Laser cutting machine based on low thrust fluctuation linear motor

Abstract

The present invention relates to a laser cutting machine based on a low-thrust fluctuation linear motor, comprising a linear motor and a detection device installed on the linear motor, wherein the detection device comprises: a feedback module for adjusting the movement direction of the linear motor; the feedback module operates based on a feedback system, wherein the feedback system comprises: an input variable R(S), a first prediction model C(S) connected to the output end of the input variable R(S), a second prediction model Q(S) connected to the input variable R(S) and connected in parallel with the first prediction model C(S), a second port, and a fifth port; the first prediction model C(S) and the second prediction model Q(S) have the same output end, namely the second port. The feedback module of the present invention meets the current requirements of "large-stroke high-precision machine tools", improves the quality of thrust, reduces fluctuations during thrust action, reduces the return error of the linear motor, improves linear processing accuracy, and speeds up dynamic response.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, in particular to a laser cutting machine based on a low-thrust fluctuation linear motor. Background Art

[0002] Laser cutting machines are capable of high-precision laser cutting. Existing fiber laser cutting machines utilize a "rotating motor + leadscrew" or "rotating motor + rack and pinion" servo drive system. These systems suffer from issues such as inter-tooth clearance and return errors, low precision, and slow dynamic response, failing to meet the current requirements for "large-stroke, high-precision machine tools." To improve response speed and machining accuracy, a linear motor is used to drive the laser head to reduce errors caused by the transmission process. Furthermore, efforts are underway to improve thrust quality and reduce fluctuations in thrust application. Summary of the Invention

[0003] The present invention aims to overcome the deficiencies in the prior art and provides a laser cutting machine based on a low-thrust fluctuation linear motor.

[0004] In order to solve the above problems, the technical solutions adopted by the present invention are as follows:

[0005] A laser cutting machine based on a low-thrust fluctuation linear motor includes a linear motor and a detection device installed on the linear motor, wherein the detection device includes: a feedback module for adjusting the movement direction of the linear motor; the feedback module operates based on a feedback system, and the feedback system includes: an input variable R(S), a first prediction model C(S) connected to the output end of the input variable R(S), a second prediction model Q(S) connected to the input variable R(S) and connected in parallel with the first prediction model C(S), a second port, and a fifth port; the first prediction model C(S) and the second prediction model Q(S) have the same output end, which is the second port.

[0006] As an improvement of the above technical solution, the invention further includes: a controlled object P(S) receiving the output value of the second prediction model Q(S) and the first prediction model C(S), an output quantity Y(S) after passing through the controlled object P(S), and a negative feedback quantity P(S) after passing through the controlled object P(S). - (S); the negative feedback amount P - (S) is connected in parallel with the output Y(S), and the negative feedback quantity P - The output value of (S) is integrated into the input value of the controlled object P(S).

[0007] As an improvement of the above technical solution, a first port is further provided between the input variable R(S) and the first prediction model C(S), and the first port is located on the branch route of the first prediction model C(S); an input value e is provided on the path from the first port to the first prediction model C(S).

[0008] As an improvement of the above technical solution, a third port and a fourth port are further provided on the path from the second port to the controlled object P(S); an input value u is set on the path from the second port to the third port.

[0009] As an improvement of the above technical solution, an input value d is set at the fourth port.

[0010] As an improvement of the above technical solution, the negative feedback amount P - The output end of (S) is the fifth port; the fourth port and the fifth port are connected in series after the third port, and the fourth port and the fifth port are connected in parallel; the fifth port is feedback connected to the third port.

[0011] As an improvement to the above technical solution, it also includes: a detection device, which includes: a PC, a controller that receives the PC signal, a motor drive board that receives the controller signal, a linear motor that executes the motor drive board command, and a feedback module that receives the linear motor signal, and the output end of the feedback module is connected to the motor drive board.

[0012] Compared with the prior art, the present invention has the following advantages:

[0013] First, the low thrust situation is distinguished and adapted, and different prediction models are used to handle low thrust and high thrust situations. The low thrust input variable R(S) is amplified and stabilized before output, so that the linear motor system of the present invention has better low thrust adaptability, can work with multiple degrees of freedom, and can correspond to a smaller range of situations with a more accurate model, thereby improving its dynamic response speed. Secondly, the present invention creates a secondary feedback, and performs a negative feedback on the controlled object P(S), that is, the negative feedback amount P -1 (S), this negative feedback amount P -1 (S) is the feedback of the output value of the controlled object P(S) after the addition of the value d. Secondary feedback is then applied to the input value of the controlled object P(S) before the addition of the value d. This secondary feedback is combined to adjust the initial input value of the controlled object P(S), which is the output value of the third port. This form of negative feedback is more complete, considering both the output of P(S) after the value d is input and the input of P(S) before the value d is input. This minimizes the impact of the fluctuation d, improves the stability of the negative feedback process, avoids sudden overshoot, and stabilizes fluctuations through stable negative feedback regulation.

[0014] The feedback module of the present invention meets the current requirements of "large-stroke high-precision machine tools", improves the quality of thrust, reduces fluctuations during thrust action, reduces the return error of the linear motor, improves linear machining accuracy, and speeds up dynamic response. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is the flowchart of the feedback module;

[0016] Figure 2 This is the initial program flowchart;

[0017] Figure 3 Improved flowchart for low thrust;

[0018] Figure 4 This is the input sequence diagram of the linear motor control system.

[0019] In the figure: R(S)—input variable, C(S)—first prediction model, Q(S)—second prediction model, P(S)—controlled object, P -1 (S)—negative feedback quantity, Y(S)—output quantity, 1—first port, 2—second port, 3—third port, 4—fourth port, 5—fifth port, 6—detection device, 61—PC, 62—controller, 63—motor drive board, 64—linear motor, 65—feedback module. DETAILED DESCRIPTION

[0020] The present invention will be described below with reference to specific embodiments.

[0021] The low thrust fluctuation of the present invention is mainly addressed from two aspects: one is to improve the anti-interference ability of the motor during linear motion, that is, to optimize its feedback module and reduce the fluctuation frequency and amplitude; the other is to optimize the motor structure so that it can adapt to low thrust.

[0022] Figure 1 This is the flowchart of the feedback module, such as Figure 1 As shown, a laser cutting machine based on a low-thrust fluctuation linear motor includes a linear motor 64 and a detection device 6 mounted on the linear motor 64. The detection device 6 includes a feedback module 65 for adjusting the movement direction of the linear motor 64. The feedback module 65 operates based on a feedback system, which includes an input variable R(S), a first prediction model C(S) connected to the output end of the input variable R(S), a second prediction model Q(S) connected to the input variable R(S) and connected in parallel with the first prediction model C(S), a second port 2, and a fifth port 5. The first prediction model C(S) and the second prediction model Q(S) have the same output end, which is the second port 2.

[0023] A first port 1 is provided between the input variable R(S) and the first prediction model C(S), and the first port 1 is located on a branch path of C(S). An input value e is provided on the path from the first port 1 to the first prediction model C(S).

[0024] The present invention is configured in this way to establish two prediction models to distinguish and identify the value of the input quantity R(S), and process R(S) through different prediction models C(S) and Q(S). This establishes a two-degree-of-freedom controller model that can better adapt to R(S) of different values. For a specific R(S) value, it is distinguished into R(S) with high input value, that is, under high thrust conditions, the motor operates normally, and thus it is transmitted to Q(S) in the form of positive feedback. For R(S) with low input value, that is, under low thrust conditions, the motor has operating fluctuations, and the response is not timely, before it is transmitted to C(S) in the form of negative feedback, it first passes through a layer of signal amplification device to amplify and stabilize its value, and then transmits it to C(S) for processing. Block A in the figure is a two-degree-of-freedom controller.

[0025] The feedback module used in the present invention also includes: a controlled object P(S) receiving the output value of the second prediction model Q(S) and the first prediction model C(S), an output quantity Y(S) after passing through the controlled object P(S), and a negative feedback quantity P(S) after passing through the controlled object P(S). -1 (S). The negative feedback amount P -1 (S) is connected in parallel with the output Y(S), and the negative feedback quantity P -1 The output value of (S) is integrated into the input value of the controlled object P(S). The present invention is set up in this way. On the basis of two-degree-of-freedom control, an anti-interference negative feedback closed-loop model is adopted. If the signal output by the controlled object P(S) is unqualified, it will be fed back through the negative feedback amount P -1 The controller then adjusts the input to the controlled object P(S), thereby continuously adjusting the output value of the controlled object P(S) to an appropriate value for the output Y(S). This is a negative feedback adjustment process that effectively resists interference and adjusts the amplitude of low-thrust fluctuations to minimize their impact on the motor's linear motion. Figure B represents the disturbance observer.

[0026] A third port 3 and a fourth port 4 are also provided on the path from the second port 2 to the controlled object P(S). An input value u is set on the path from the second port 2 to the third port 3, and an input value d is set at the fourth port. The third port 3 and the fourth port 4 are configured for subsequent parallel branching and for inputting different numerical values.

[0027] The negative feedback amount P -1The output end of (S) is the fifth port 5. The fourth port 4 and the fifth port 5 are connected in series after the third port 3, and the fourth port 4 and the fifth port 5 are connected in parallel. The fifth port 5 is fed back to the third port 3. This arrangement plays a role of secondary feedback. The output value of the third port 3 is transmitted to the fifth port 5 in the form of negative feedback, and the fifth port 5 simultaneously receives the output value from the third port 3 and the negative feedback value P -1 (S) input, and then transmits this information to the information at the third port 3, adjusts the output value of the third port 3, and plays the role of secondary negative feedback.

[0028] Figure 2 is the initial program flowchart, Figure 3 Improved flowchart for low thrust, with Figure 2 and Figure 3 By comparing the program in , it is obvious that the improvement of this embodiment can be seen. Compared with the prior art, this embodiment first distinguishes and adapts to the low thrust situation, and uses different prediction models to handle low thrust and high thrust situations. The low thrust input variable R(S) is amplified and stabilized before output, so that the linear motor system of the present invention has better low thrust adaptability and can work with multiple degrees of freedom. Secondly, the present invention creates a secondary feedback and performs a negative feedback on the controlled object P(S), that is, the negative feedback amount P -1 (S), this negative feedback amount P -1 (S) is the feedback of the output value of the controlled object P(S) after the addition of the value d. Secondary feedback is then applied to the input value of the controlled object P(S) before the addition of the value d. This secondary feedback is combined to adjust the initial input value of the controlled object P(S), which is the output value of the third port 3. This form of negative feedback is more complete, considering both the output of P(S) after the value d is input and the input of P(S) before the value d is input. This minimizes the impact of the fluctuation d, improves the stability of the negative feedback process, avoids sudden overshoot, and stabilizes fluctuations through stable negative feedback regulation.

[0029] Figure 4 This is the input sequence diagram of the linear motor control system, such as Figure 4 As shown, the structural cutting machine of the present invention includes a detection device 6, which includes a PC 61, a controller 62 that receives signals from the PC 61, a motor drive board 63 that receives signals from the controller 62, and a feedback module 65 that receives signals from the linear motor 64. The output end of the feedback module 65 is connected to the motor drive board 63. The linear motor 64 is connected to the motor drive board 63 and executes the commands of the motor drive board 63. The feedback module 65 then receives signals from the linear motor 64, continuously issues modified commands, and transmits them to the motor drive board 63 to timely adjust the movement direction of the linear motor 64.

[0030] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A laser cutting machine based on a low-thrust fluctuation linear motor, comprising a linear motor (64), a detection device (6) mounted on the linear motor (64), the detection device (6) comprising: A feedback module (65) for adjusting the motion direction of the linear motor (64); The feedback module (65) operates based on a feedback system, characterized in that the feedback system comprises: an input variable R(S), a first prediction model C(S) connected to an output end of the input variable R(S), a second prediction model Q(S) connected to the input variable R(S) and connected in parallel with the first prediction model C(S), a second port (2), and a fifth port (5); the first prediction model C(S) and the second prediction model Q(S) have the same output end, which is the second port (2); The high input value of R(S) is transmitted to Q(S) in the form of positive feedback, and the low input value of R(S) is transmitted to C(S) in the form of negative feedback after signal amplification; The system also includes a controlled object P(S) receiving the output values of the second prediction model Q(S) and the first prediction model C(S), an output quantity Y(S) after passing through the controlled object P(S), and a negative feedback quantity P(S) after passing through the controlled object P(S). -1 (S); the negative feedback amount P -1 (S) is connected in parallel with the output Y(S), and the negative feedback quantity P -1 The output value of (S) is integrated into the input value of the controlled object P(S); When the signal output by the controlled object P(S) is unqualified, the negative feedback quantity P -1 (S) processing, return to adjust the input quantity of the controlled object P(S) until the value of the output quantity Y(S) is qualified.

2. The laser cutting machine based on the low thrust fluctuation linear motor according to claim 1, characterized in that: A first port (1) is further provided between the input variable R(S) and the first prediction model C(S), and the first port (1) is located on a branch route of the first prediction model C(S); an input value e is provided on the path from the first port (1) to the first prediction model C(S).

3. The laser cutting machine based on the low thrust fluctuation linear motor according to claim 1, characterized in that: A third port (3) and a fourth port (4) are also provided on the path from the second port (2) to the controlled object P(S); an input value u is set on the path from the second port (2) to the third port (3).

4. The laser cutting machine based on the low thrust fluctuation linear motor according to claim 3, characterized in that: The fourth port (4) is provided with an input value d.

5. The laser cutting machine based on the low thrust fluctuation linear motor according to claim 3, characterized in that: The negative feedback amount P -1 The output end of (S) is the fifth port (5); the fourth port (4) and the fifth port (5) are connected in series after the third port (3), and the fourth port (4) and the fifth port (5) are connected in parallel; the fifth port (5) is feedback-connected to the third port (3).

6. The laser cutting machine based on a low thrust fluctuation linear motor according to claim 1, characterized in that: The detection device (6) includes: a PC (61), a controller (62) for receiving a signal from the PC (61), a motor drive board (63) for receiving a signal from the controller (62), and a feedback module (65) for receiving a signal from the linear motor (64), wherein an output end of the feedback module (65) is connected to the motor drive board (63); and the linear motor (64) is connected to the motor drive board (63).

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