Multi-axis cooperative control method and device, electronic equipment and storage medium

Abstract

The application provides a multi-axis cooperative control method and device, electronic equipment and storage medium. The method comprises the following steps: determining a main shaft and at least one slave shaft among each rotation shaft of a target device according to the rotation shafts; obtaining a main shaft torque of the main shaft at each detection time and a slave shaft torque of each slave shaft at each detection time; obtaining a corrected speed of each slave shaft at each detection time according to each slave shaft torque and the main shaft torque at each detection time; and obtaining an adjusted speed of each slave shaft at each detection time according to a preset speed and the corrected speed of each slave shaft at each detection time. Therefore, the application determines a main shaft and at least one slave shaft of a target device, dynamically corrects the running speed of each slave shaft based on the torque difference between the main shaft and the slave shaft, balances the load among the rotation shafts, and has the advantages of high control accuracy and simple control scheme.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, and in particular to a multi-axis collaborative control method, device, electronic device, storage medium, and computer program product. Background Technology

[0002] The slicing machine is a piece of equipment designed for the batch cutting and processing needs of ultra-hard and brittle materials such as sapphire, quartz crystal, special ceramics, and silicon nitride.

[0003] The slicing machine mainly consists of multiple guide rollers and metal wires. The metal wires are wound around the guide rollers and, guided and redirected by the guide rollers, form a cutting wire mesh on the rollers. By driving the metal wires on the cutting wire mesh to move at high speed, the workpiece to be cut (e.g., sapphire, quartz crystal, special ceramics, silicon nitride, etc.) is rubbed to cut the workpiece into multiple slices.

[0004] However, since different guide rollers are typically driven by different motors, after the equipment has been running for a period of time, the rollers on each guide roller will experience varying degrees of wear due to friction from the cutting wire, resulting in different changes in the diameter of the rollers on different guide rollers. In this situation, if the linear speed of each roller is not dynamically adjusted, it will cause an imbalance in the load between the motors of each guide roller, affecting the slicing effect of the workpiece and even causing the metal wire to break. Summary of the Invention

[0005] In view of this, this application provides a multi-axis collaborative control scheme, which adjusts the operation speed of each slave axis based on the torque difference between the master and slave axes to achieve load balance among the axes. This scheme not only has high control accuracy, but also is simple and easy to implement.

[0006] According to a first aspect of the embodiments of this application, a multi-axis cooperative control method is provided, comprising: determining a master axis and at least one slave axis among the rotating axes of a target device; acquiring the master axis torque at each detection time and the slave axis torque at each detection time of each slave axis; obtaining a correction speed of each slave axis at each detection time based on the torque of each slave axis and the master axis torque at each detection time; and obtaining an adjustment speed of each slave axis at each detection time based on a preset speed and the correction speed of each slave axis at each detection time.

[0007] According to a second aspect of the embodiments of this application, a multi-axis cooperative control device is provided, comprising: a determining module, configured to determine one master axis and at least one slave axis among the rotating axes of a target device; an acquiring module, configured to acquire the master axis torque at each detection moment and the slave axis torque of each slave axis at each detection moment; a correcting module, configured to obtain a corrected speed of each slave axis at each detection moment based on the torque of each slave axis and the master axis torque at each detection moment; and an adjusting module, configured to obtain an adjusted speed of each slave axis at each detection moment based on a preset speed and the corrected speed of each slave axis at each detection moment.

[0008] According to a third aspect of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface, and a bus, wherein the processor, the memory, and the communication interface communicate with each other via the bus; the memory is used to store at least one executable instruction, wherein the executable instruction causes the processor to perform an operation corresponding to the multi-axis cooperative control method described in the first aspect above.

[0009] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein computer instructions are stored on the computer-readable storage medium, and when executed by a processor, the computer instructions cause the processor to perform the multi-axis cooperative control method as described in the first aspect above.

[0010] According to a fifth aspect of the embodiments of this application, a computer program product is provided, including computer instructions that instruct a computing device to perform an operation corresponding to the method described in the first aspect.

[0011] As can be seen from the above technical solution, this application determines one shaft in the target device as the main shaft and each of the other shafts as the slave shaft. By comparing the torque difference between the main shaft and each slave shaft, the operating speed of each slave shaft is dynamically corrected to achieve load balance among the shafts of the target device. It has the advantages of low hardware cost, simple configuration, and easy implementation. Attached Figure Description

[0012] Figure 1 This is a structural diagram of a slicer that is an exemplary embodiment of this application.

[0013] Figure 2 A flowchart illustrating a multi-axis cooperative control method as an exemplary embodiment of this application.

[0014] Figure 3 and Figure 4 This is a side view of the arrangement structure of each rotating shaft in the slicer of different embodiments of this application.

[0015] Figure 5A flowchart of a multi-axis cooperative control method, which is another exemplary embodiment of this application.

[0016] Figure 6 This is a structural diagram of a multi-axis cooperative control device, which is an exemplary embodiment of this application.

[0017] Figure 7 This is a schematic diagram of an electronic device that is an exemplary embodiment of this application.

[0018] List of reference numerals in the attached diagram:

[0019] 200. Multi-axis cooperative control method

[0020] 202. Based on the rotating shafts of the target equipment, determine one main shaft and at least one slave shaft in each shaft.

[0021] 204. Obtain the spindle torque at each detection moment and the slave shaft torque at each detection moment.

[0022] 206. Based on the torque of each slave shaft and the torque of the master shaft at each detection moment, obtain the correction speed of each slave shaft at each detection moment.

[0023] 208. Based on the preset speed and the correction speed of each slave axis at each detection moment, obtain the adjustment speed of each slave axis at each detection moment.

[0024] 500. Multi-axis cooperative control method

[0025] 502. Determine any current time among the various detection times, and determine any current axis among the slave axes.

[0026] 504. Compare the slave shaft torque and the spindle torque at the current moment to obtain the torque difference of the current axis at the current moment.

[0027] 506. Based on the torque difference and position compensation coefficient of the current shaft at the current moment, obtain the compensated position of the current shaft at the current moment; based on the torque difference and speed compensation coefficient of the current shaft at the current moment, obtain the compensated speed of the current shaft at the current moment.

[0028] 508. Based on the compensation position and compensation speed of the current axis at the current moment, obtain the correction speed of the current axis at the current moment.

[0029] 100, Slicer 102a~102c, Guide roller 104, Cutting wire

[0030] 106, workpiece to be cut 300, slicer 302a~302d, guide rollers

[0031] 304 stainless steel, 400mm cutting wire, 402a-402e slicing machine, guide rollers

[0032] 404, Cutting line 600, Multi-axis collaborative control device 602, Determination module

[0033] 604. Acquisition Module; 606. Correction Module; 608. Adjustment Module

[0034] 700. Electronic device; 702. Processor; 704. Communication interface

[0035] 706, Memory 708, Bus 710, Program Detailed Implementation

[0036] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0037] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and features can be combined with each other. The steps in the following method embodiments are for illustrative purposes only and are not intended to limit the invention.

[0038] The slicing machine is a piece of equipment designed for the batch cutting and processing needs of ultra-hard and brittle materials such as sapphire, quartz crystal, special ceramics, and silicon nitride.

[0039] refer to Figure 1 A traditional slicer 100 mainly includes multiple guide rollers 102a, 102b, and 102c, with cutting wires 104 (e.g., metal wires) wound around each guide roller. The cutting wires 104 are guided and redirected by the guide rollers 102a, 102b, and 102c, forming a cutting wire mesh on the rollers of each guide roller. By driving the cutting wires 104 on the cutting wire mesh to move at high speed and controlling the workpiece 106 to be cut to pass slowly through the cutting wire mesh, the workpiece 106 can be cut into multiple slices.

[0040] Each guide roller 102a, 102b, and 102c of the slicer 100 is equipped with rollers of the same initial diameter. Normally, different guide rollers are driven independently by different motors. Therefore, after a period of operation, the rollers on each guide roller will experience varying degrees of wear due to uneven friction from the cutting wire, resulting in different changes in the diameter of the rollers on different guide rollers. In this situation, if the linear speed of each roller is not dynamically adjusted, it can easily lead to an imbalance in the load between the motors of each guide roller. This not only affects the slicing effect of the slicer but also easily causes the cutting wire 104 to break during the cutting process.

[0041] Currently, the common solution to the load imbalance problem among the guide rollers in a slicer is the master-slave control mode, in which the master spindle performs closed-loop speed control, and the slave spindles of each axis use torque control, receiving torque commands from the master spindle.

[0042] Specifically, the working principle based on the master-slave control mode is as follows: (1) When the slicer is winding, the guide wheels are in a non-rigid connection state, and the main shaft and the slave shaft are both working in speed control mode and accept the same speed setting value; (2) When the slicer finishes winding and tensioning, the guide wheels are in a rigid connection state, and the load balance adjustment of each guide wheel needs to be performed. Under this condition, the main shaft on the slicer still maintains the speed control mode, while each slave shaft will switch from the speed control mode to the torque control mode.

[0043] However, in master-slave control mode, when the slave axis experiences abnormalities such as runaway or overspeed (e.g., runaway caused by a broken cutting wire, or overspeed caused by excessive speed deviation between the master and slave axes), it is necessary to switch the slave axis from torque control mode back to speed control mode to activate the slave axis's speed loop. While this control mode switching method can resolve runaway or overspeed issues, it is complex and cumbersome. Furthermore, after switching to speed control mode, the slicer's guide rollers no longer have load balancing capabilities, requiring a shutdown to resolve the equipment malfunction.

[0044] In view of the various problems existing in the prior art, the embodiments of this application provide a multi-axis cooperative control scheme, which can realize the load balance between the guide rollers of the slicer without switching the control mode, thereby improving the slicing process effect of the slicer.

[0045] The following will describe in detail the multi-axis cooperative control method, apparatus, electronic device, storage medium, and computer program product provided in the various embodiments of this application with reference to the accompanying drawings.

[0046] The multi-axis collaborative control schemes provided in this application are applicable to various process equipment that performs related processes through the coordinated operation of multiple rotating axes, including but not limited to: slicing machines, squaring machines, winding machines, etc. In the following embodiments, a slicing machine will be used as an example to describe in detail the specific implementation schemes of various aspects of this application. The slicing machine is only used for descriptive purposes and is not intended to limit the application scope of the technical solutions of this application, as stated above.

[0047] Multi-axis cooperative control method

[0048] Figure 2 This is a flowchart of a multi-axis cooperative control method 200, which is an exemplary embodiment of this application. As shown in the figure, the multi-axis cooperative control method 200 of this embodiment mainly includes the following steps:

[0049] Step 202: Based on each shaft of the target device, determine one main shaft and at least one slave shaft in each shaft.

[0050] In some embodiments, the target equipment includes various process equipment that can operate in coordination of multiple shafts to perform relevant process treatments. These include, but are not limited to, slicing machines, squaring machines, and winding machines (continuous tubing winding machines).

[0051] In some embodiments, when the target device is a slicer, each rotating shaft on the target device is a guide wheel on the slicer.

[0052] The number of guide rollers on the slicer and their distribution can be adjusted according to the actual slicing process requirements.

[0053] For example, in Figure 1 The slicer 100 shown includes three guide rollers 102a, 102b, and 102c, which can be arranged in a triangular pattern (refer to the shape of the cutting line 104). For example, in... Figure 3 The slicer 300 shown includes four guide rollers 302a, 302b, 302c, and 302d. These guide rollers can be arranged in a trapezoidal shape (refer to the shape of the cutting line 304) or in a rectangular shape (not shown). For example, in... Figure 4 The slicer 400 shown includes five guide rollers 402a, 402b, 402c, 402d, and 404d, and the guide rollers can be arranged in a trapezoidal shape (refer to the shape of the cutting line 404).

[0054] In this embodiment, one of the rotating shafts can be designated as the main shaft of the target device.

[0055] In some embodiments, in a polygon formed by the axes of the target device, one axis is determined to be the main axis and is located at any vertex of the polygon.

[0056] For example, in Figure 1 In the slicer 100 shown, each guide roller 102a, 102b, and 102c is located at the apex of a triangle. Therefore, any one of the guide rollers 102a, 102b, and 102c can be designated as the main axis. For example, in... Figure 3 In the slicer 300 shown, each guide roller 302a, 302b, 302c, and 302d is located at the apex of the trapezoid. Therefore, any one of the guide rollers 302a, 302b, 302c, and 302d can be designated as the main axis. For example, in... Figure 4 In the slicer 400 shown, guide wheels 402a, 402b, 402d, and 402e are all located at the apex of the trapezoid. Therefore, any one of the guide wheels 402a, 402b, 402d, and 402e can be determined as the main axis (guide wheel 402c, which is not located at the apex, is not suitable as the main axis).

[0057] In this embodiment, each shaft that is not designated as the master shaft can be designated as a slave shaft of the target device.

[0058] by Figure 1 Taking the slicer 100 as an example, when guide wheel 102a is determined as the main shaft of slicer 100, guide wheels 102b and 102c are both determined as slave shafts of slicer 100; when guide wheel 102b is determined as the main shaft of slicer 100, guide wheels 102a and 102c are both determined as slave shafts of slicer 100; when guide wheel 102c is determined as the main shaft of slicer 100, guide wheels 102a and 102b are both determined as slave shafts of slicer 100.

[0059] Step 204: Obtain the spindle torque at each detection moment and the slave shaft torque at each detection moment.

[0060] In some embodiments, the real-time torque of the motor of each rotating shaft corresponding to each detection moment can be read through the PLC controller to obtain the main shaft torque and the slave shaft torque of each slave shaft at each detection moment.

[0061] Step 206: Based on the torque of each slave shaft and the torque of the master shaft at each detection moment, obtain the correction speed of each slave shaft at each detection moment.

[0062] In some embodiments, for any current moment under each detection moment, a difference calculation can be performed based on the torque of each slave axis corresponding to the current moment and the torque of the master axis corresponding to the current moment to obtain the torque difference between each slave axis and the master axis at the current moment. Based on the torque difference between each slave axis and the master axis at the current moment, the compensation position and compensation speed of each slave axis at the current moment can be obtained. Based on the compensation position and compensation speed of each slave axis at the current moment, the correction speed of each slave axis at the current moment can be obtained.

[0063] Step 208: Based on the preset speed and the correction speed of each slave axis at each detection time, obtain the adjustment speed of each slave axis at each detection time.

[0064] In some embodiments, the preset speed is determined based on the spindle speed.

[0065] In some embodiments, the target device includes a virtual axis, and a preset speed can be determined based on the virtual axis.

[0066] For example, the target device may include a servo motor and a PLC controller, wherein the servo motor and the PLC controller can work together to perform closed-loop position control on each axis of the target device.

[0067] In this embodiment, the PLC controller can use a virtual axis to perform relative synchronous control on the motors of each rotating axis in the target device to ensure that the motors of each rotating axis have the same main speed (preset speed) source.

[0068] In some embodiments, the adjustment speed of each slave axis at each detection time can be obtained by summing the preset speed and the correction speed of each slave axis at each detection time, as shown in Formula 1 below:

[0069] V adjust_ij =V pre +V′ add_ij (Formula 1)

[0070] In Formula 1 above, V adjust_ij V represents the adjustment speed of the i-th slave axis at the j-th detection time. pre V′ represents the preset speed. add_ij This represents the correction speed of the i-th slave axis at the j-th detection time.

[0071] Optionally, the preset speed at different detection times can be the same or different.

[0072] In some embodiments, the preset speed at different detection times can be obtained from the host computer of the target device, or the preset speed at different detection times can be set manually.

[0073] The multi-axis collaborative control method provided in this embodiment determines one of the target equipment's rotating axes as the master axis, analyzes the torque difference between the master and slave axes at various detection moments, and dynamically adjusts the operating speed of the slave axis at each detection moment. This not only achieves load balance among the rotating axes of the target equipment but also improves the accuracy of the load balance adjustment results. Furthermore, since both the master and slave axes always operate in speed control mode, no mode switching is required. Therefore, this solution also has the advantages of simple and easy-to-implement algorithm control and can avoid abnormal operation of the slave axis, such as runaway or overspeed.

[0074] The multi-axis cooperative control method provided in this embodiment dynamically generates the adjustment speed of each slave axis at each detection moment based on the correction speed of each slave axis at each detection moment. This ensures real-time load balance among the axes and smooth speed changes, thereby improving the operational stability of each axis of the target equipment. Furthermore, the control algorithm of this solution can be easily integrated into the existing control program of the target equipment, offering advantages such as low hardware cost and simple configuration.

[0075] The multi-axis collaborative control method provided in this embodiment can determine the preset speed of each shaft by the actual rotation speed of the virtual shaft, which can ensure that each shaft has the same main speed source and improve the accuracy and stability of the load balance adjustment results between each shaft.

[0076] The multi-axis collaborative control method provided in this embodiment can be applied to slicers with different numbers of guide wheels and / or different guide wheel configurations. It has a wide range of applications and can effectively improve the slicing process of the slicer.

[0077] Figure 5 A flowchart of a multi-axis control method according to another exemplary embodiment of this application is shown. This embodiment mainly illustrates a specific implementation of step 206 described above. Figure 5 As shown, the multi-axis cooperative control method 500 in this embodiment mainly includes the following steps:

[0078] Step 502: Determine any current time among the detection times, and determine any current axis among the slave axes.

[0079] For example, consecutive detection times can be determined according to a preset detection interval, and a current time can be determined from among the detection times based on the current detection time.

[0080] In this embodiment, one of the slave axes in the target device can be sequentially determined as the current axis.

[0081] Step 504: Compare the slave shaft torque and the master shaft torque at the current moment to obtain the torque difference of the current shaft at the current moment.

[0082] In this embodiment, the torque difference of each slave shaft corresponding to each detection moment can be obtained using the following formula 2:

[0083] T ij =t main_j -t slave_ij (Formula 2)

[0084] In formula 2 above, T ij t represents the torque difference of the i-th slave shaft at the j-th detection time. main_j t represents the spindle torque at the j-th detection moment. slave_ij This represents the torque of the i-th slave shaft at the j-th detection time.

[0085] In this embodiment, if the slave shaft torque is greater than the master shaft torque at the current moment, the torque difference T ij It is a negative value (i.e., T) ij <0); If the slave shaft torque at the current moment is less than the master shaft torque, the torque difference T ij It is a positive value (i.e., T) ij >0); If the slave shaft torque at the current moment is equal to the master shaft torque, then the torque difference T ij It equals 0.

[0086] Step 506: Based on the torque difference and position compensation coefficient of the current shaft at the current moment, obtain the compensation position of the current shaft at the current moment; based on the torque difference and speed compensation coefficient of the current shaft at the current moment, obtain the compensation speed of the current shaft at the current moment.

[0087] In some embodiments, the compensated position of the current shaft at the current moment can be obtained by multiplying the torque difference of the current shaft at the current moment with the position compensation coefficient.

[0088] In this embodiment, the compensation position of each slave axis at each detection time can be calculated using the following formula 3:

[0089] D ij =T ij ×D kp (Formula 3)

[0090] In formula 3 above, D ij T represents the compensation position of the i-th slave axis at the j-th detection time. ij D represents the torque difference of the i-th slave shaft at the j-th detection time. kp This represents the position compensation coefficient.

[0091] In some embodiments, the position compensation coefficient D kp The setting range can be between 0.5 and 2.0.

[0092] In this embodiment, if the slave shaft torque is greater than the master shaft torque at the current moment, negative position compensation can be performed on the slave shaft at the current moment; if the slave shaft torque is less than the master shaft torque at the current moment, positive position compensation can be performed on the slave shaft at the current moment.

[0093] In some embodiments, the torque deviation of the current shaft at the current moment can be determined based on the absolute value of the torque difference of the current shaft at the current moment, and the compensation speed of the current shaft at the current moment can be obtained by multiplying the torque deviation of the current shaft at the current moment with the speed compensation coefficient.

[0094] In this embodiment, the torque deviation of each slave shaft at each detection moment is not less than 0.

[0095] In this embodiment, the compensation speed of each slave axis at each detection moment can be calculated using the following formula 4:

[0096] V add_ij =ΔT ij ×V kp (Formula 4)

[0097] In formula 4 above, V add_ij Let ΔT represent the compensation velocity of the i-th slave axis at the j-th detection time. ij V represents the torque deviation of the i-th slave shaft at the j-th detection time. kp This represents the speed compensation coefficient.

[0098] In some embodiments, the speed compensation coefficient V kp The setting range is between 1.0 and 2.0.

[0099] In some embodiments, if the torque of the slave shaft is equal to the torque of the master shaft at the current moment, the torque deviation of the slave shaft at the current moment is also 0, and the compensation position and compensation speed of the slave shaft at the current moment are also 0. That is, there is no need to adjust the operating speed of the slave shaft at the current moment.

[0100] Step 508: Based on the compensation position and compensation speed of the current axis at the current moment, obtain the correction speed of the current axis at the current moment.

[0101] In some embodiments, the compensation position and compensation speed of the current axis at the current moment can be written into the PLC controller of the target device to perform superimposed motion and correct the operating speed of the current axis at the current moment.

[0102] In this embodiment, an interpolator can be used to obtain the correction speed of the current axis at the current moment based on the compensation position and compensation speed of the current axis at the current moment.

[0103] The correction speed of each slave axis at each detection time can be obtained using the following formula 5.

[0104] V′ add_ij =interpolator(D ij V add_ij ) (Formula 5)

[0105] In formula 5 above, V′ add_ij D represents the correction velocity of the i-th slave axis at the j-th detection time, and interpolator represents the interpolation function of the interpolator. ij V represents the compensation position of the i-th slave axis at the j-th detection time. add_ij This represents the compensation speed of the i-th slave axis at the j-th detection time.

[0106] In this embodiment, when the compensation position of the current axis corresponding to the current time is positive, the operating speed of the current axis can be accelerated based on the correction speed of the current axis corresponding to the current time; when the compensation position of the current axis corresponding to the current time is negative, the operating speed of the current axis can be decelerated based on the correction speed of the current axis corresponding to the current time.

[0107] The multi-axis collaborative control method provided in this embodiment calculates the compensation position and compensation speed of the slave axis at each detection moment based on the torque difference between the slave axis and the master axis at each detection moment. Specifically, if the torque of the slave axis at the current moment is less than the torque of the master axis, the operating speed of the slave axis at the current moment is accelerated as a correction adjustment. If the torque of the slave axis at the current moment is greater than the torque of the master axis, the operating speed of the slave axis at the current moment is decelerated as a correction adjustment. This is to make the torque of the slave axis and the torque of the master axis at each detection moment approximately equal, thereby achieving load balance between the slave axis and the master axis. This method has the advantage of high control algorithm accuracy.

[0108] Furthermore, the multi-axis collaborative control method provided in this embodiment can flexibly set the position compensation coefficient and speed compensation system according to the actual equipment or process manufacturing requirements, and has the advantage of wide applicability.

[0109] Multi-axis cooperative control device

[0110] Figure 6 A structural block diagram of a multi-axis cooperative control device 600, an exemplary embodiment of this application, is shown. Figure 6 As shown, the multi-axis cooperative control device 600 in this embodiment mainly includes:

[0111] The determining module 602 is used to determine one master shaft and at least one slave shaft in each rotating shaft of the target device;

[0112] The acquisition module 604 is used to acquire the spindle torque at each detection moment and the slave shaft torque at each detection moment;

[0113] The correction module 606 is used to obtain the correction speed of each slave shaft at each detection time based on the torque of each slave shaft and the torque of the master shaft at each detection time;

[0114] The adjustment module 608 obtains the adjustment speed of each slave axis at each detection time based on the preset speed and the correction speed of each slave axis at each detection time.

[0115] Optionally, the correction module 606 is further configured to: determine any current moment among the detection moments, and determine any current axis among the slave axes; compare the slave axis torque of the current axis at the current moment with the master axis torque at the current moment to obtain the torque difference of the current axis at the current moment; obtain the compensation position of the current axis at the current moment based on the torque difference of the current axis at the current moment and the position compensation coefficient; obtain the compensation speed of the current axis at the current moment based on the torque difference of the current axis at the current moment and the speed compensation coefficient; and obtain the correction speed of the current axis at the current moment based on the compensation position and the compensation speed of the current axis at the current moment.

[0116] Optionally, the correction module 606 is further configured to obtain the compensated position of the current shaft at the current moment based on the product of the torque difference of the current shaft at the current moment and the position compensation coefficient.

[0117] Optionally, the position compensation coefficient is between 0.5 and 2.0.

[0118] Optionally, the correction module 606 is further configured to: determine the torque deviation of the current shaft at the current time based on the absolute value of the torque difference of the current shaft at the current time; and obtain the compensation speed of the current shaft at the current time based on the product of the torque deviation of the current shaft at the current time and the speed compensation coefficient.

[0119] Optionally, the speed compensation coefficient is between 1.0 and 2.0.

[0120] Optionally, the adjustment module 608 is further configured to: obtain the adjustment speed of the current axis at the current moment based on the sum of the preset speed and the correction speed of the current axis at the current moment.

[0121] Optionally, the preset speed is determined based on the actual speed of the spindle.

[0122] Optionally, the target device further includes a virtual axis, and the preset speed is determined based on the actual speed of the virtual axis.

[0123] Optionally, the target device includes a slicer.

[0124] Optionally, in a polygon formed by the rotating axes of the target device, one rotating axis is determined as the main axis and is located at any vertex of the polygon.

[0125] It should be noted that the information interaction and execution process between the units in the above-mentioned multi-axis collaborative control device are based on the same concept as the aforementioned multi-axis collaborative control method embodiment. For details, please refer to the description in the aforementioned multi-axis collaborative control method embodiment, and will not be repeated here.

[0126] electronic devices

[0127] Figure 7 This is a schematic diagram of an electronic device provided in Embodiment 4 of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device. See also... Figure 7 The electronic device 700 provided in this application embodiment includes: a processor 702, a communications interface 704, a memory 706, and a bus 708. Wherein:

[0128] The processor 702, communication interface 704, and memory 706 communicate with each other via bus 708.

[0129] Communication interface 704 is used to communicate with other electronic devices or servers.

[0130] The processor 702 is used to execute program 710, which can specifically execute the relevant steps in the above-described multi-axis cooperative control method embodiment.

[0131] Specifically, program 710 may include program code that includes computer operation instructions.

[0132] The processor 702 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The smart device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0133] Memory 706 is used to store program 710. Memory 706 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0134] Specifically, program 710 can be used to cause processor 702 to execute the multi-axis cooperative control method in any of the foregoing embodiments.

[0135] The specific implementation of each step in program 710 can be found in the corresponding steps and units described in the above-described multi-axis cooperative control method embodiments, and will not be repeated here. Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the devices and modules described above can be referred to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0136] Computer-readable storage media

[0137] This application also provides a computer-readable storage medium storing instructions for causing a machine to perform the multi-axis cooperative control method as described herein. Specifically, a system or apparatus equipped with a storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer (or CPU or MPU) of the system or apparatus to read and execute the program code stored in the storage medium.

[0138] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of this application.

[0139] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0140] Computer program products

[0141] This application also provides a computer program product, including computer instructions that instruct a computing device to perform any corresponding operation in the above-described plurality of method embodiments.

[0142] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0143] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0144] It should be noted that not all steps and modules in the above processes and system structure diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of each step is not fixed and can be adjusted as required. The system structure described in the above embodiments can be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.

[0145] In this patent application, nouns and pronouns relating to people are not limited to specific genders.

[0146] In the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module may include permanent dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware module may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operations. The specific implementation method (mechanical, dedicated permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.

[0147] The present invention has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present invention can be obtained by combining the code review methods in the different embodiments above. These embodiments are also within the protection scope of the present invention.

Claims

1. A multi-axis cooperative control method (200), comprising: Based on each shaft of the target device, determine one master shaft and at least one slave shaft (202) in each shaft, wherein each shaft operates in speed control mode; Obtain the spindle torque at each detection time and the slave shaft torque at each detection time (204). Based on the torque of each slave shaft and the torque of the master shaft at each detection time, the correction speed of each slave shaft at each detection time is obtained (206). Based on the preset speed and the correction speed of each slave axis at each detection time, the adjustment speed of each slave axis at each detection time is obtained (208). The step of obtaining the correction speed (500) of each slave shaft at each detection moment based on the torque of each slave shaft and the torque of the master shaft at each detection moment includes: Determine any current time among the detection times, and determine any current axis among the slave axes (502). By comparing the slave shaft torque of the current shaft at the current time and the main shaft torque of the current shaft at the current time, the torque difference of the current shaft at the current time is obtained (504). The compensated position of the current shaft at the current moment is obtained by multiplying the torque difference of the current shaft at the current moment and the position compensation coefficient; the torque deviation of the current shaft at the current moment is determined by the absolute value of the torque difference of the current shaft at the current moment; and the compensated speed of the current shaft at the current moment is obtained by multiplying the torque deviation of the current shaft at the current moment and the speed compensation coefficient (506). Based on the compensation position and compensation speed of the current axis at the current time, the correction speed (508) of the current axis at the current time is obtained.

2. The method according to claim 1, in, The position compensation coefficient is between 0.5 and 2.

0.

3. The method according to claim 1, in, The speed compensation coefficient is between 1.0 and 2.

0.

4. The method according to any one of claims 1 to 3, wherein, The process of obtaining the adjustment speed of each slave axis at each detection moment based on a preset speed and the correction speed of each slave axis at each detection moment includes: The adjustment speed of the current axis at the current moment is obtained by summing the preset speed and the correction speed of the current axis at the current moment.

5. The method according to claim 1, wherein, The preset speed is determined based on the actual speed of the spindle; or, The target device also includes a virtual axis, and the preset speed is determined based on the virtual axis.

6. The method according to claim 1, wherein, The target equipment includes a slicer; Furthermore, in the polygon formed by the rotating axes of the target device, one rotating axis is determined to be the main axis and is located at any vertex of the polygon.

7. A multi-axis cooperative control device (600), comprising: The determining module (602) is used to determine one master shaft and at least one slave shaft in each shaft of the target device, wherein each shaft operates in speed control mode; The acquisition module (604) is used to acquire the spindle torque at each detection moment and the slave shaft torque at each detection moment; The correction module (606) is used to obtain the correction speed of each slave shaft at each detection time based on the torque of each slave shaft and the torque of the master shaft at each detection time; The adjustment module (608) is used to obtain the adjustment speed of each slave axis at each detection time based on the preset speed and the correction speed of each slave axis at each detection time; The correction module is further configured as follows: Determine any current time among the detection times, and determine any current axis among the slave axes (502). By comparing the slave shaft torque of the current shaft at the current time and the main shaft torque of the current shaft at the current time, the torque difference of the current shaft at the current time is obtained (504). The compensated position of the current shaft at the current moment is obtained by multiplying the torque difference of the current shaft at the current moment and the position compensation coefficient; the torque deviation of the current shaft at the current moment is determined by the absolute value of the torque difference of the current shaft at the current moment; and the compensated speed of the current shaft at the current moment is obtained by multiplying the torque deviation of the current shaft at the current moment and the speed compensation coefficient (506). Based on the compensation position and compensation speed of the current axis at the current time, the correction speed (508) of the current axis at the current time is obtained.

8. An electronic device, comprising: The processor, the communication interface, the memory, and the bus are connected, and the processor, the communication interface, and the memory communicate with each other via the bus. The memory is used to store at least one executable instruction that causes the processor to perform an operation corresponding to the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing computer instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1 to 6.

10. A computer program product comprising computer instructions that instruct a computing device to perform an operation corresponding to the method as described in any one of claims 1 to 6.

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