Parameter Self-Calibration Method of Numerical Control System and Manipulator Control System

Abstract

The present invention discloses a method for self-calibrating parameters of a numerical control system, an operation control device, a numerical control system and a computer-readable storage medium. The method for self-calibrating parameters of the numerical control system includes: obtaining a plurality of preset control parameters and a plurality of performance evaluation parameters; obtaining performance measurement values of a plurality of performance indicators in a test state, and determining the satisfaction degree of the indicators corresponding to the performance indicators according to the performance measurement values; calculating the system performance satisfaction degree of the numerical control system according to the satisfaction degree of each performance indicator and the performance evaluation parameters; the performance evaluation parameters include the weights of each performance indicator; adjusting the control parameters according to a preset strategy so that the satisfaction degree of each indicator is greater than or equal to a first preset value and the system performance satisfaction degree is greater than or equal to a second preset value; and outputting the adjusted control parameters. It can reduce the time-consuming of parameter calibration and quickly find the control parameters that make the system performance better.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control systems, and in particular, to a method for self-calibrating parameters of a numerical control system, an operation control device, a numerical control system, and a computer-readable storage medium. Background Art

[0002] Parameter calibration refers to the process of finding a set of parameters that can be applied under various conditions, for example, under different hardware conditions or different environmental conditions. Currently, the system control parameters of most numerical control systems are manually calibrated by operators based on experience. However, this process of manually calibrating parameters takes a long time and often fails to enable the numerical control system to achieve better motion performance. Summary of the Invention

[0003] An object of the present invention is to at least solve one of the technical problems existing in the prior art, and to provide a method for self-calibrating parameters of a numerical control system, an operation control device, a numerical control system, and a computer-readable storage medium, which can reduce the time consumption of parameter calibration and quickly find control parameters that enable the system to have better performance.

[0004] In a first aspect, an embodiment of the present invention provides a method for self-calibrating parameters of a numerical control system, including:

[0005] Obtaining a plurality of preset control parameters and a plurality of performance evaluation parameters; obtaining performance measurement values of a plurality of performance indicators in a test state, and determining an index satisfaction degree corresponding to the performance indicator according to the performance measurement values; calculating a system performance satisfaction degree of the numerical control system according to the index satisfaction degrees of the respective performance indicators and the performance evaluation parameters; the performance evaluation parameters include weights of the respective performance indicators; adjusting the control parameters according to a preset strategy so that the index satisfaction degrees of all items are greater than or equal to a first preset value and the system performance satisfaction degree is greater than or equal to a second preset value; and outputting the adjusted control parameters.

[0006] The parameter self-calibration method of the numerical control system provided by the embodiments of the present invention has at least the following beneficial effects: When the numerical control system needs to perform parameter calibration, first obtain the preset control parameters and performance evaluation parameters, then control the numerical control system to enter the test state, determine the index satisfaction corresponding to each performance index by obtaining the performance measurement values of various performance indexes of the numerical control system, and then calculate the system performance satisfaction of the numerical control system. When the index satisfaction corresponding to a certain performance index is not greater than or equal to the first preset value, or the system performance satisfaction is not greater than or equal to the second preset value, the control parameters will be adjusted according to the preset strategy, so that the index satisfaction corresponding to the performance index and the system performance satisfaction both meet the preset conditions. Finally, the adjusted control parameters are output, which has a high parameter calibration efficiency, can reduce the time-consuming of parameter calibration, and can quickly find the control parameters that make the system performance better.

[0007] In the above parameter self-calibration method, the index satisfaction is obtained in the following way:

[0008]

[0009] where x i is the performance measurement value of the i-th performance index, A i is the index satisfaction of the i-th performance index, and a1 and a2 are preset values.

[0010] In the above parameter self-calibration method, the system performance satisfaction is calculated by the following formula:

[0011]

[0012] where f is the system performance satisfaction, n is the total number of performance indexes, and ω i is the weight of the i-th performance index.

[0013] In the above parameter self-calibration method, adjusting the control parameters according to the preset strategy includes:

[0014] Select one with the highest weight from the several performance indexes as the index to be adjusted;

[0015] Adjust the control parameter corresponding to the index to be adjusted.

[0016] In the above parameter self-calibration method, each control parameter is set with a parameter value range, and adjusting the control parameter corresponding to the index to be adjusted includes:

[0017] Within the parameter value range, increase or decrease the value of the control parameter in accordance with a preset step size.

[0018] In the above parameter self-calibration method, after traversing all the value combinations of the control parameters, a set of control parameters with the highest system performance satisfaction is selected as the optimal parameters.

[0019] In the above parameter self-calibration method, when traversing all the value combinations of the control parameters, if the system performance satisfaction is less than the second preset value, the control parameters corresponding to the maximum system performance satisfaction are output.

[0020] In the above parameter self-calibration method, after traversing all the value combinations of the control parameters, if the index satisfaction of the performance index is less than the first preset value, the control parameters corresponding to the maximum performance measurement value of the performance index are output.

[0021] In a second aspect, an embodiment of the present invention provides a manipulator control system, including:

[0022] A teach pendant, including a controller;

[0023] A servo drive module, connected to the controller;

[0024] A manipulator module, connected to the servo drive module;

[0025] A sensor module, respectively connected to the manipulator module and the controller, for measuring the motion parameters of the manipulator module and transmitting them to the controller;

[0026] The controller is used to execute the parameter self-calibration method described in the first aspect embodiment above.

[0027] According to the manipulator control system provided by the embodiment of the present invention, it has at least the following beneficial effects: when the manipulator control system needs to perform parameter calibration, first obtain the preset control parameters and performance evaluation parameters, then control the numerical control system to enter the test state, determine the index satisfaction corresponding to each performance index by obtaining the performance measurement values of each performance index of the numerical control system, and then calculate the system performance satisfaction of the numerical control system. When the index satisfaction corresponding to a certain performance index is not greater than or equal to the first preset value, or the system performance satisfaction is not greater than or equal to the second preset value, the control parameters will be adjusted according to the preset strategy, so that both the index satisfaction corresponding to the performance index and the system performance satisfaction meet the preset conditions, and finally the adjusted control parameters are output, which has a high parameter calibration efficiency, can reduce the time-consuming of parameter calibration, and can quickly find the control parameters that make the system performance better.

[0028] In the above manipulator control system, the teach pendant further includes a touch screen connected to the controller, and the touch screen is used to display the control parameters.

[0029] In the above-mentioned manipulator control system, the sensor module includes an acceleration sensor for measuring the vibration information of the manipulator module.

[0030] In the above-mentioned manipulator control system, the performance indicators include vibration amplitude and test running time.

[0031] In a third aspect, an embodiment of the present invention provides an operation control device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor executes the program to implement the parameter self-calibration method as described in the first aspect embodiment above.

[0032] In a fourth aspect, an embodiment of the present invention provides a numerical control system, including the operation control device as described in the third aspect embodiment above.

[0033] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute the parameter self-calibration method as described in the first aspect embodiment above.

[0034] Other features and advantages of the present invention will be described in the following specification, and part of them will become obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings are used to provide a further understanding of the technical solutions of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solutions of the present invention, and do not constitute a limitation to the technical solutions of the present invention.

[0036] The present invention will be further described below in conjunction with the drawings and embodiments;

[0037] Figure 1 is a flowchart of the parameter self-calibration method of the numerical control system provided by the embodiment of the present invention;

[0038] Figure 2 is a flowchart of the parameter self-calibration method of the numerical control system provided by another embodiment of the present invention;

[0039] Figure 3 is a block diagram of the architecture of the manipulator control system of the injection molding machine provided by the embodiment of the present invention;

[0040] Figure 4 is an operation control flowchart of the manipulator control system of the injection molding machine provided by the embodiment of the present invention;

[0041] Figure 5It is a flowchart of the parameter self-calibration method provided by an embodiment of the present invention;

[0042] Figure 6 It is a schematic diagram of the interface for parameter self-calibration provided by an embodiment of the present invention;

[0043] Figure 7 It is a schematic structural diagram of the operation control device provided by an embodiment of the present invention. Specific Embodiments

[0044] This part will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the drawings. The function of the drawings is to supplement the description of the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the protection scope of the present invention.

[0045] In the description of the present invention, if the first and second are described only for the purpose of distinguishing technical features, they cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0046] In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, and connection should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0047] An embodiment of the present invention provides a parameter self-calibration method, an operation control device, a numerical control system, and a computer-readable storage medium for a numerical control system, which can reduce the time-consuming of parameter calibration and quickly find the control parameters that make the system performance better.

[0048] The following will further elaborate on the embodiments of the present invention with reference to the drawings.

[0049] Refer to Figure 1 , an embodiment of the first aspect of the present invention provides a parameter self-calibration method for a numerical control system, including but not limited to steps S110 to S150:

[0050] Step S110: Obtain a plurality of preset control parameters and a plurality of performance evaluation parameters;

[0051] Step S120: Obtain the performance measurement values of a plurality of performance indicators in the test state, and determine the indicator satisfaction corresponding to the performance indicators according to the performance measurement values;

[0052] Step S130: Calculate the system performance satisfaction of the numerical control system according to the indicator satisfaction of each performance indicator and the performance evaluation parameters; the performance evaluation parameters include the weights of each performance indicator;

[0053] Step S140: Adjust the control parameters according to a preset strategy so that the satisfaction degrees of all the indicators are greater than or equal to a first preset value and the system performance satisfaction degree is greater than or equal to a second preset value;

[0054] Step S150: Output the adjusted control parameters.

[0055] According to the parameter self-calibration method of the numerical control system provided by the embodiment of the present invention, when the numerical control system needs to perform parameter calibration, first obtain the preset control parameters and performance evaluation parameters, then control the numerical control system to enter the test state, determine the satisfaction degrees of the corresponding indicators of each performance indicator by obtaining the performance measurement values of each performance indicator of the numerical control system, and further calculate the system performance satisfaction degree of the numerical control system. When the satisfaction degree of the corresponding indicator of a certain performance indicator is not greater than or equal to the first preset value, or the system performance satisfaction degree is not greater than or equal to the second preset value, the control parameters will be adjusted according to the preset strategy, so that the satisfaction degrees of the corresponding indicators of the performance indicators and the system performance satisfaction degree both meet the preset conditions, and finally output the adjusted control parameters, which has a high parameter calibration efficiency, can reduce the time-consuming of parameter calibration, and can quickly find the control parameters that make the system performance better.

[0056] In the above parameter self-calibration method, the satisfaction degree of the indicator is obtained in the following manner:

[0057]

[0058] where x i is the performance measurement value of the i-th performance indicator, A i is the satisfaction degree of the i-th performance indicator, and a1, a2 are preset values.

[0059] It can be understood that when the performance measurement value of a certain performance indicator falls into one of the preset intervals, the satisfaction degree of the corresponding indicator of this performance indicator is the preset value corresponding to this preset interval. For example, if the performance measurement value of the first performance indicator falls into preset interval 1, the satisfaction degree of the first performance indicator is a1; similarly, if the performance measurement value of the second performance indicator falls into preset interval 2, the satisfaction degree of the second performance indicator is a2.

[0060] It should be noted that there can be more than two preset intervals. Here, taking the case of setting 4 preset intervals as an example to illustrate the value of the satisfaction degree of the indicator:

[0061]

[0062] For the i-th performance metric, if the performance measurement value falls within the preset interval 4, it indicates that the i-th performance metric does not meet the metric requirements, so the metric satisfaction value is 0; if the performance measurement value falls within the preset interval 3, it indicates that the i-th performance metric meets the metric requirements, so the metric satisfaction value is 1.0; if the performance measurement value falls within the preset interval 2, it indicates that the i-th performance metric can better meet the metric requirements, so the metric satisfaction value is 1.2; if the performance measurement value falls within the preset interval 1, it indicates that the i-th performance metric is much better than the metric requirements, so the metric satisfaction value is 1.5; the above embodiments specifically introduce determining the metric satisfaction corresponding to the performance metric according to the performance measurement value. It can be understood that in this embodiment, the first preset value can be set to a constant greater than or equal to 1, for example, set to 1, so that when the metric satisfaction value of the i-th performance metric is 1.0, 1.2 or 1.5, it can meet the requirements, that is, when the performance measurement value falls within the preset interval 1, the preset interval 2 and the preset interval 3, the corresponding control parameters can meet the requirements.

[0063] In the above parameter self-calibration method, the system performance satisfaction is calculated using the following formula:

[0064]

[0065] where f is the system performance satisfaction, n is the total number of performance metrics, and ω i is the weight of the i-th performance metric.

[0066] It can be understood that after determining the satisfaction degree of the indicators corresponding to the performance indicators through the above method, the satisfaction degrees of the indicators of each performance indicator are weighted and summed to calculate the system performance satisfaction degree, so as to comprehensively evaluate the overall performance of the entire numerical control system. In addition, it should be noted that the actual value of the second preset value can be set according to the number of items of the performance indicators, the value range of the satisfaction degree of each performance indicator, and the weights of each performance indicator. For example, when there are a total of 3 performance indicators, the possible values when the satisfaction degree of each performance indicator is greater than or equal to the first preset value 1 are 1.0, 1.2, and 1.5 introduced above. When the weights of the 3 performance indicators are 0.3, 0.3, and 0.4 respectively, the second preset value can be set to the lower requirement of 1, so that when the satisfaction degrees of the 3 performance indicators are all 1.0, the system performance satisfaction degree f = 1.0 * 0.3 + 1.0 * 0.3 + 1.0 * 0.4 = 1.0, which can be greater than or equal to the second preset value 1; the second preset value can also be set to the slightly higher requirement of 1.05, so that when the satisfaction degrees of the 3 performance indicators are all 1.0, the system performance satisfaction degree f = 1.0 * 0.3 + 1.0 * 0.3 + 1.0 * 0.4 = 1.0, which cannot be greater than or equal to the second preset value 1.05. At this time, at least one of the satisfaction degrees of the 3 performance indicators needs to be 1.2, and the system performance satisfaction degree f = 1.2 * 0.3 + 1.0 * 0.3 + 1.0 * 0.4 = 1.06, or f = 1.0 * 0.3 + 1.0 * 0.3 + 1.2 * 0.4 = 1.08, which can be greater than the second preset value 1.05. It can be understood that the second preset value can also be set to a higher requirement value, and the specific value can be set according to the performance requirements of the system.

[0067] Referring to Figure 2 , in the above parameter self-calibration method, adjusting the control parameters according to the preset strategy in step S140 includes, but is not limited to, steps S210 to S220:

[0068] Step S210: Select one item with the highest weight from the several performance indicators as the indicator to be adjusted;

[0069] Step S220: Adjust the control parameter corresponding to the indicator to be adjusted.

[0070] It can be understood that preferentially adjusting the control parameter corresponding to the performance indicator with the highest weight can enable the numerical control system to quickly find the control parameter that makes the system performance better and reduce the time-consuming of parameter calibration.

[0071] In the above parameter self-calibration method, each control parameter is set with a parameter value range, and adjusting the control parameter corresponding to the indicator to be adjusted includes:

[0072] Within the range of the parameter values, the values of the control parameters are incrementally adjusted or decrementally adjusted according to a preset step size.

[0073] By adopting the method of incrementally adjusting or decrementally adjusting according to a preset step size, it is possible to enable each control parameter to quickly traverse all possible values within the parameter value range, reducing the time-consuming of parameter calibration.

[0074] In the above parameter self-calibration method, after traversing all combinations of the values of the control parameters, a set of control parameters with the highest system performance satisfaction is selected as the optimal parameters.

[0075] It can be understood that after traversing all combinations of the values of the control parameters, multiple sets of control parameters may be output, and the system performance satisfaction corresponding to each set of control parameters is greater than or equal to the second preset value. At this time, the system performance satisfaction corresponding to multiple sets of control parameters can be compared to determine a set of control parameters with the highest system performance satisfaction as the optimal parameters, which can enable the numerical control system to be in the best working state.

[0076] In the above parameter self-calibration method, when traversing all combinations of the values of the control parameters, if the system performance satisfaction is less than the second preset value, the control parameters corresponding to the maximum system performance satisfaction are output.

[0077] In the above parameter self-calibration method, after traversing all combinations of the values of the control parameters, if the index satisfaction of the performance index is less than the first preset value, the control parameters corresponding to the maximum performance measurement value of the performance index are output.

[0078] Referring to Figure 3 , an embodiment of the second aspect of the present invention provides a manipulator control system, including:

[0079] A teaching pendant 100, including a controller 110;

[0080] A servo drive module 200, connected to the controller 110;

[0081] A manipulator module 300, connected to the servo drive module 200;

[0082] A sensor module 400, respectively connected to the manipulator module 300 and the controller 110, for measuring the motion parameters of the manipulator module 400 and transmitting them to the controller 110;

[0083] The controller 110 is used to execute the parameter self-calibration method described in the above first aspect embodiment, for example, execute Figure 1 the method steps S110 to step S150 in Figure 2 the method steps S210 to step S220 in

[0084] According to the manipulator control system provided by the embodiments of the present invention, when the manipulator control system needs to perform parameter calibration, it first obtains preset control parameters and performance evaluation parameters, then controls the numerical control system to enter the test state, determines the satisfaction degree corresponding to each performance index by obtaining the performance measurement values of various performance indexes of the numerical control system, and further calculates the system performance satisfaction degree of the numerical control system. When the satisfaction degree corresponding to a certain performance index is not greater than or equal to the first preset value, or the system performance satisfaction degree is not greater than or equal to the second preset value, the control parameters will be adjusted according to the preset strategy, so that the satisfaction degree corresponding to the performance index and the system performance satisfaction degree both meet the preset conditions. Finally, the adjusted control parameters are output, which has a high parameter calibration efficiency, can reduce the time-consuming of parameter calibration, and can quickly find the control parameters that make the system performance better.

[0085] In the above-mentioned manipulator control system, the teach pendant 100 further includes a touch screen 120 connected to the controller 110, and the touch screen 120 is used to display control parameters.

[0086] By setting the touch screen 120, the touch screen 120 can adopt a graphical automatic calibration interface, which is convenient for loading the system default configuration parameters, saving the adjusted control parameters, and displaying the adjusted control parameters on the interface.

[0087] In the above-mentioned manipulator control system, the sensor module 400 includes an acceleration sensor for measuring the vibration information of the manipulator module.

[0088] In the above-mentioned manipulator control system, the performance indexes include vibration amplitude and test running time.

[0089] Next, in combination with Figure 3 , Figure 4 , Figure 5 and Figure 6 , a detailed introduction to an embodiment of the present application will be given. Figure 3 is the architecture block diagram of the manipulator control system of the injection molding machine; Figure 4 is the operation control flowchart of the manipulator control system of the injection molding machine; Figure 5 is the flowchart of the parameter self-calibration method; Figure 6 is the schematic diagram of the interface of the parameter self-calibration. As Figure 3As shown in the figure, load the default control parameters of the system in the human-machine interaction interface of the touch screen 120, and click the button to execute the test case to send the motion control instruction to the controller 110 in the teach pendant 100. After control calculation, the target motion parameters (information such as position, speed, torque, etc.) are sent to the servo drive module 200 through the I / O module 500. The servo drive module 200 outputs a drive signal to the servo motor 310 in the manipulator module 300, thereby driving the servo motor 310 to move. The sensor module 400 measures the vibration of the manipulator body 320 in the manipulator module 300 during the movement process and uploads it to the controller 110 of the teach pendant 100 through the I / O module 500. In the controller 110 of the teach pendant 100, based on the parameter self-calibration method, an iterative optimization method is used to find the combination values of various control parameters that maximize the system performance satisfaction, and Figure 6 is displayed on the interface. As Figure 4 shown, the operation control process of the manipulator control system of the injection molding machine includes the following steps:

[0090] Step 1: Load the default parameter configuration tables of several control parameters and several performance evaluation parameters of the manipulator control system of the injection molding machine. Among them, the parameters in the default configuration table are pre-configured by the user in this manipulator control system. For example, the configured performance evaluation parameters include the weights of various performance indicators, and the configured control parameters include the system motion trajectory type and the initial value of the system acceleration and deceleration time; in addition, the indicator satisfaction of each performance indicator can also be configured;

[0091] Step 2: Run the test program, that is, execute the test case;

[0092] Step 3: Adjust the control parameters according to the parameter self-calibration method;

[0093] Step 4: Output the obtained control parameters to the Figure 6 shown interface for display, and click the save button to save the control parameters as the default parameters for the next parameter self-calibration method;

[0094] Step 5: The device executes the manipulator technological process of the injection molding machine until the production ends.

[0095] Among them, referring to Figure 5 , Figure 4 Step 3 in specifically includes the following steps:

[0096] Step 31: Obtain the performance measurement values of various system performance indicators;

[0097] Step 32: Determine whether each system performance meets the requirements. Exemplarily, if the actual performance measurement value falls within the preset interval 1, it means that the performance measurement value just meets the index requirements, and the index satisfaction degree Ai is 1; if the actual performance measurement value falls within the preset interval 2, it means that the performance measurement value better meets the index requirements, and the index satisfaction degree Ai is 1.2; if the performance measurement value falls within the preset interval 3, it means that the performance measurement value is much better than the index requirements, and the index satisfaction degree Ai is 1.5, and update the value of the index satisfaction degree Ai. As shown in the following formula:

[0098]

[0099] Step 33: If the actual performance measurement value of a certain system performance index does not meet the requirements, the control parameters can be adjusted, such as adjusting the system acceleration and deceleration time, or adjusting the system motion trajectory type, until the index satisfaction degree Ai of this performance index is at least 1. At the same time, dynamically update the values of the index satisfaction degrees of other system performance indexes. Calculate the system performance satisfaction degree under this configuration according to the following formula:

[0100]

[0101] where f is the system performance satisfaction degree, n is the total number of performance indexes, and ω i is the weight of the i-th performance index;

[0102] For the value of a certain system performance index, incrementally adjust or decrementally adjust the control parameter corresponding to this system performance index according to the step size λ;

[0103] Step 34: If the system performance satisfaction degree meets the threshold requirement, stop the adjustment, and load the system control parameters such as the system acceleration and deceleration setting time and the motion trajectory type obtained into the controller of the teaching pendant;

[0104] Compared with the current manual calibration process, the above embodiments of the present invention propose an automatic calibration process for the control parameters of a numerical control system, which can improve the installation efficiency and quickly optimize the system performance; the control parameters such as the system acceleration and deceleration time and the motion trajectory type of the numerical control system are automatically calibrated by the parameter self-calibration method. Compared with the manual calibration method, the parameter self-calibration method not only has higher efficiency, but also is easier to find a control parameter configuration scheme with better system performance.

[0105] In addition, referring to Figure 7 , the third aspect embodiment of the present invention provides an operation control device 700, including a memory 720, a control processor 710, and a computer program stored on the memory 720 and executable on the control processor 710. The control processor 710 executes the program to implement the parameter self-calibration method as described in the first aspect embodiment above, for example, executeFigure 1 Method steps S110 to S150 in Figure 2 Method steps S210 to S220 in

[0106] In addition, an embodiment of the fourth aspect of the present invention provides a numerical control system, including the operation control device 700 as described in the third aspect embodiment above.

[0107] In addition, an embodiment of the fifth aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the parameter self-calibration method as described in the first aspect embodiment above, for example, execute Figure 1 Method steps S110 to S150 in Figure 2 Method steps S210 to S220 in

[0108] Those of ordinary skill in the art can understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and their appropriate combinations. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium or a non-transitory medium and a communication medium or a transitory medium. As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk DVD or other optical disk storage, magnetic cassette, tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, a communication medium typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0109] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. A method for self-calibrating parameters of a numerical control system, characterized in that, it includes: Obtain a number of preset control parameters and a number of performance evaluation parameters; wherein, the control parameters include the system acceleration and deceleration time and the system motion trajectory type; Obtain the performance measurement values of a number of performance indicators in the test state, and determine the index satisfaction corresponding to the performance indicators according to the performance measurement values; wherein, the performance indicators include the vibration amplitude and the test running time; Calculate the system performance satisfaction of the numerical control system according to the index satisfaction of each performance indicator and the performance evaluation parameters; the performance evaluation parameters include the weights of each performance indicator; Adjust the control parameters according to a preset strategy so that the index satisfaction of each item is greater than or equal to a first preset value and the system performance satisfaction is greater than or equal to a second preset value; Output the adjusted control parameters; wherein, the index satisfaction is obtained in the following manner: where x i is the performance measurement value of the i-th performance indicator, and A i is the indicator satisfaction degree of the i-th performance indicator, and a1 and a2 are preset values.

2. The parameter self-calibration method according to claim 1, characterized in that, The system performance satisfaction is calculated by the following formula: where f is the system performance satisfaction degree, n is the total number of performance indicators, and ω i is the weight of the i-th performance indicator.

3. The parameter self-calibration method according to claim 1, characterized in that, The adjusting the control parameters according to a preset strategy includes: Select one with the highest weight from the several performance indicators as the index to be adjusted; Adjust the control parameter corresponding to the index to be adjusted.

4. The parameter self-calibration method according to claim 3, characterized in that, Each control parameter is set with a parameter value range, and the adjusting the control parameter corresponding to the index to be adjusted includes: Within the parameter value range, the value of the control parameter is adjusted incrementally or decrementally according to a preset step size.

5. The parameter self-calibration method according to any one of claims 1 to 4, characterized in that, Traverse all value combinations of the control parameters, and select a set of control parameters with the maximum system performance satisfaction as the optimal parameters.

6. A manipulator control system, characterized in that, it includes: A teach pendant, including a controller; A servo drive module, connected to the controller; A manipulator module, connected to the servo drive module; A sensor module, respectively connected to the manipulator module and the controller, for measuring the motion parameters of the manipulator module and transmitting them to the controller; The controller is used to execute the parameter self-calibration method according to any one of claims 1 to 5.

7. The manipulator control system according to claim 6, characterized in that, The teach pendant further includes a touch screen connected to the controller, and the touch screen is used to display the control parameters.

8. The manipulator control system according to claim 6, characterized in that, The sensor module includes an acceleration sensor for measuring the vibration information of the manipulator module.

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