A multi-axis linkage control method and system based on PLC

Abstract

The application provides a kind of multi-axis linkage control method and system based on PLC, it is related to the field of intelligent manufacturing, including: obtaining multi-axis linkage processing basic information including workpiece state information and multi-axis NC machine tool state information;From multi-axis NC machine tool state information, extract multi-axis tool angle information and multi-axis tool coordinate information;From workpiece state information, extract workpiece coordinate information;Based on workpiece coordinate information, multi-axis tool angle information and multi-axis tool coordinate information, process error prediction is carried out, multi-axis linkage control error is obtained, multi-axis linkage control parameter is optimized and designed, and multi-axis linkage control parameter optimization result is obtained to carry out multi-axis linkage control.The technical problem that the fitness of machine learning control and PID control in the prior art is weak is solved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology, specifically to a PLC-based multi-axis linkage control method and system. Background Technology

[0002] Multi-axis linkage is one of the important strategic directions for machine tool control in intelligent manufacturing. With the rapid development of technologies such as machine learning, big data, and cloud computing, multi-axis linkage control has also made great strides.

[0003] Currently, the most advanced multi-axis linkage control uses machine learning, but this method requires a highly accurate model, resulting in weak adaptability. The more traditional method is based on PID control technology, but the disadvantage of PID control is that it has strong linear convergence and is less adaptable to complex multi-axis linkage control in practice.

[0004] Existing machine learning control and PID control technologies suffer from weak adaptability. Summary of the Invention

[0005] This application provides a PLC-based multi-axis linkage control method and system to address the technical problem that existing machine learning control and PID control have weak adaptability.

[0006] In view of the above problems, this application provides a PLC-based multi-axis linkage control method and system.

[0007] The first aspect of this application provides a PLC-based multi-axis linkage control method, applied to a PLC control module, comprising: acquiring basic information of multi-axis linkage machining, wherein the basic information of multi-axis linkage machining includes workpiece state information and multi-axis CNC machine tool state information; extracting multi-axis tool angle information and multi-axis tool coordinate information from the multi-axis CNC machine tool state information; extracting workpiece coordinate information from the workpiece state information; predicting machining errors based on the workpiece coordinate information, the multi-axis tool angle information, and the multi-axis tool coordinate information to obtain multi-axis linkage control errors; acquiring multi-axis linkage control parameters; optimizing the multi-axis linkage control parameters according to the multi-axis linkage control errors to obtain multi-axis linkage control parameter optimization results; and performing multi-axis linkage control based on the multi-axis linkage control parameter optimization results.

[0008] Another aspect of this application provides a PLC-based multi-axis linkage control system, which is applied to a PLC control module and includes: a basic information acquisition unit for acquiring basic information of multi-axis linkage machining, wherein the basic information of multi-axis linkage machining includes workpiece status information and multi-axis CNC machine tool status information; a first coordinate acquisition unit for extracting multi-axis tool angle information and multi-axis tool coordinate information from the multi-axis CNC machine tool status information; a second coordinate acquisition unit for extracting workpiece coordinate information from the workpiece status information; a machining error prediction unit for predicting machining errors based on the workpiece coordinate information, the multi-axis tool angle information, and the multi-axis tool coordinate information, and obtaining multi-axis linkage control errors; a control parameter setting unit for acquiring multi-axis linkage control parameters; a control parameter optimization unit for optimizing the multi-axis linkage control parameters according to the multi-axis linkage control errors, and obtaining multi-axis linkage control parameter optimization results; and a multi-axis linkage control unit for performing multi-axis linkage control according to the multi-axis linkage control parameter optimization results.

[0009] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0010] The technical solution provided in this application acquires basic information for multi-axis linkage machining, including workpiece state information and multi-axis CNC machine tool state information; extracts multi-axis tool angle information and multi-axis tool coordinate information from the multi-axis CNC machine tool state information; extracts workpiece coordinate information from the workpiece state information; predicts machining errors based on the workpiece coordinate information, the multi-axis tool angle information, and the multi-axis tool coordinate information to obtain multi-axis linkage control errors; acquires multi-axis linkage control parameters; optimizes the multi-axis linkage control parameters based on the multi-axis linkage control errors to obtain multi-axis linkage control parameter optimization results; and performs multi-axis linkage control based on the multi-axis linkage control parameter optimization results. This technical solution utilizes multi-axis tool angle information and multi-axis tool coordinate information to predict machining errors and obtains multi-axis linkage control errors; then optimizes the control parameters based on the control errors to obtain parameter optimization results, thereby achieving multi-axis linkage control. By optimizing control parameters according to the predicted errors of different cutting scenarios, compared to machine learning, it does not rely on a large amount of sample data to improve accuracy; compared to PID control, it has stronger scenario adaptability, achieving the technical effect of improving the adaptability of multi-axis linkage control. Attached Figure Description

[0011] Figure 1 A schematic diagram of a PLC-based multi-axis linkage control method is provided for this application;

[0012] Figure 2A schematic diagram of the machining error prediction process in a PLC-based multi-axis linkage control method provided in this application;

[0013] Figure 3 A schematic diagram of the multi-axis linkage control error determination process in a PLC-based multi-axis linkage control method provided in this application;

[0014] Figure 4 This application provides a schematic diagram of a PLC-based multi-axis linkage control system.

[0015] Explanation of reference numerals in the attached figures: Basic information acquisition unit 100, first coordinate acquisition unit 200, second coordinate acquisition unit 300, machining error prediction unit 400, control parameter setting unit 500, control parameter optimization unit 600, multi-axis linkage control unit 700. Detailed Implementation

[0016] This application provides a PLC-based multi-axis linkage control method and system to address the technical problem that existing machine learning control and PID control have weak adaptability.

[0017] Example 1

[0018] like Figure 1 As shown, this application provides a PLC-based multi-axis linkage control method, which is applied to a PLC control module and includes the following steps:

[0019] S10: Obtain basic information on multi-axis linkage machining, wherein the basic information on multi-axis linkage machining includes workpiece status information and multi-axis CNC machine tool status information;

[0020] Specifically, the basic information for multi-axis linkage machining refers to the fundamental data used to guide the PLC control module in performing multi-axis linkage machining control. This includes at least the workpiece status information (basic information about the workpiece to be machined) and the multi-axis CNC machine tool status information (basic information about the multi-axis CNC machine tool used to machine the workpiece). The workpiece status information includes at least the workpiece coordinates, workpiece structure, and workpiece orientation; the multi-axis CNC machine tool status information includes at least the multi-axis tool angles and multi-axis tool position coordinates used to cut the workpiece.

[0021] S20: Extract multi-axis tool angle information and multi-axis tool coordinate information from the multi-axis CNC machine tool status information;

[0022] Specifically, multi-axis tool angle information refers to the tool angle of any one axis of a multi-axis CNC machine tool. Preferably, a plane parallel to the horizontal plane is used as the first reference plane, the deviation angle on one side of the first reference plane is used as the first direction, the angle on the other side of the reference plane is used as the second direction, a second reference plane is set as a plane parallel to the horizontal plane, the deviation angle on one side of the second reference plane is used as the third direction, and the deviation angle on the other side of the second reference plane is used as the fourth direction. The tool angle of any one axis is described by (the deviation angle of the first or second direction) and (the deviation angle of the third or fourth direction). Multi-axis tool coordinate information refers to the basic information characterizing the position of the multi-axis tool. Preferably, a spatial coordinate system is constructed using the first and second reference planes to achieve arbitrary positioning of the multi-axis tool.

[0023] S30: Extract workpiece coordinate information from the workpiece status information;

[0024] Specifically, workpiece coordinate information refers to the basic information representing the workpiece position extracted from the workpiece state information, including but not limited to the coordinates of any position on the workpiece. Preferably, a spatial coordinate system is constructed using a first reference plane and a second reference plane to achieve arbitrary positioning of the workpiece. The unification of multi-axis tool coordinate information and workpiece coordinate information is beneficial for accurate analysis of the workpiece machining scenario in subsequent steps.

[0025] S40: Based on the workpiece coordinate information, the multi-axis tool angle information, and the multi-axis tool coordinate information, perform machining error prediction and obtain multi-axis linkage control error;

[0026] Specifically, the multi-axis linkage control error refers to the machining error that may be caused by machining based on the machining error prediction algorithm provided in the embodiments of this application, which represents the machining parameters of the current CNC machine tool, according to the workpiece coordinate information, the multi-axis tool angle information, and the multi-axis tool coordinate information.

[0027] Preferably, the processing error prediction process is as follows:

[0028] Furthermore, the step S40, which involves predicting machining errors based on the workpiece coordinate information, the multi-axis tool angle information, and the multi-axis tool coordinate information to obtain multi-axis linkage control errors, includes:

[0029] S41: Construct a digital twin model based on the workpiece coordinate information and the CNC machine tool coordinate information;

[0030] S42: Obtain the workpiece preset processing parameters, wherein the workpiece preset processing parameters include processing position coordinates and processing angle coordinates;

[0031] S43: Based on the machining position coordinates and the machining angle coordinates, perform machining error prediction based on the digital twin model to obtain the multi-axis linkage control error.

[0032] In a preferred embodiment, based on the workpiece coordinate information and the CNC machine tool coordinate information, the control and transmission system of the CNC machine tool is retrieved. A digital twin model is constructed based on digital twin technology. This digital twin enables dynamic simulation of the actual machining scenario, allowing for more accurate simulation machining. The workpiece preset machining parameters refer to the control parameters originally planned by the CNC machine tool for machining the workpiece, including at least machining position coordinates and machining angle coordinates. The machining position coordinates refer to the preset machining position specified in the control parameters, and the machining angle refers to the preset machining angle specified in the control parameters. In CNC machine tool machining, machining errors originate from the error between the workpiece preset machining parameters and the actual tool cutting parameters. By reducing the error in the actual tool cutting parameters, more accurate multi-axis linkage control can be achieved. Therefore, based on the workpiece's preset machining parameters and a digital twin model, the workpiece is simulated for machining based on its machining position coordinates and machining angle coordinates to obtain the machining result without errors. Then, based on the multi-axis tool angle information and multi-axis tool coordinate information, the workpiece is simulated for machining to obtain the actual machining result with errors. The machining result without errors is compared with the actual machining result with errors to determine the machining error of the actual machining result with errors. This error is stored as multi-axis linkage control error.

[0033] Preferably, the process for predicting processing errors based on a digital twin model is as follows:

[0034] Furthermore, such as Figure 2 As shown, step S43, which involves predicting the machining error based on the machining position coordinates and the machining angle coordinates using the digital twin model, and obtaining the multi-axis linkage control error, includes:

[0035] S431: Construct multi-axis digital tool angle information and multi-axis digital tool coordinate information based on the machining position coordinates and the machining angle coordinates;

[0036] S432: Simulate cutting in the digital twin model based on the multi-axis digital tool angle information and the multi-axis digital tool coordinate information to generate a first cutting model;

[0037] S433: Based on the multi-axis tool angle information and the multi-axis tool coordinate information, perform simulation cutting on the digital twin model to generate a second cutting model;

[0038] S434: Using the first cutting model as the standard model and the second cutting model as the model to be adjusted, a comparison is made to obtain the multi-axis linkage control error.

[0039] In a preferred embodiment, the multi-axis digital tool angle information refers to the digital tool angle information obtained by simulating the tool angle of the CNC machine tool in the digital twin model based on the machining angle coordinates; the multi-axis digital tool coordinate information refers to the digital tool coordinate information obtained by simulating the tool coordinates of the CNC machine tool in the digital twin model based on the machining position coordinates.

[0040] Furthermore, based on the multi-axis digital tool angle information and the multi-axis digital tool coordinate information, the workpiece is simulated and cut in the digital twin model to obtain a workpiece cutting result representing error-free cutting. The simulated cutting process is stored as a first cutting model. Then, based on the multi-axis tool angle information and the multi-axis tool coordinate information, simulated cutting is performed in the digital twin model to obtain a workpiece cutting result representing error. The simulated cutting process is stored as a second cutting model. Further, the first cutting model is set as a standard model representing error-free cutting, and the second cutting model is set as a model to be adjusted with errors for comparison. The deviation is recorded and stored as multi-axis linkage control error. This provides reference data for subsequent adjustment of control parameters.

[0041] Furthermore, the preferred embodiment of the process for determining the multi-axis linkage control error is as follows:

[0042] Furthermore, such as Figure 3 As shown, the step S434, which compares the first cutting model as the standard model with the second cutting model as the model to be adjusted to obtain the multi-axis linkage control error, includes:

[0043] S4341: Using the first cutting model as the standard model and the second cutting model as the model to be adjusted, the cutting trajectory is compared to obtain trajectory error prediction data;

[0044] S4342: Using the first cutting model as the standard model and the second cutting model as the model to be adjusted, perform multi-axis tool position comparison to obtain follow-up error prediction data;

[0045] S4343: Add the trajectory error prediction data and the following error prediction data to the multi-axis linkage control error.

[0046] The first cutting model records data including the multi-axis digital tool angle information and the multi-axis digital tool coordinate information, which are used to simulate the cutting trajectory of the workpiece in the digital twin model; the second cutting model records data including the multi-axis tool angle information and the multi-axis tool coordinate information, which are used to simulate the cutting trajectory of the workpiece in the digital twin model.

[0047] The coordinate sequences of the cutting trajectories of the standard model and the model to be adjusted are compared. Ideally, if the coordinates of the standard model are greater than those of the model to be adjusted, it is considered a negative deviation, denoted as "-deviation amount"; if the coordinates of the standard model are less than those of the model to be adjusted, it is considered a positive deviation, denoted as "+deviation amount". The deviation vectors are stored according to the comparison order of the coordinate sequences and are recorded as trajectory error prediction data.

[0048] The multi-axis digital tool coordinate information is compared with the multi-axis tool coordinate information to determine the multi-axis tool position deviation. If the coordinates of the standard model are greater than those of the model to be adjusted, it is a negative deviation, recorded as "-deviation amount". If the coordinates of the standard model are less than those of the model to be adjusted, it is a positive deviation, recorded as "+deviation amount". This is stored as follower error prediction data.

[0049] The trajectory error prediction data and the following error prediction data are added to the multi-axis linkage control error and set to a pending response state, waiting for efficient subsequent invocation.

[0050] S50: Obtain multi-axis linkage control parameters;

[0051] S60: Optimize the multi-axis linkage control parameters based on the multi-axis linkage control error, and obtain the optimization results of the multi-axis linkage control parameters;

[0052] Specifically, multi-axis linkage control parameters refer to the control parameters used to control multi-axis tools, including but not limited to: tool angles and tool coordinates, cutting trajectory, and other control parameters. Multi-axis linkage control parameter optimization results refer to the control parameters obtained after optimizing the multi-axis linkage control parameters based on the multi-axis linkage control errors.

[0053] Since the accuracy of the control parameters mainly depends on the error between the control parameters given by the control terminal and the actual cutting parameters of the tool, the error fitting is preferably performed in the following way:

[0054] Furthermore, the step S60, which involves optimizing the multi-axis linkage control parameters based on the multi-axis linkage control error to obtain the optimized multi-axis linkage control parameters, includes:

[0055] S61: Obtain multi-axis linkage control machining record data within a preset time zone, wherein the multi-axis linkage control machining record data includes PLC control module output parameter record data and multi-axis linkage control actual machining parameter record data;

[0056] S62: Evaluate the transmission deviation coefficient of the multi-axis linkage control based on the output parameters of the PLC control module and the actual processing parameters of the multi-axis linkage control;

[0057] S63: Fit the multi-axis linkage control error according to the multi-axis linkage control transmission deviation coefficient to obtain the PLC control module output error;

[0058] S64: Optimize the multi-axis linkage control parameters based on the output error of the PLC control module, and obtain the optimization result of the multi-axis linkage control parameters.

[0059] In a preferred embodiment, the multi-axis linkage control machining record data refers to the machining record data of CNC machine tools of the same model and with the same machining task collected from the current time point for a preset duration. Further, the multi-axis linkage control machining record data includes the PLC control module output parameter recording data set for controlling tool machining, and the actual multi-axis linkage control machining parameter recording data corresponding to each tool. By comparing the one-to-one correspondence between the PLC control module output parameters and the actual multi-axis linkage control machining parameters, the average value of multiple recorded deviation information is stored as the multi-axis linkage control transmission deviation coefficient. Further, the PLC control module output error refers to the control parameters that the PLC control module should adjust, determined by fitting the multi-axis linkage control error based on the multi-axis linkage control transmission deviation coefficient. The multi-axis linkage control parameters are then optimized based on the PLC control module output error, and the optimized multi-axis linkage control parameters are used for multi-axis linkage control. This achieves the technical effect of improving the accuracy of multi-axis linkage control.

[0060] The preferred procedure for determining the transmission deviation coefficient of multi-axis linkage control is as follows:

[0061] Furthermore, step S62, which evaluates the transmission deviation coefficient of the multi-axis linkage control based on the output parameters of the PLC control module and the actual machining parameters of the multi-axis linkage control, includes:

[0062] S621: Based on the output parameters of the PLC control module, obtain parameter adjustment step size recording data and adjustment direction recording data;

[0063] S622: Based on the actual machining parameters of the multi-axis linkage control, obtain the actual adjustment step size record data and the actual adjustment direction record data of the parameters;

[0064] S623: Perform deviation analysis on the parameter adjustment step size record data and the actual parameter adjustment step size record data, and perform deviation analysis on the adjustment direction record data and the actual adjustment direction record data to obtain the multi-axis linkage control transmission deviation coefficient.

[0065] Specifically, the parameter adjustment step size recorded data refers to the adjustment range of the control parameters recorded by the PLC control module output parameters; the adjustment direction recorded data refers to the adjustment direction of the control parameters recorded by the PLC control module output parameters, i.e., whether they increase or decrease. The actual parameter adjustment step size recorded data refers to the adjustment range of the control parameters corresponding to the PLC control module output parameter records when they are transmitted to the multi-axis linkage tool; the actual adjustment direction recorded data refers to the adjustment direction of the control parameters corresponding to the PLC control module output parameter records when they are transmitted to the multi-axis linkage tool, i.e., whether they increase or decrease.

[0066] Deviation analysis is performed on the recorded data of the parameter adjustment step size and the recorded data of the actual parameter adjustment step size to obtain the transmission deviation coefficient of the adjustment amplitude; deviation analysis is performed on the recorded data of the adjustment direction and the recorded data of the actual adjustment direction to obtain the transmission deviation coefficient of the adjustment direction. The transmission deviation coefficients of the adjustment amplitude and the adjustment direction are stored as multi-axis linkage control transmission deviation coefficients.

[0067] The preferred procedure for fitting the multi-axis linkage control error is as follows:

[0068] Furthermore, step S63, which involves fitting the multi-axis linkage control error based on the multi-axis linkage control transmission deviation coefficient to obtain the PLC control module output error, includes:

[0069] S631: Obtain preset parameters output by the PLC control module;

[0070] S632: Based on the multi-axis linkage control error, obtain the actual adjustment step size information and the actual adjustment direction information of the parameters;

[0071] S633: Input the actual adjustment step size information and the actual adjustment direction information of the parameters into the multi-axis linkage control transmission deviation coefficient to obtain the output parameter adjustment step size information and the output parameter adjustment direction information;

[0072] S634: Based on the output parameters, adjust the step size information and the output parameter adjustment direction information to obtain the output error of the PLC control module.

[0073] In one optimized embodiment, the preset parameters for the PLC control module output are first determined, i.e., the originally planned output control parameters that need to be adjusted. The actual adjustment step size information and actual adjustment direction information refer to the adjustment information extracted from the multi-axis linkage control error. The output parameter adjustment step size information refers to the adjustment step size required by the PLC control module obtained by fitting the transmission deviation coefficient of the adjustment amplitude based on the actual adjustment step size information; the output parameter adjustment direction information refers to the adjustment direction required by the PLC control module obtained by fitting the transmission deviation coefficient of the adjustment direction based on the actual adjustment direction information. The output parameter adjustment step size information and the output parameter adjustment direction information are stored as the PLC control module output error.

[0074] S70: Perform multi-axis linkage control based on the optimization results of the multi-axis linkage control parameters.

[0075] Specifically, multi-axis linkage control is performed based on the optimization results of multi-axis linkage control parameters. By analyzing the control transmission error of the CNC machine tool, the output of the PLC control module is adjusted in real time to ensure a high degree of precision in multi-axis linkage control.

[0076] In summary, the embodiments of this application have at least the following technical effects:

[0077] The technical solution provided in this application employs a PLC-based multi-axis linkage control method and system. Machining error is predicted using multi-axis tool angle information and coordinate information to obtain the control error for multi-axis linkage. Then, the control parameters are optimized based on the control error to achieve parameter optimization and realize multi-axis linkage control. By optimizing the control parameters according to the predicted error of different cutting scenarios, this method does not rely on a large amount of sample data to improve accuracy compared to machine learning, and has stronger adaptability compared to PID control, thus achieving the technical effect of improving the adaptability of multi-axis linkage control.

[0078] Example 2

[0079] Based on the same inventive concept as the PLC-based multi-axis linkage control method in the foregoing embodiments, such as Figure 4 As shown, this application provides a PLC-based multi-axis linkage control system, wherein the PLC control module includes:

[0080] The basic information acquisition unit 100 is used to acquire basic information of multi-axis linkage machining, wherein the basic information of multi-axis linkage machining includes workpiece status information and multi-axis CNC machine tool status information;

[0081] The first coordinate acquisition unit 200 is used to extract multi-axis tool angle information and multi-axis tool coordinate information from the multi-axis CNC machine tool status information;

[0082] The second coordinate acquisition unit 300 is used to extract workpiece coordinate information from the workpiece state information;

[0083] The machining error prediction unit 400 is used to predict machining errors based on the workpiece coordinate information, the multi-axis tool angle information and the multi-axis tool coordinate information, and to obtain the multi-axis linkage control error.

[0084] The control parameter setting unit 500 is used to acquire multi-axis linkage control parameters;

[0085] The control parameter optimization unit 600 is used to optimize the multi-axis linkage control parameters based on the multi-axis linkage control error and obtain the multi-axis linkage control parameter optimization result.

[0086] The multi-axis linkage control unit 700 is used to perform multi-axis linkage control based on the optimization results of the multi-axis linkage control parameters.

[0087] Furthermore, the processing error prediction unit 400 performs the following steps:

[0088] A digital twin model is constructed based on the workpiece coordinate information and the CNC machine tool coordinate information;

[0089] Obtain preset processing parameters for the workpiece, wherein the preset processing parameters for the workpiece include processing position coordinates and processing angle coordinates;

[0090] Based on the machining position coordinates and the machining angle coordinates, machining error is predicted using the digital twin model to obtain the multi-axis linkage control error.

[0091] Furthermore, the processing error prediction unit 400 performs the following steps:

[0092] Based on the machining position coordinates and the machining angle coordinates, construct multi-axis digital tool angle information and multi-axis digital tool coordinate information;

[0093] Based on the multi-axis digital tool angle information and the multi-axis digital tool coordinate information, a simulation cutting is performed on the digital twin model to generate a first cutting model;

[0094] Based on the multi-axis tool angle information and the multi-axis tool coordinate information, a simulation cutting is performed on the digital twin model to generate a second cutting model;

[0095] The first cutting model is used as the standard model, and the second cutting model is used as the model to be adjusted for comparison to obtain the multi-axis linkage control error.

[0096] Furthermore, the processing error prediction unit 400 performs the following steps:

[0097] Using the first cutting model as the standard model and the second cutting model as the model to be adjusted, the cutting trajectory is compared to obtain trajectory error prediction data.

[0098] Using the first cutting model as the standard model and the second cutting model as the model to be adjusted, multi-axis tool position comparison is performed to obtain follow-up error prediction data;

[0099] The trajectory error prediction data and the following error prediction data are added to the multi-axis linkage control error.

[0100] Furthermore, the control parameter optimization unit 600 performs the following steps:

[0101] Acquire multi-axis linkage control machining record data within a preset time zone, wherein the multi-axis linkage control machining record data includes PLC control module output parameter record data and multi-axis linkage control actual machining parameter record data;

[0102] Based on the output parameters of the PLC control module and the actual machining parameters of the multi-axis linkage control, evaluate the transmission deviation coefficient of the multi-axis linkage control.

[0103] The multi-axis linkage control error is fitted based on the multi-axis linkage control transmission deviation coefficient to obtain the PLC control module output error.

[0104] The multi-axis linkage control parameters are optimized based on the output error of the PLC control module, and the optimization results of the multi-axis linkage control parameters are obtained.

[0105] Furthermore, the control parameter optimization unit 600 performs the following steps:

[0106] Based on the output parameters of the PLC control module, obtain parameter adjustment step size recording data and adjustment direction recording data;

[0107] Based on the actual machining parameters of the multi-axis linkage control, obtain the actual adjustment step size record data and the actual adjustment direction record data of the parameters;

[0108] Deviation analysis is performed on the parameter adjustment step size record data and the actual parameter adjustment step size record data, as well as the adjustment direction record data and the actual adjustment direction record data, to obtain the multi-axis linkage control transmission deviation coefficient.

[0109] Furthermore, the control parameter optimization unit 600 performs the following steps:

[0110] Obtain the preset parameters output by the PLC control module;

[0111] Based on the multi-axis linkage control error, obtain the actual adjustment step size information and actual adjustment direction information of the parameters;

[0112] The actual adjustment step size information and the actual adjustment direction information of the parameters are input into the multi-axis linkage control transmission deviation coefficient to obtain the output parameter adjustment step size information and the output parameter adjustment direction information.

[0113] The output error of the PLC control module is obtained by adjusting the step size information and the direction information of the output parameters.

[0114] In summary, any step of the method described above can be stored as a computer instruction or program in an unrestricted computer memory, and can be called and identified by an unrestricted computer processor to implement any method in the embodiments of this application, without any additional restrictions.

[0115] This specification and accompanying drawings are merely illustrative examples of this application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Therefore, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A PLC-based multi-axis linkage control method, characterized in that, Applied to PLC control modules, including: Acquire basic information for multi-axis linkage machining, wherein the basic information for multi-axis linkage machining includes workpiece status information and multi-axis CNC machine tool status information; Extract multi-axis tool angle information and multi-axis tool coordinate information from the multi-axis CNC machine tool status information; Extract workpiece coordinate information from the workpiece status information; Based on the workpiece coordinate information, the multi-axis tool angle information, and the multi-axis tool coordinate information, machining error is predicted to obtain multi-axis linkage control error; Obtain multi-axis linkage control parameters; Based on the multi-axis linkage control error, the multi-axis linkage control parameters are optimized to obtain the optimization results of the multi-axis linkage control parameters. Multi-axis linkage control is performed based on the optimization results of the multi-axis linkage control parameters. The step of optimizing the multi-axis linkage control parameters based on the multi-axis linkage control error to obtain the optimization results of the multi-axis linkage control parameters includes: Acquire multi-axis linkage control machining record data within a preset time zone, wherein the multi-axis linkage control machining record data includes PLC control module output parameter record data and multi-axis linkage control actual machining parameter record data; Based on the output parameters of the PLC control module and the actual machining parameters of the multi-axis linkage control, evaluate the transmission deviation coefficient of the multi-axis linkage control. The multi-axis linkage control error is fitted based on the multi-axis linkage control transmission deviation coefficient to obtain the PLC control module output error. The multi-axis linkage control parameters are optimized based on the output error of the PLC control module, and the optimization results of the multi-axis linkage control parameters are obtained.

2. The method as described in claim 1, characterized in that, The process of predicting machining errors based on the workpiece coordinate information, the multi-axis tool angle information, and the multi-axis tool coordinate information to obtain multi-axis linkage control errors includes: A digital twin model is constructed based on the workpiece coordinate information and the CNC machine tool coordinate information; Obtain preset processing parameters for the workpiece, wherein the preset processing parameters for the workpiece include processing position coordinates and processing angle coordinates; Based on the machining position coordinates and the machining angle coordinates, machining error is predicted using the digital twin model to obtain the multi-axis linkage control error.

3. The method as described in claim 2, characterized in that, The step of predicting machining errors based on the machining position coordinates and machining angle coordinates, using the digital twin model, and obtaining the multi-axis linkage control error includes: Based on the machining position coordinates and the machining angle coordinates, construct multi-axis digital tool angle information and multi-axis digital tool coordinate information; Based on the multi-axis digital tool angle information and the multi-axis digital tool coordinate information, a simulation cutting is performed on the digital twin model to generate a first cutting model; Based on the multi-axis tool angle information and the multi-axis tool coordinate information, a simulation cutting is performed on the digital twin model to generate a second cutting model; The first cutting model is used as the standard model, and the second cutting model is used as the model to be adjusted for comparison to obtain the multi-axis linkage control error.

4. The method as described in claim 3, characterized in that, The step of comparing the first cutting model as the standard model and the second cutting model as the model to be adjusted to obtain the multi-axis linkage control error includes: Using the first cutting model as the standard model and the second cutting model as the model to be adjusted, the cutting trajectory is compared to obtain trajectory error prediction data. Using the first cutting model as the standard model and the second cutting model as the model to be adjusted, multi-axis tool position comparison is performed to obtain follow-up error prediction data; The trajectory error prediction data and the following error prediction data are added to the multi-axis linkage control error.

5. The method as described in claim 4, characterized in that, The step of evaluating the transmission deviation coefficient of the multi-axis linkage control based on the output parameters of the PLC control module and the actual machining parameters of the multi-axis linkage control includes: Based on the output parameters of the PLC control module, obtain parameter adjustment step size recording data and adjustment direction recording data; Based on the actual machining parameters of the multi-axis linkage control, obtain the actual adjustment step size record data and the actual adjustment direction record data of the parameters; Deviation analysis is performed on the parameter adjustment step size record data and the actual parameter adjustment step size record data, as well as the adjustment direction record data and the actual adjustment direction record data, to obtain the multi-axis linkage control transmission deviation coefficient.

6. The method as described in claim 5, characterized in that, The step of fitting the multi-axis linkage control error based on the multi-axis linkage control transmission deviation coefficient to obtain the PLC control module output error includes: Obtain the preset parameters output by the PLC control module; Based on the multi-axis linkage control error, obtain the actual adjustment step size information and the actual adjustment direction information of the parameters; The actual adjustment step size information and the actual adjustment direction information of the parameters are input into the multi-axis linkage control transmission deviation coefficient to obtain the output parameter adjustment step size information and the output parameter adjustment direction information. The output error of the PLC control module is obtained by adjusting the step size information and the direction information of the output parameters.

7. A PLC-based multi-axis linkage control system, characterized in that, Applied to PLC control modules, including: A basic information acquisition unit is used to acquire basic information of multi-axis linkage machining, wherein the basic information of multi-axis linkage machining includes workpiece status information and multi-axis CNC machine tool status information; The first coordinate acquisition unit is used to extract multi-axis tool angle information and multi-axis tool coordinate information from the status information of the multi-axis CNC machine tool; The second coordinate acquisition unit is used to extract workpiece coordinate information from the workpiece status information; The machining error prediction unit is used to predict machining errors based on the workpiece coordinate information, the multi-axis tool angle information, and the multi-axis tool coordinate information, and to obtain the multi-axis linkage control error. The control parameter setting unit is used to acquire multi-axis linkage control parameters; The control parameter optimization unit is used to optimize the multi-axis linkage control parameters based on the multi-axis linkage control error and obtain the multi-axis linkage control parameter optimization result. The step of optimizing the multi-axis linkage control parameters based on the multi-axis linkage control error to obtain the optimization results of the multi-axis linkage control parameters includes: Acquire multi-axis linkage control machining record data within a preset time zone, wherein the multi-axis linkage control machining record data includes PLC control module output parameter record data and multi-axis linkage control actual machining parameter record data; Based on the output parameters of the PLC control module and the actual machining parameters of the multi-axis linkage control, evaluate the transmission deviation coefficient of the multi-axis linkage control. The multi-axis linkage control error is fitted based on the multi-axis linkage control transmission deviation coefficient to obtain the PLC control module output error. Based on the output error of the PLC control module, the multi-axis linkage control parameters are optimized and the optimization results of the multi-axis linkage control parameters are obtained. A multi-axis linkage control unit is used to perform multi-axis linkage control based on the optimization results of the multi-axis linkage control parameters.

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