the current velocity of the driven shaft is V_slave, then the position offset is P_offset = T_high. V_slave. This position offset is then added to the slave axis position command in real time as a feedforward compensation to dynamically correct instantaneous position errors caused by high-frequency hysteresis components.

[0067] By decomposing the response lag time difference into low-frequency and high-frequency components and processing them separately, more refined and robust multi-axis synchronous control can be achieved. The low-frequency component provides stable time translation compensation, effectively handling systematic lag and ensuring the smoothness of the virtual drive axis trajectory, thereby improving overall synchronization stability. The high-frequency component, converted into position offset and superimposed on the driven axis command, achieves real-time, feedforward compensation for transient and dynamic lag errors. Especially under high-speed or high-dynamic conditions, it can significantly reduce instantaneous synchronization errors, thus greatly improving the synchronization accuracy of multi-axis motion. This dual-layer compensation mechanism enables the system to simultaneously handle stable and dynamic lag characteristics, maintaining high-precision synchronization performance under various operating conditions.

[0068] In some embodiments described above in this application, the original command position data sequence of the drive shaft is translated on the time axis, and the virtual drive shaft position data sequence is used as the following target of the driven shaft, thereby achieving synchronization between the drive shaft and the driven shaft at the position level. However, this position command-based hysteresis compensation method may not be able to completely eliminate transient synchronization errors caused by the inherent differences in the dynamic response characteristics of the motor drive system when facing the high-speed and highly dynamic operating conditions of industrial equipment. Especially during violent movements such as acceleration, deceleration, or direction switching, simple position command adjustment may have a response lag, making it difficult to achieve the ideal real-time synchronization effect.

[0069] To address this, this application further proposes that, before translating the original command position data sequence of the drive shaft on the time axis, a torque compensation amount is generated based on the acquired response lag time difference and its rate of change between the drive and driven shafts. The response lag time difference refers to the time difference between the command and actual response of the drive and driven shafts, and its rate of change reflects the trend of this time difference over time. This information can be calculated by real-time monitoring of the command and feedback positions of each shaft, combined with parameters such as motion speed. Generating the torque compensation amount means calculating an additional amount for adjusting the motor output torque based on these dynamically changing lag information using a preset control algorithm or mapping relationship. For example, a proportional-derivative (PD) controller can be designed, using the response lag time difference as the proportional term input and its rate of change as the derivative term input, thereby outputting a torque compensation value.

[0070] Subsequently, the torque compensation is injected into the motor drive unit of the driving shaft and / or driven shaft in a feedforward manner. Feedforward refers to applying control action in advance, based on predictions of the system's dynamic characteristics or known disturbances, before the system generates errors. Here, the torque compensation does not depend on the feedback of the actual position error, but rather acts directly on the motor drive unit based on the predicted response lag trend. The motor drive unit is the actuator responsible for receiving control commands and driving the motor to generate corresponding torque, typically containing a power amplifier and a current / speed / position loop controller. Injecting the torque compensation means that this compensation will be superimposed on the original torque command, jointly determining the motor's output torque, thus actively reducing the response lag time difference at the torque level. Through this torque-level preprocessing, the response lag difference between the driving shaft and driven shaft caused by the difference in the dynamic characteristics of the drive system can be reduced before executing subsequent position command time shifts, allowing subsequent position command-based synchronous control to be performed on a smaller residual basis, further improving overall synchronization accuracy. Compensation at the torque level means directly intervening in the fundamental power source that generates the motor's motion. Compared to time shifting at the position command level, torque compensation can more directly and quickly affect the motor's dynamic response. This allows for proactive adjustment of the dynamic characteristics of each axis at a lower control level, making their response behavior more consistent and reducing the response lag time difference between the driving and driven axes. This proactiveness is reflected in its attempt to correct errors before they occur. The torque compensation amount can be an additional analog voltage or current signal, or a digital feedforward value. These signals, as additional quantities to the original drive voltage or current commands, can be directly recognized and executed by the motor drive unit, thereby precisely controlling the motor's output torque.

[0071] The above technical solution generates torque compensation based on the acquired response lag time difference and its rate of change between the drive and driven axes before time-shifting the original command position data sequence of the drive axis. This compensation is then injected into the motor drive units of the drive and / or driven axes in a feedforward manner. This active compensation at the torque level can intervene more deeply in the dynamic response of the system, rather than simply adjusting at the position command level. Specifically, through predictive torque compensation, the response lag caused by the differences in the dynamic characteristics of the motor drive systems of each axis can be effectively offset or reduced. Especially under high dynamic conditions, it can significantly improve the synchronization accuracy and response speed of each axis. This allows the driven axis to follow the movement of the drive axis more closely and in real time, reducing transient synchronization errors. As a result, the overall operational stability and machining accuracy of industrial equipment are improved, while avoiding the system response lag problem that may result from over-reliance on position command time shifting.

[0072] In some of the embodiments described above in this application, it is necessary to determine the response lag time of the driving shaft and the driven shaft respectively. However, directly obtaining these response lag times through real-time measurement and calculation may be affected by system noise, transient operating condition changes, and computational complexity, making it difficult to guarantee the accuracy and real-time performance of the response lag time determination, thereby affecting the accuracy of subsequent interpolation synchronization control.

[0073] To address this, this application further proposes that the step of determining the response lag time of the driving and driven axes may include invoking a pre-built lag model. This lag model is established before equipment operation or in an offline state through experimental data, system identification, or theoretical analysis, and is stored in the control system. Its purpose is to provide a stable and efficient response lag time prediction mechanism, avoiding complex dynamic calculations during real-time operation, thereby improving the reliability and speed of response lag time acquisition.

[0074] The core function of a hysteresis model is to characterize the intrinsic mapping relationship between response lag time and a series of motion parameters. This mapping relationship can be linear, nonlinear, or implemented through lookup tables, neural networks, etc., accurately capturing the dynamic response characteristics of the system under different operating conditions. Through this mapping, the model can predict the response lag time of the shaft based on the current operating state. Motion parameters are key factors affecting the shaft response lag time, specifically including the speed, acceleration, load torque, and direction of travel of both the driving and driven shafts. Speed ​​and acceleration reflect the dynamic demands of the shaft, load torque reflects the influence of external resistance or inertial loads, and direction of travel may reveal the asymmetry of frictional characteristics or mechanical clearance. The real-time values ​​of these parameters are the input basis for the model's prediction. During actual operation, the control system collects or estimates the motion parameters such as the speed, acceleration, load torque, and direction of travel of the driving and driven shafts in real time under the current operating conditions. Subsequently, these real-time motion parameters are input into the pre-built hysteresis model. Based on its internally established mapping relationship, the hysteresis model quickly calculates and outputs the model-predicted response lag time of each of the driving and driven shafts. This prediction method ensures accurate and real-time response lag time even under dynamically changing operating conditions.

[0075] Through the above technical solution, this application can utilize a pre-constructed hysteresis model and input motion parameters under the current operating conditions to quickly, stably, and accurately obtain the response hysteresis times of the driving and driven axes. Compared to real-time measurement and calculation, this method effectively avoids the influence of noise interference and transient operating condition changes on the determination of hysteresis time, significantly improving the accuracy and real-time performance of response hysteresis time estimation. Because the response hysteresis time is determined more precisely, the calculation of the response hysteresis time difference between the driving and driven axes is also more accurate. This makes the time translation of the original command position data sequence of the driving axis more precise, thereby generating a more accurate virtual driving axis position data sequence. Ultimately, each driven axis can follow the virtual driving axis position data sequence with higher precision, greatly improving the synchronization accuracy between the actual positions of each driven axis and the actual positions of the driving axis, thus optimizing the interpolation synchronization control performance of the entire industrial operating equipment.

[0076] In some embodiments described above, a method is proposed to determine the response lag time of each of the driving and driven axes, and to perform time shifting on the original command position data sequence of the driving axis based on the response lag time difference to achieve synchronous control. However, in actual industrial operating equipment, the response lag time of each axis is not fixed, but is subject to the complex influence of various motion parameters (such as speed, acceleration, load torque, and running direction). If the influence of these parameter changes on the response lag time is not accurately captured, the determined response lag time may be inaccurate, thereby affecting the accuracy and robustness of multi-axis synchronous control.

[0077] To address this, this application further proposes a more precise method for determining response lag time. This method first operates the industrial equipment under different preset operating conditions and identifies and records the response lag time of each axis. The preset operating conditions are designed to comprehensively cover various dynamic conditions that the industrial equipment may encounter in actual operation, such as combinations of different motion speeds, accelerations, load torques, and directions of movement. By systematically testing under these diverse operating conditions, a rich dataset reflecting the response characteristics of each axis under different motion states can be obtained. For example, a series of test programs can be set up to allow the driving and driven axes to operate at constant speed, with variable acceleration / deceleration, under different load conditions (such as simulation by an external loading device), and in forward and reverse motion, respectively, and the time difference between the command and the actual response is collected in real time as the response lag time.

[0078] Based on this, the response lag time recorded under various preset operating conditions is decoupled into multiple physical characteristic components. This decoupling process aims to decompose the overall response lag time into independent components caused by different physical mechanisms, thereby gaining a deeper understanding and modeling of its dynamic behavior. The physical characteristic components specifically include: a velocity-independent static friction component, which characterizes the initial resistance that needs to be overcome during startup or low-speed movement; a velocity-proportional viscous friction component, which reflects the velocity-related resistance caused by fluid damping or internal friction during movement; an acceleration-related inertial component, which reflects the influence of the mass and inertia of the moving parts on the response speed; a load torque-related offset component, which considers the systematic deviation that external load changes may cause to the response lag time; and a direction-sensitive component related to the direction of operation, which describes the response differences that may exist during forward and reverse movement, such as those caused by mechanical clearance or asymmetric friction. The decoupling process can use system identification techniques, such as least squares or regression analysis, to fit the collected response lag time data into a preset physical model, thereby determining the coefficients of each component.

[0079] Subsequently, based on the decoupled physical characteristic components, a lag model of the response lag time with respect to the motion parameters is constructed. This model is a mathematical expression that takes current motion parameters (such as velocity, acceleration, load torque, and direction of travel) as input and outputs the predicted response lag time. For example, the model can be expressed as the response lag time equal to the weighted sum of each physical characteristic component multiplied by its corresponding coefficient. In this way, the model can capture the nonlinear and dynamic characteristics of the response lag time as a function of motion parameters, providing accurate predictions for subsequent synchronization control.

[0080] Through the above technical solution, this application overcomes the problem of inaccurate estimation of response lag time under complex and variable operating conditions using traditional methods. By systematically identifying and recording the response lag time under different preset operating conditions, and decoupling it into multiple characteristic components with physical meaning, an accurate lag model is constructed. This enables the system to predict the response lag time of the drive shaft and driven shaft under the current motion parameters in real time and accurately. This significantly improves the accuracy of determining the response lag time difference, thereby making the time translation of the original command position data sequence of the drive shaft more accurate, and the generated virtual drive shaft position data sequence can more realistically reflect the synchronization target. Ultimately, this greatly enhances the accuracy and robustness of multi-axis synchronous control of industrial operating equipment under various dynamic operating conditions, ensuring that the actual positions of the driven shaft and drive shaft can more closely approach synchronization.

[0081] In some embodiments described above in this application, a hysteresis model is proposed by operating industrial equipment under different preset operating conditions and decoupling the response lag time into multiple physical characteristic components. However, during its implementation, the equipment may face wear, environmental changes, or mechanical characteristic drift caused by long-term operation, which may cause the predetermined model coefficients to gradually become inaccurate, thereby affecting the accuracy and stability of multi-axis synchronization.

[0082] In response, this application further proposes to use the actual response lag time obtained from real-time measurement as feedback during the actual operation of industrial equipment to optimize and correct the coefficients of static friction component, viscous friction component, inertial component, offset component and direction-sensitive component online.

[0083] Specifically, the operation of industrial equipment under various actual working conditions refers to the process by which industrial equipment operates in the daily, continuous, and dynamically changing actual production environment after it has been put into production use. Unlike testing or calibration under preset working conditions, actual working conditions may include a wider range of speed, acceleration, load variations, and environmental factors, which may change over time. During this process, the system needs to be continuously monitored and adjusted to ensure performance stability.

[0084] Simultaneously, the system utilizes the actual response lag time obtained through real-time measurement as feedback. This means that during actual equipment operation, the system continuously and dynamically acquires the actual response lag time of each axis. The actual response lag time can be measured in real time in various ways, for example, by comparing the commanded position of each axis with the actual feedback position and calculating it in conjunction with the current motion speed. These real-time measurements are used as feedback signals to reflect the true dynamic response characteristics of each axis under the current operating conditions.

[0085] Based on this, the system will optimize and correct the coefficients of the static friction component, viscous friction component, inertial component, offset component, and direction-sensitive component online. "Online optimization and correction" refers to dynamically adjusting the coefficients of each physical characteristic component determined when constructing the hysteresis model, based on the actual response lag time fed back in real time, without stopping the equipment or interrupting normal operation. This correction process can be implemented using techniques such as adaptive control algorithms, least squares methods, or Kalman filtering. For example, the system can continuously calculate the error between the lag time predicted by the model and the actual measured lag time, and adjust the coefficients of each component according to this error to make the model prediction value closer to the actual value. The static friction component, viscous friction component, inertial component, offset component, and direction-sensitive component are key parameters describing the shaft motion characteristics; accurate correction of their coefficients ensures that the hysteresis model always accurately reflects the current dynamic characteristics of the equipment.

[0086] Through the above technical solution, this application can effectively solve the problem of hysteresis model parameter drift caused by equipment wear, environmental changes, or long-term operation. This adaptive correction mechanism ensures that the hysteresis model can always accurately predict the response lag time of each axis, thereby maintaining high-precision synchronization performance between the driving and driven axes. Even under complex and dynamically changing actual working conditions, the system can continuously provide accurate interpolation synchronization control, significantly improving the operational stability and machining accuracy of the equipment, extending the service life of the equipment, and reducing the maintenance and calibration needs caused by model inaccuracies.

[0087] In some of the above embodiments, the synchronous following of the driven axis to the driven axis is achieved by determining the response lag time difference between the driving and driven axes and performing time translation on the original command position data sequence of the driving axis based on this time difference. However, in actual industrial operating equipment, the response lag time of the axis is not constant; it is often affected by various motion parameters, especially the speed. If a fixed response lag time difference is simply used for compensation, or if it does not fully consider speed changes, the compensation accuracy may be insufficient under dynamic operating conditions such as high-speed or low-speed operation of the equipment, thereby affecting the synchronization performance and machining accuracy between multiple axes.

[0088] In response, this application further proposes a method for optimizing multi-axis interpolation synchronization control, combining... Figure 4 As shown, Figure 4 This is a schematic diagram of the speed-hysteresis characteristic curve provided in an embodiment of this application. Figure 4 As shown, the curve characterizes the nonlinear relationship between response lag time and motion speed. This process corresponds to the implementation scheme regarding "constructing a speed-lag mapping table and characteristic curves," and specifically includes the following steps: During the operation of industrial equipment, a speed-lag mapping table is constructed using the current speed of the driving shaft and / or driven shaft as the index variable and the real-time determined response lag time or response lag time difference as the mapping value. Curve fitting is performed on the discrete mapping points in the speed-lag mapping table to generate a speed-lag characteristic curve, which represents the nonlinear relationship between the response lag time and the speed. Based on the current speed of the driving shaft and / or driven shaft, the speed-lag characteristic curve is queried to obtain the predicted response lag time difference corresponding to the current speed. The original command position data sequence is then time-shifted based on the predicted response lag time difference.

[0089] Specifically, during the operation of industrial equipment, the system monitors the current speed of the driving and / or driven axes in real time. Simultaneously, using a pre-defined algorithm (e.g., by analyzing the deviation between the command position and the feedback position and the current speed), the system determines the response lag time of each axis or the response lag time difference between the driving and driven axes in real time. These real-time determined response lag times or response lag time differences are used as mapping values, while the corresponding current speed is used as an index variable. Together, they form a data pair and are recorded to construct a speed-lag mapping table. This mapping table records the response lag characteristics of the axes at different speeds. To more accurately characterize the relationship between response lag time and speed and overcome the limitations of discrete data points, curve fitting is performed on the discrete mapping points in the constructed speed-lag mapping table. Curve fitting can employ various mathematical methods, such as polynomial fitting, spline interpolation, and least squares, to generate a continuous speed-lag characteristic curve. This curve accurately characterizes the nonlinear relationship between response lag time and speed, reflecting that the response lag time may exhibit different trends in different speed ranges, such as being more affected by friction at low speeds and more affected by inertia at high speeds. During actual operation, the system acquires the current speed of the drive shaft and / or driven shaft in real time. Using this current speed as input, a pre-generated speed-lag characteristic curve is queried. Through curve interpolation or direct value extraction, the predicted response lag time difference precisely corresponding to the current speed can be obtained from this curve. This prediction mechanism can dynamically provide a more accurate estimate of the lag time difference based on real-time speed changes, rather than relying on static or average values. After obtaining the predicted response lag time difference under the current operating condition, the system will precisely shift the original command position data sequence of the drive shaft on the time axis based on this predicted value. This means that the command position data of the drive shaft will be delayed according to the predicted lag time difference corresponding to the current speed, thereby generating a virtual drive shaft position data sequence that lags behind the original command position data sequence on the time axis. This virtual sequence will serve as the target for the driven axis to follow, ensuring that the driven axis can more accurately synchronize with the actual movement of the driving axis when it receives instructions.

[0090] Through the above technical solution, this application effectively solves the problem of dynamic changes in response lag time due to motion speed in multi-axis interpolation synchronization control. By constructing a speed-lag mapping table in real time during equipment operation and performing curve fitting to generate a speed-lag characteristic curve representing a nonlinear relationship, the system can dynamically and accurately predict the response lag time difference based on the current motion speed. Based on this predicted lag time difference, the command data of the drive axis is time-shifted, enabling the driven axis to more accurately reflect the actual motion trajectory of the drive axis. This significantly improves the synchronization accuracy and stability of multi-axis operation under different speed conditions, especially in high-speed or variable-speed operation scenarios, effectively reducing synchronization errors caused by lag time variations, thereby improving the processing quality and operating efficiency of industrial equipment.

[0091] In some embodiments described above in this application, the response lag time difference between the driving and driven axes is determined, and the original command position data sequence of the driving axis is time-shifted based on this time difference to achieve synchronization between the actual positions of each driven axis and the driving axis. However, during long-term operation of industrial equipment, the dynamic response characteristics of each motion axis may drift due to factors such as mechanical wear, component aging, or environmental changes. This can cause the original lag time compensation parameters to become inaccurate, thereby affecting the interpolation synchronization accuracy and potentially leading to a decrease in processing quality or equipment failure. Existing technical solutions lack effective monitoring and response mechanisms for such long-term performance drift.

[0092] In response, this application further proposes a synchronization method to eliminate multi-axis interpolation response lag. The method further includes: after the industrial operating equipment has completed debugging and produced the first qualified product, recording the response lag time of the drive axis and the driven axis as the reference response lag time, or recording the response lag time difference between the drive axis and the driven axis as the reference response lag time difference. The reference response lag time or the reference response lag time difference can be a measurement value obtained by performing a special standard test procedure after the equipment has been debugged, or it can be the statistical average of the measurement values ​​of several cycles with the most stable operation selected from multiple consecutive processing cycles. In each subsequent processing cycle or at a preset calibration time point, determine the current response lag time of the driving axis and the driven axis, or the current response lag time difference between the driving axis and the driven axis; compare the current response lag time with the reference response lag time to obtain the lag time deviation, or compare the current response lag time difference with the reference response lag time difference to obtain the lag time difference deviation; perform graded response operations based on the relationship between the lag time deviation or lag time difference deviation and preset multi-level thresholds; the graded response operations include: when the lag time deviation or lag time difference deviation is less than the first preset threshold, determining that the industrial operating equipment is in a normal state; when the lag time deviation or lag time difference deviation is between the first preset threshold and the second preset threshold, outputting maintenance prompt information and marking the moving axis that has the deviation on the human-machine interface, the moving axis being the driving axis or the driven axis; when the lag time deviation or lag time difference deviation is greater than the second preset threshold, triggering a shutdown alarm signal.

[0093] Specifically, after the industrial equipment has completed commissioning and produced its first qualified product, the response lag time of each of the driving and driven axes is recorded as the baseline response lag time, or the difference in response lag time between the driving and driven axes is recorded as the baseline response lag time difference. This step aims to obtain the dynamic response characteristics of the equipment under optimal operating conditions as a reference standard. Typically, after the equipment has undergone rigorous installation, calibration, and trial operation, and successfully produced its first product meeting quality standards, the response characteristics of each motion axis are considered ideal. At this point, a specific test program can be run to accurately measure the time difference between the command and actual response of each axis, or the time difference between the driving and driven axes, and these values ​​are stored in the equipment's controller memory, non-volatile memory, or external database as the "gold standard" for subsequent performance monitoring.

[0094] In each subsequent processing cycle or at a preset calibration time point, the current response lag time of each drive and driven axis, or the current response lag time difference between the drive and driven axes, is determined. This step is to acquire the current dynamic response characteristics of the equipment in real time or periodically. The method for determining the current response lag time can follow the method described above, which involves acquiring the command position and feedback position in real time, calculating the position deviation, acquiring the current motion speed, and calculating the current response lag time based on these parameters. Alternatively, prediction can be made by calling a pre-built lag model and inputting the current operating parameters. This continuous monitoring ensures timely perception of changes in equipment performance.

[0095] Subsequently, the current response lag time is compared with the baseline response lag time to obtain the lag time deviation, or the current response lag time difference is compared with the baseline response lag time difference to obtain the lag time difference deviation. This comparison process aims to quantify the difference between the current equipment performance and the baseline performance. Through a simple subtraction operation, a numerical value can be obtained, which intuitively reflects the degree of deviation of the equipment's dynamic response characteristics from its optimal state. Positive or negative values ​​indicate an increase or decrease in lag time, and the larger the absolute value, the more severe the deviation.

[0096] Based on the relationship between the lag time deviation or lag time difference deviation and preset multi-level thresholds, a graded response operation is executed. This graded response operation is the core of this application; it takes different levels of countermeasures according to the severity of the deviation, realizing intelligent equipment status management and fault early warning. The preset multi-level thresholds typically include at least a first preset threshold and a second preset threshold, dividing the deviation range into multiple intervals, each interval corresponding to a certain equipment status and a corresponding processing strategy.

[0097] The tiered response operation specifically includes: When the lag time deviation or lag time difference deviation is less than the first preset threshold, the industrial operating equipment is determined to be in a normal state. This indicates that the equipment's dynamic response characteristics are very close to the benchmark value, its performance is good, and no intervention is required; the equipment can continue to operate stably. When the lag time deviation or lag time difference deviation is between the first and second preset thresholds, a maintenance prompt message is output, and the moving axis causing the deviation is marked on the human-machine interface. The moving axis is either the driving axis or the driven axis. This indicates that the equipment performance has begun to decline slightly. Although it may not have seriously affected the processing quality yet, there is a potential risk. At this time, the system will issue a warning to the operator, suggesting inspection or maintenance, and clearly indicating the moving axis that may have a problem, so as to carry out targeted troubleshooting. When the lag time deviation or lag time difference deviation is greater than the second preset threshold, a shutdown alarm signal is triggered. This indicates that the equipment performance has seriously deviated from the benchmark, there is a high risk of failure, or it has significantly affected the processing quality. Immediate shutdown and inspection are required to avoid further damage to the equipment or the production of a large number of defective products.

[0098] By introducing a reference response lag time or lag time difference and comparing it with the real-time determined current value, this application can effectively monitor the dynamic response characteristic drift that may occur in industrial operating equipment during long-term operation. This monitoring mechanism, combined with multi-level threshold hierarchical response operations, enables the equipment to intelligently judge its status and take corresponding measures based on the severity of performance deviations. Specifically, when the deviation is small, the equipment can continue to operate normally; when the deviation reaches a certain level, the system will promptly issue a maintenance prompt and locate the problematic axis, thereby achieving predictive maintenance and preventing small problems from escalating into major failures; when the deviation is too large, a shutdown alarm is triggered to prevent equipment damage or the production of defective products. This significantly improves the operational reliability, processing accuracy, and maintenance efficiency of industrial operating equipment, ensuring the long-term stability of multi-axis interpolation synchronous control and the consistency of product quality.

[0099] The following example will provide a more detailed explanation of the above technical solution: In a multi-axis laser cutting machine, high-precision cutting of a workpiece with a complex shape is required. The machine includes a rotary axis (e.g., the C-axis for rotating the workpiece) as the driving axis and three linear axes (e.g., the X, Y, and Z axes for controlling the laser head movement) as driven axes. In actual operation, due to the larger inertia of the workpiece driven by the C-axis, its response lag time to commands is typically longer than that of the X, Y, and Z linear axes. For example, the response lag time of the C-axis might be 25 milliseconds, while the response lag time of the X, Y, and Z axes might be 5 milliseconds. This 20-millisecond difference in response lag time leads to a problem: when the X, Y, and Z axes follow the commanded position of the C-axis at the current moment, the actual position of the C-axis has not yet reached the commanded position, causing a deviation between the laser cutting trajectory and the ideal trajectory, resulting in defects such as overcutting or undercutting in the processed product.

[0100] To address the aforementioned issues, this multi-axis laser cutting equipment employs a synchronization method that eliminates multi-axis interpolation response lag.

[0101] First, the control system determines the response lag time of the C-axis and the X, Y, and Z axes in real time. Specifically, the system continuously acquires the commanded position and actual feedback position of the C-axis and the X, Y, and Z axes, and calculates their respective position deviations. Simultaneously, it acquires the current motion speed of each axis. When the absolute value of the current motion speed of each axis is greater than a preset speed threshold, the system divides the position deviation by the current motion speed to obtain the response lag time at the current moment. If the current motion speed is lower than the threshold, the most recently calculated effective response lag time is used. To improve the stability of the calculation, the response lag times of the driving and driven axes are low-pass filtered to suppress signal noise. In this way, the system dynamically acquires the response lag time of the C-axis (e.g., 25 milliseconds) and the response lag times of the X, Y, and Z axes (e.g., 5 milliseconds), and then determines the response lag time difference between them (e.g., 20 milliseconds).

[0102] Next, based on this response lag time difference, the control system shifts the original command position data sequence of the C-axis along the time axis. Specifically, it statistically analyzes multiple response lag time differences acquired within a preset time period, decomposing them into a low-frequency component and a high-frequency component. The low-frequency component represents the stable portion with a low rate of change, while the high-frequency component represents the fluctuating portion with a high rate of change or equal to a preset threshold. The system shifts the original command position data sequence of the C-axis along the time axis based on the low-frequency component (e.g., 18 milliseconds), generating a virtual C-axis position data sequence that lags behind the original command position data sequence in time. This means that at time t, the command position of the virtual C-axis corresponds to the command position of the original C-axis at time t-18 milliseconds. Simultaneously, the product of the high-frequency component (e.g., 2 milliseconds) and the current motion velocity of the X, Y, and Z axes is used as a position offset and superimposed on the position commands of the X, Y, and Z axes for more refined dynamic compensation.

[0103] Then, the control system controls the X, Y, and Z axes to move using this virtual C-axis position data sequence as a target. Because the X, Y, and Z axes have a relatively fast response speed, they can begin moving in advance after receiving commands based on the virtual C-axis sequence. When the actual position of the C-axis reaches a certain point due to its inherent response lag, the actual positions of the X, Y, and Z axes also synchronously reach their corresponding target points. In this way, the actual positions of each driven axis and the actual positions of the driving axis tend to be synchronized during dynamic movement, effectively eliminating trajectory deviations caused by response lag time differences.

[0104] Compared to existing methods that use fixed time delay compensation, this method can sense and dynamically adjust the response lag time difference in real time, thereby adapting to changes in equipment operation under different conditions (such as different speeds and loads). Compared to methods that simply increase servo gain, this method solves the time asynchrony problem at the instruction level, avoiding mechanical resonance problems that may be caused by excessively high gain.

[0105] Furthermore, to further optimize the synchronization effect, before time-shifting the original command position data sequence of the C-axis, the system can generate torque compensation based on the acquired response lag time difference and its rate of change between the C-axis and the X, Y, and Z axes. This torque compensation (e.g., a differential voltage signal or a differential current signal) is injected into the motor drive units of the C-axis and / or X, Y, and Z axes in a feedforward manner, thereby actively reducing the response lag time difference at the torque level and providing a better foundation for subsequent time shifting.

[0106] After the equipment completes debugging and produces the first qualified product, the system records the response lag time of the C-axis and the X, Y, and Z axes as the baseline response lag time, or records the difference in response lag time between the C-axis and the X, Y, and Z axes as the baseline response lag time difference. In each subsequent processing cycle or at a preset calibration time point, the system determines the current response lag time or response lag time difference and compares it with the baseline value to obtain the lag time deviation or lag time difference deviation. Based on the relationship between this deviation and preset multi-level thresholds, the system performs graded response operations: when the deviation is less than the first preset threshold, the equipment is determined to be in normal condition; when the deviation is between the first and second preset thresholds, maintenance prompts are output, and the axis causing the deviation is marked on the human-machine interface; when the deviation is greater than the second preset threshold, a shutdown alarm signal is triggered to prevent the production of defective products and to prompt necessary maintenance.

[0107] Using the above method, the laser cutting equipment can achieve high-precision synchronous movement between the C-axis and the X, Y, and Z axes, significantly improving processing accuracy and product yield. Compared with the significant trajectory deviation caused by the 20-millisecond response lag time difference when this method is not used, this method eliminates the adverse effects of this time difference on synchronization accuracy at its source through time shifting at the command layer and active compensation at the torque layer.

[0108] This application provides an industrial operating device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the synchronization method for eliminating multi-axis interpolation response hysteresis in the first embodiment described above.

[0109] The following is for reference. Figure 5It shows a structural schematic diagram of an industrial operating device suitable for implementing the embodiments of this application. Figure 5 The industrial operating equipment shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0110] like Figure 5 As shown, the industrial operating equipment may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the industrial operating equipment. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows industrial operating equipment to communicate wirelessly or wiredly with other equipment to exchange data. Although the figures show industrial operating equipment with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0111] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0112] The industrial operating equipment provided in this application adopts the synchronization method for eliminating multi-axis interpolation response lag in the above embodiments, which enables the actual following position of the linear axis and the actual commanded position of the rotary axis to be synchronized in time during multi-axis interpolation motion, avoiding deviation of the machining trajectory and improving product yield. Compared with the prior art, the beneficial effects of the industrial operating equipment provided in this application are the same as those of the synchronization method for eliminating multi-axis interpolation response lag provided in the above embodiments, and other technical features of this industrial operating equipment are the same as those disclosed in the synchronization method for eliminating multi-axis interpolation response lag in the previous embodiment, and will not be repeated here.

[0113] It should be understood that the various parts disclosed in the embodiments of this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0114] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

[0115] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the synchronization method for eliminating multi-axis interpolation response hysteresis in the above embodiments.

[0116] The computer-readable storage medium provided in this application embodiment may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0117] The aforementioned computer-readable storage medium may be included in industrial operating equipment; or it may exist independently and not assembled into industrial operating equipment.

[0118] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by industrial operating equipment, the industrial operating equipment: determines the response lag time of each of the driving and driven axes; determines the response lag time difference between the driving and driven axes based on their respective response lag times; shifts the original command position data sequence of the driving axis on the time axis based on the response lag time difference, generating a virtual driving axis position data sequence that lags behind the original command position data sequence on the time axis; and controls each driven axis to move with the virtual driving axis position data sequence as the following target, so that the actual position of each driven axis tends to be synchronized with the actual position of the driving axis. Computer program code for performing the operations of the embodiments of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0119] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0120] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0121] The readable storage medium provided in this application embodiment is a computer-readable storage medium. This medium stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned synchronization method for eliminating multi-axis interpolation response lag. This enables the actual following position of the linear axis and the actual commanded position of the rotary axis to be synchronized in time during multi-axis interpolation motion, avoiding deviation of the machining trajectory and improving product yield. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application embodiment are the same as the beneficial effects of the synchronization method for eliminating multi-axis interpolation response lag provided in the above embodiments, and will not be repeated here.

[0122] The above are only some embodiments of this application and do not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A synchronization method for eliminating multi-axis interpolation response lag, characterized in that, This invention is applied to an industrial operating device comprising a drive shaft and at least one driven shaft, wherein the driven shaft follows the drive shaft in motion, and the response lag time of the drive shaft is greater than the response lag time of any of the driven shafts; wherein the drive shaft is a rotary shaft and the driven shaft is a linear shaft. The method includes the following steps: Determine the response lag time of the driving shaft and the driven shaft respectively, and determine the response lag time difference between the driving shaft and the driven shaft based on their respective response lag times; Based on the response lag time difference, the original command position data sequence of the active axis is shifted on the time axis to generate a virtual active axis position data sequence that lags behind the original command position data sequence on the time axis. Each of the driven axes is controlled to move with the virtual active axis position data sequence as the target, so that the actual position of each driven axis tends to be synchronized with the actual position of the active axis.

2. The method as described in claim 1, characterized in that, The step of determining the response lag time of the driving shaft and the driven shaft respectively includes: The command position and feedback position of the drive axis and the driven axis are acquired in real time, and the position deviation of the drive axis and the driven axis is calculated based on the command position and feedback position of the drive axis and the driven axis respectively. Obtain the current motion speed corresponding to each of the driving shaft and the driven shaft; Based on the position deviation and the current motion speed, the response lag time of the driving shaft and the driven shaft is determined respectively.

3. The method as described in claim 2, characterized in that, The step of determining the response lag time of the driving shaft and the driven shaft respectively based on the position deviation and the current motion speed includes: Determine whether the absolute value of the current motion speed is greater than a preset speed threshold; If so, the response lag time at the current moment is determined based on the quotient of the position deviation divided by the current motion speed; If not, then the most recently calculated effective response lag time will be retained and used as the response lag time at the current moment.

4. The method as described in claim 3, characterized in that, The step of determining the response lag time of the driving shaft and the driven shaft respectively further includes: The response lag times of the driving shaft and the driven shaft are respectively subjected to low-pass filtering to suppress signal noise.

5. The method according to claim 1, characterized in that, The step of shifting the original command position data sequence of the active axis on the time axis based on the response lag time difference to generate a virtual active axis position data sequence that lags behind the original command position data sequence on the time axis includes: Statistical analysis is performed on multiple response lag time differences obtained within a preset time period, and the response lag time differences are decomposed into a low-frequency component and a high-frequency component; wherein, the low-frequency component refers to the part with a rate of change lower than a preset threshold, and the high-frequency component refers to the part with a rate of change equal to or higher than the preset threshold. The original instruction position data sequence is time-shifted based on the low-frequency component to generate a virtual active axis position data sequence that lags behind the original instruction position data sequence on the time axis. The method further includes: The product of the high-frequency component and the current speed of the driven shaft is used as a position offset and added to the position command of the driven shaft.

6. The method according to any one of claims 1 to 5, characterized in that, Prior to the step of translating the original command position data sequence of the drive axis on the time axis, the method further includes: Based on the obtained response lag time difference and its rate of change between the driving shaft and the driven shaft, a torque compensation amount is generated; The torque compensation amount is injected into the motor drive unit of the driving shaft and / or the driven shaft in a feedforward manner to actively reduce the response lag time difference at the torque level. The torque compensation amount is a differential voltage signal or a differential current signal.

7. The method as described in claim 1, characterized in that, The step of determining the response lag time of the driving shaft and the driven shaft respectively includes: A pre-built hysteresis model is invoked, which characterizes the mapping relationship between response hysteresis time and motion parameters, including the motion speed, acceleration, load torque, and running direction of the driving shaft and the driven shaft, respectively. Input the motion parameters under the current working condition into the hysteresis model, and obtain the response hysteresis time of the driving shaft and the driven shaft predicted by the model.

8. The method as described in claim 7, characterized in that, The industrial operating equipment is operated under different preset operating conditions, and the response lag time of each axis is identified and recorded. The preset operating conditions cover different combinations of motion speed, acceleration, load torque and running direction. The method further includes: The response lag time recorded under each preset working condition is decoupled into multiple physical characteristic components, including: a static friction component that is independent of speed, a viscous friction component that is proportional to speed, an inertial component that is related to acceleration, an offset component that is related to load torque, and a direction-sensitive component that is related to the running direction. Based on the decoupled physical characteristic components, a lag model of the response lag time with respect to the motion parameters is constructed.

9. The method as described in claim 8, characterized in that, During the operation of the industrial equipment under various actual working conditions, the actual response lag time obtained by real-time measurement is used as feedback to optimize and correct the coefficients of the static friction component, viscous friction component, inertial component, offset component and direction-sensitive component online.

10. The method as described in claim 1, characterized in that, The step of shifting the original command position data sequence of the active axis on the time axis based on the response lag time difference to generate a virtual active axis position data sequence that lags behind the original command position data sequence on the time axis includes: During the operation of the industrial operating equipment, the current speed of the driving shaft and / or the driven shaft is used as the index variable, and the real-time determined response lag time or the response lag time difference is used as the mapping value to construct a speed-lag mapping table. Curve fitting is performed on the discrete mapping points in the velocity-hysteresis mapping table to generate a velocity-hysteresis characteristic curve, wherein the velocity-hysteresis characteristic curve characterizes the nonlinear relationship between the response hysteresis time and the motion velocity. Based on the current motion speed of the driving shaft and / or the driven shaft, query the speed-hysteresis characteristic curve to obtain the predicted response hysteresis time difference corresponding to the current motion speed; The original instruction position data sequence is time-shifted based on the predicted response lag time difference.

11. The method as described in claim 1, characterized in that, The method further includes: After the industrial operating equipment completes debugging and produces the first qualified product, the response lag time of the drive shaft and the driven shaft is recorded as the reference response lag time, or the response lag time difference between the drive shaft and the driven shaft is recorded as the reference response lag time difference. In each subsequent processing cycle or at a preset calibration time point, determine the current response lag time of the drive shaft and the driven shaft, or the current response lag time difference between the drive shaft and the driven shaft. The current response lag time is compared with the baseline response lag time to obtain the lag time deviation, or the current response lag time difference is compared with the baseline response lag time difference to obtain the lag time difference deviation. Based on the relationship between the lag time deviation or the lag time difference deviation and the preset multi-level threshold, a graded response operation is performed; The execution of the hierarchical response operation includes: When the lag time deviation or the lag time difference deviation is less than a first preset threshold, the industrial operating equipment is determined to be in a normal state. When the lag time deviation or the lag time difference deviation is between the first preset threshold and the second preset threshold, a maintenance prompt message is output, and the motion axis that causes the deviation is marked on the human-machine interface. The motion axis is the active axis or the driven axis. When the lag time deviation or the lag time difference deviation is greater than the second preset threshold, a shutdown alarm signal is triggered.

12. An industrial operating device, characterized in that, The industrial operating equipment includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the synchronization method for eliminating multi-axis interpolation response lag as described in any one of claims 1 to 11.

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