An auxiliary method and system for a five-axis machine tool with intelligent configuration of drive parameters

Abstract

The present invention relates to the technical field of numerical control systems. The present invention discloses a five-axis machine tool auxiliary method and system for intelligently configuring driver parameters. The method includes: detecting the interference frequency band in the actual waveform curve, performing notch filtering processing on it to obtain optimized driver operating parameters, and performing multiple rounds of iterative control until the burr amplitude of the output actual waveform curve is controlled within a preset allowable range, realizing the automatic optimization and configuration of driver parameters, enabling the five-axis machine tool to operate smoothly and accurately without manual participation, and reducing the human resource cost.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control systems, and in particular, to a numerical control method and system for intelligently configuring drive parameters. Background Art

[0002] With the rapid development of automation and numerical control technology, equipment such as precision machine tools and industrial robots have increasing requirements for the configuration of drive parameters. Correctly configuring drive parameters is crucial for ensuring the precise operation of the equipment and improving production efficiency.

[0003] If the parameters are adjusted improperly, the motor will vibrate violently in the light case, and in the severe case, the situation of "runaway" will occur, resulting in production safety accidents. Before this, the drive parameters were manually adjusted to make the motor rotate, and the actual situation was observed to increase or decrease the parameters. However, each time the maintenance personnel were required to adjust the drive parameters, it would lead to low personnel utilization rate and high costs. Summary of the Invention

[0004] The present application provides a five-axis machine tool auxiliary method and system for intelligently configuring drive parameters, which is used to detect the interference frequency band in the actual waveform curve, perform notch filtering processing on it, obtain optimized drive operation parameters, and perform multiple rounds of iterative control until the burr amplitude of the output actual waveform curve is controlled within a preset allowable range, realizing the automatic optimization configuration of drive parameters, enabling the five-axis machine tool to operate smoothly and accurately without manual participation, and reducing the human resource cost.

[0005] In a first aspect, the present application provides a five-axis machine tool auxiliary method for intelligently configuring drive parameters, the method comprising: in response to an opening operation of a parameter identification mode, taking the theoretical load current, the actual load current, and the burr amplitude as loop variables, and looping through the following steps until the burr amplitude is within a preset burr amplitude range;

[0006] Obtain the theoretical operating parameters of the numerical control system, the operating parameters including notch filter amplitude, operating speed, load current, and position parameters;

[0007] Generate a theoretical fundamental wave curve based on the theoretical load current and the current time and an actual waveform curve based on the actual load current and the current time;

[0008] Determine the comparison difference between the theoretical fundamental wave curve and the actual waveform curve as the burr amplitude;

[0009] Judge whether the burr amplitude is within a preset burr amplitude range;

[0010] If it is not within the preset burr amplitude range, detect the interference frequency band in the actual waveform curve, the interference frequency band being a discrete frequency band outside a preset interference amplitude range;

[0011] Notch filtering is performed on the interference frequency band to obtain optimized operating parameters, so that the interference frequency band is within the preset frequency range;

[0012] Send the optimized operating parameters to the numerical control system, so that the numerical control system adjusts according to the optimized operating parameters.

[0013] By adopting the above technical solution, by detecting the interference frequency band in the actual waveform curve, performing notch filtering on it, obtaining optimized drive operating parameters, and performing multiple rounds of iterative control until the burr amplitude of the output actual waveform curve is controlled within the preset allowable range, the automatic optimization configuration of the drive parameters is realized, enabling the five-axis machine tool to operate smoothly and precisely without manual participation, reducing the human resource cost.

[0014] Combined with some embodiments of the first aspect, in some embodiments, the step of performing notch filtering on the interference frequency band to obtain optimized operating parameters specifically includes:

[0015] Input the interference frequency band into the transfer function of the notch filter to obtain an optimized interference frequency band;

[0016] Determine the amplitudes of the interference frequency band and the optimized interference frequency band;

[0017] If the amplitude of the interference frequency band decreases, increase the notch filtering amplitude based on a preset increase amplitude, so that the amplitude of the interference frequency band is within the preset interference amplitude range, and obtain optimized operating parameters;

[0018] If the amplitude of the interference frequency band fluctuates and is not within the preset interference amplitude range, then decrease the notch filtering amplitude based on a preset decrease amplitude, so that the amplitude of the interference frequency band is within the preset interference amplitude range, and obtain optimized operating parameters.

[0019] By adopting the above technical solution, the detected interference frequency bands are sequentially input into the notch filter to obtain optimized interference frequency bands, and then the amplitude changes of the frequency bands before and after processing are analyzed. If the amplitude of the interference frequency band decreases significantly, the filtering amplitude of the filter is appropriately increased and filtering is continued until the amplitude of the interference frequency band is controlled within the preset allowable range, and finally the optimized notch filtering amplitude is determined, enabling the numerical control system to operate according to the optimized notch filtering amplitude, effectively eliminating the interference and noise of various frequency bands in the waveform curve, and ensuring the stable and reliable operation of the system in a complex environment.

[0020] Combined with some embodiments of the first aspect, in some embodiments, after the step of sending the optimized operating parameters to the numerical control system, it further includes:

[0021] In response to the enabling operation of the parameter identification mode, calculate the feedback speed error value based on the theoretical operating speed and the actual operating speed;

[0022] If the feedback speed error value is not within the preset speed error threshold range, increase the operating speed based on the preset first speed gain amplitude so that the feedback speed error value is within the preset speed error threshold range;

[0023] If the feedback speed error value is not within the preset speed error threshold range and the feedback speed error value fluctuates, decrease the operating speed based on the preset second speed gain amplitude so that the feedback speed error value is within the preset speed error threshold range.

[0024] By adopting the above technical solution, calculate and analyze the feedback speed error between the theoretical speed and the actual speed, as well as the parameter following error between the theoretical position and the actual position. When the error exceeds the preset range, appropriately increase or decrease the speed control parameter and the position control parameter until the speed feedback error and the position following error are finally optimized and stabilized within the allowable range, realizing the automatic configuration of the speed parameters of the numerical control system.

[0025] Combined with some embodiments of the first aspect, in some embodiments, after the step of sending the optimized operating parameters to the numerical control system, it further includes:

[0026] In response to the enabling operation of the parameter identification mode, calculate the following error value based on the theoretical position parameter and the actual position parameter, and the following error is the difference between the theoretical position parameter and the actual position parameter;

[0027] If the following error value is greater than the preset following error value, increase the position parameter based on the preset first position gain amplitude so that the following error value is not greater than the preset following error value;

[0028] If the following error value is greater than the preset following error value and the following error value fluctuates, decrease the position parameter based on the preset second position gain amplitude so that the following error value is not greater than the preset following error value.

[0029] By adopting the above technical solution, calculate the error between the theoretical position curve and the actual position curve. If the following error exceeds the range, close-loop adjust the position control parameter until the error is stabilized within the allowable range, realizing the automatic configuration of the position parameters of the numerical control system.

[0030] Combined with some embodiments of the first aspect, in some embodiments, the transfer function is:

[0031] Wherein, is the z-domain transfer function, is the center frequency of the notch filter, is the pole radius of the notch filter, is a unit delay operator, are two unit delay operators.

[0032] By adopting the above technical solution, the mathematical model adopted in designing the filter is elaborated in detail. By adjusting key parameters such as the center frequency and the pole radius, the frequency characteristics of the filter can be conveniently optimized to filter out specific interferences.

[0033] Combined with some embodiments of the first aspect, in some embodiments, if not within the preset glitch amplitude range, the steps of detecting the interference frequency band in the actual waveform curve specifically include:

[0034] If not within the preset glitch amplitude range, convert the actual waveform curve into a frequency-domain curve;

[0035] Determine the frequency region greater than the preset interference amplitude range as the interference frequency band.

[0036] By adopting the above technical solution, through Fourier transform of the time-domain waveform and conversion to the frequency domain for analysis, various frequency components can be visually observed, which is beneficial to identifying and extracting the interference frequency band and laying a foundation for subsequent filtering processing. This frequency-domain analysis method improves the analysis and recognition ability of complex waveforms and makes filtering more accurate and efficient.

[0037] Combined with some embodiments of the first aspect, in some embodiments, after the step of sending the optimized operating parameters to the numerical control system, it further includes:

[0038] In response to the alarm operation of the numerical control system, obtain the fault code corresponding to the alarm issued by the numerical control system;

[0039] Based on the preset fault parameter table and the fault code, determine whether the numerical control system is in a fault state;

[0040] If so, store the cached data within a preset time period into the memory card.

[0041] By adopting the above technical solution, obtain the fault code when the system alarms, and determine whether the system is in a fault state according to the preset fault table. If a fault is determined, store the cached data of the system before the alarm into the memory card, so that the maintenance personnel can quickly judge and locate the cause of the fault by analyzing the stored data, improving the efficiency of fault diagnosis and handling.

[0042] In a second aspect, an embodiment of the present application provides a five-axis machine tool auxiliary system for intelligently configuring drive parameters. The motion recognition system includes: a loop module, an acquisition module, a generation module, a determination module, a judgment module, a detection module, a processing module, and a sending module.

[0043] A loop module, which is used to, in response to the opening operation of the parameter identification mode, use the theoretical load current, the actual load current, and the glitch amplitude as loop variables, and loop through the following steps until the glitch amplitude is within the preset glitch amplitude range;

[0044] An acquisition module, which is used to acquire the theoretical operating parameters of the numerical control system, and the operating parameters include notch filter amplitude, operating speed, load current, and position parameters;

[0045] A generation module, which is used to generate a theoretical fundamental wave curve based on the theoretical load current and the current time and generate an actual waveform curve based on the actual load current and the current time;

[0046] A determination module, which is used to determine the comparison difference between the theoretical fundamental wave curve and the actual waveform curve as the glitch amplitude;

[0047] A judgment module, which is used to judge whether the glitch amplitude is within the preset glitch amplitude range;

[0048] A detection module, which is used to, if it is not within the preset glitch amplitude range, detect the interference frequency band within the actual waveform curve, and the interference frequency band is a discrete frequency band outside the preset interference amplitude range;

[0049] A processing module, which is used to perform notch filtering processing on the interference frequency band to obtain optimized operating parameters, so that the interference frequency band is within the preset frequency range;

[0050] A sending module, which is used to send the optimized operating parameters to the numerical control system, so that the numerical control system makes adjustments according to the optimized operating parameters.

[0051] In a third aspect, an embodiment of the present application provides a five-axis machine tool auxiliary system for intelligently configuring drive parameters, and the system includes: one or more processors and a memory; the memory is coupled to the one or more processors, and the memory is used to store computer program code, and the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the system to execute the method described in the first aspect and any possible implementation manner in the first aspect.

[0052] In a fourth aspect, an embodiment of the present application provides a readable storage medium for a five-axis machine tool auxiliary system for intelligently configuring drive parameters, including instructions, and when the above instructions run on the system, the above system is enabled to execute the method described in the first aspect and any possible implementation manner in the first aspect.

[0053] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0054] 1. This application detects the interference frequency bands in the actual waveform curve, performs notch filtering on them to obtain optimized drive operation parameters, and conducts multiple rounds of iterative control until the burr amplitude of the output actual waveform curve is controlled within the preset allowable range, achieving automatic optimization and configuration of the drive parameters, enabling the five-axis machine tool to operate smoothly and precisely without manual intervention, and reducing the human resource cost.

[0055] 2. This application sequentially inputs the detected interference frequency bands into the notch filter to obtain the optimized interference frequency bands, and then analyzes the amplitude change of the frequency bands before and after processing. If the amplitude of the interference frequency band decreases significantly, the filtering amplitude of the filter is appropriately increased and the filtering continues until the amplitude of the interference frequency band is controlled within the preset allowable range, finally determining the optimized notch filtering amplitude, enabling the numerical control system to operate according to this optimized notch filtering amplitude, effectively eliminating the interference and noise of various frequency bands in the waveform curve, and ensuring the stable and reliable operation of the system in a complex environment.

[0056] 3. This application separately calculates and analyzes the feedback speed error between the theoretical speed and the actual speed, and the parameter following error between the theoretical position and the actual position. When the error exceeds the preset range, the speed control parameter and the position control parameter are appropriately increased or decreased until the speed feedback error and the position following error are finally optimized and stabilized within the allowable range, achieving automatic configuration of the speed parameters of the numerical control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 is a schematic flow chart of an auxiliary method for a five-axis machine tool for intelligently configuring drive parameters in an embodiment of this application.

[0058] Figure 2 is a schematic diagram of a data wave line of an auxiliary method for a five-axis machine tool for intelligently configuring drive parameters in an embodiment of this application.

[0059] Figure 3 is a schematic actual scene diagram of an auxiliary method for a five-axis machine tool for intelligently configuring drive parameters in an embodiment of this application.

[0060] Figure 4 is another schematic flow chart of an auxiliary method for a five-axis machine tool for intelligently configuring drive parameters in an embodiment of this application.

[0061] Figure 5 is a schematic diagram of the functional module structure of an auxiliary system for a five-axis machine tool for intelligently configuring drive parameters in an embodiment of this application.

[0062] Figure 6 is a schematic diagram of the physical device structure of an auxiliary system for a five-axis machine tool for intelligently configuring drive parameters in an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and appended claims of the present application, the singular forms "a", "an", "the", "above-mentioned", "said", and "this" are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the present application refers to and includes any and all possible combinations of one or more of the listed items.

[0064] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0065] First, the application scenarios of the related technology are introduced: In high-end manufacturing fields such as aerospace, five-axis linkage machining centers are widely used in the machining and manufacturing of structural parts and precision components. However, in the actual application process, due to the mechanical structure error of the spindle motor itself and the superposition of various errors in the subsequent drive system, there is a certain mechanical vibration when the spindle motor moves. This tiny mechanical vibration will cause an increase in the burr component in the motor current waveform. If the burrs in the current waveform cannot be effectively controlled, it will lead to an increase in the motor speed fluctuation, seriously affecting the machining quality and accuracy. Therefore, a new intelligent method must be developed to specifically optimize and adjust the motor parameters, eliminate the burrs, improve the motion control accuracy of the system, and achieve high-quality machining.

[0066] In the past, engineers mainly relied on their accumulated experience to manually debug the motor parameters to improve the system control performance. However, this pure experience-based debugging method has a long cycle, unstable effects, and it is difficult to reproduce the results among different personnel. Sometimes, it is also necessary to observe the sound and vibration of the motor during operation for a long time to roughly judge the rationality of parameter adjustment. However, this method is highly subjective, unable to perform effective quantitative analysis and control, and it is difficult to systematically eliminate the influence of motor vibration on motion, and it is impossible to fundamentally solve the negative effect of burrs on machining accuracy.

[0067] Next, the application scenarios in the present application are introduced:

[0068] With the intelligent assistance system, the theoretical parameters and actual operating parameters of the motor can be collected. For example, the set target speed parameter is read, and at the same time, the actual operating speed fed back is collected; the theoretical fundamental wave current and the actual current waveform containing glitches are detected. The system can calculate and analyze the error between the two, use this as feedback, and automatically optimize the control parameters of the motor in the way of digital filtering algorithm. For example, the parameters of the position controller are adjusted, and the iteration is repeated until the speed error, following error, and current glitches are controlled within the allowable range, and finally the entire system quickly reaches the ideal optimal working state, improving the accuracy of motion control and machining quality, and overcoming the limitations of the past empirical debugging method.

[0069] The above is a schematic diagram of an interaction scenario of a five-axis machine tool auxiliary system for intelligently configuring drive parameters in an embodiment of the present application. Next, in combination with Figure 1 , the solution of the five-axis machine tool auxiliary method for intelligently configuring drive parameters of the present application will be described:

[0070] As Figure 1 shown, it is a schematic flowchart of a five-axis machine tool auxiliary method for intelligently configuring drive parameters in an embodiment of the present application.

[0071] S101. In response to the opening operation of the parameter identification mode, use the theoretical load current, actual load current, and glitch amplitude as loop variables, and loop through the following steps until the glitch amplitude is within the preset glitch amplitude range.

[0072] After the parameter mode is turned on, the parameter identification and optimization process is automatically looped to gradually approach the optimal target. In each loop process, by first collecting the three key signal parameters of the theoretical current, actual current, and glitch amplitude, and then entering the next step to start the processes of parameter comparison, interference detection, and filtering optimization, etc., the optimized output result is finally obtained through gradual adjustment. If the detected glitch amplitude is not within the preset allowable error range at this time, it means the effect is still not ideal, then a new round of loop will be started again to continue the optimization and iteration process. In each loop process, the parameter settings optimized in the previous round will be used as the input of this round to gradually approach the optimal target. Through continuous closed-loop iterative optimization, until the glitch amplitude of the actual signal meets the requirements of the preset accuracy range, a complete process of automatic parameter identification and optimization is completed.

[0073] By repeating steps S102~S107, making the three key signal parameters become the feedback input of loop control, the closed-loop test and iterative optimization of the parameters of the numerical control machine tool axis control system can be realized, so that it quickly reaches a high-precision operating state and meets the process accuracy requirements.

[0074] S102. Obtain the theoretical operating parameters of the numerical control system, which include notch filter amplitude, operating speed, load current, and position parameters.

[0075] Connect to the drive for controlling the motor, the numerical control system, and the display screen through an industrial control computer, and connect to each detection module. The detection module contains various sensors and detection devices, which can detect the physical quantity parameters related to the motor of the five-axis machine tool, such as load current, bus voltage, motor encoder count value, motor temperature, and drive temperature, etc.

[0076] The theoretical operating parameters of the numerical control system include notch filter amplitude, operating speed, load current, and position parameters. The filtering amplitude of the notch filter represents the attenuation amount of the filter for the specified frequency component. By adjusting this value, the filtering effect can be changed to eliminate various interference frequency bands in the motor current waveform; the operating speed refers to the target operating speed of the machine tool spindle motor, that is, the speed setting value, and the control system will drive the motor to reach this speed; the load current refers to the actual current value when the motor is running, reflecting the load condition of the motor; the position parameter refers to the parameter of the position controller, which determines the performance of the position loop control.

[0077] S103. Fit and generate a theoretical fundamental wave curve based on the theoretical load current and the current time, and fit and generate an actual waveform curve based on the actual load current and the current time.

[0078] The theoretical fundamental wave curve represents the ideal current fundamental wave waveform calculated according to the motor set parameters; the actual waveform curve refers to the current waveform when the motor is actually running and measured and collected.

[0079] Generate the theoretical fundamental wave curve: Convert the set speed r of the motor to the corresponding power grid frequency f according to the formula f = r / 60, where f is the frequency (Hz) and r is the speed (rpm). According to the obtained parameters of the motor theoretical load current, determine the peak value A of the fundamental wave current as the amplitude of the fundamental wave. Substitute the converted frequency f into the sine function f(t) = A*sin(2πft), where t is the time, to obtain the functional relationship describing the theoretical fundamental wave curve. Traverse the value of time t and substitute it into the above function to calculate the theoretical fundamental wave current value at each moment, and draw its curve graph to obtain the theoretical fundamental wave curve.

[0080] Generate the actual waveform curve: Real-time collect the operating current value of the motor to obtain the actual current sample data i(t) containing the fundamental wave and harmonics. Then read the real-time time t, and use the curve fitting algorithm, such as the least squares method, to find the curve function g(t) that best fits the actual sample, so that the fitting error with all current samples is the smallest. Traverse the value of time t, substitute it into the function g(t) to calculate and draw the curve, and then the curve describing the actual current waveform can be obtained.

[0081] S104. Determine the difference amplitude between the theoretical fundamental wave curve and the actual waveform curve as the glitch amplitude.

[0082] Comparing the theoretical fundamental wave curve with the actual waveform curve means comparing the two in the same coordinate system; the difference is the current difference between the corresponding points of the two curves; the glitch amplitude refers to the ratio of the difference to the peak value of the fundamental wave, reflecting the waveform error.

[0083] Then, after obtaining the theoretical fundamental wave curve and the actual waveform curve, in order to evaluate the distortion degree of the current waveform, specific analysis and comparison of the two are required. First, align the theoretical fundamental wave curve and the actual waveform curve on the time coordinate so that they are point-to-point compared at corresponding moments, and then calculate the current difference between the two points by point. Then, the difference situation of all points within the entire waveform period can be counted to obtain the average difference or the maximum difference. Finally, perform a proportional operation on the difference and the peak amplitude of the theoretical fundamental wave to quantitatively determine the influence degree of the glitch on the fundamental wave.

[0084] In some embodiments, collect current data, then use the fast Fourier transform algorithm to perform spectral analysis on the actual waveform, and extract the amplitudes of the fundamental wave and each frequency component of the glitch; in addition, establish a theoretical fundamental wave model according to the set parameters and calculate its amplitude; finally, perform a ratio calculation to obtain the glitch amplitude.

[0085] S105. Determine whether the glitch amplitude is within the preset glitch amplitude range.

[0086] The preset glitch amplitude range refers to the maximum and minimum values that allow the glitch amplitude to float. After obtaining the proportional value of the current glitch amplitude, in order to evaluate whether the current glitch amplitude is acceptable, it is necessary to judge it against the set normal allowable range. Specifically, compare the calculated glitch amplitude value with the preset normal allowable maximum and minimum glitch amplitudes to determine whether the current glitch amplitude is within the set range. If it exceeds, it means that the glitch is too large and needs to be reduced; if it is within the range, the influence of the glitch is acceptable, and the numerical control system can operate normally.

[0087] S106. If it is not within the preset glitch amplitude range, detect the interference frequency band within the actual waveform curve, and the interference frequency band is the discrete frequency band outside the preset interference amplitude range.

[0088] In step S106, it specifically includes:

[0089] S1061. If it is not within the preset glitch amplitude range, convert the actual waveform curve into a frequency-domain curve;

[0090] For the actual waveform curve obtained through step S103, perform a fast Fourier transform on the actual waveform curve representing the time domain through the following formula to convert it into a frequency-domain expression:

[0091]

[0092] Among them, X(k) and X(k + N / 2) represent the waveform sampling points after being transmitted to the frequency domain, N is the total number of sampling points, and \(W_N^k\) represents the complex exponential operation.

[0093] Through the fast Fourier transform, the time-domain waveform can be decomposed into the sum of sine components of different frequencies to obtain the frequency-domain expression, so that the frequency-domain characteristics of the waveform can be observed more clearly.

[0094] S1062. Determine the frequency region within the preset interference amplitude range as the interference frequency band.

[0095] Among them, the preset interference amplitude range refers to the upper and lower limits of the allowed amplitude of the spectrum waveform; the frequency region refers to a certain frequency band range on the spectrum curve; the interference frequency band is the sensitive frequency interval that causes the current waveform to have glitches.

[0096] Then, after obtaining the frequency-domain waveform, in order to locate the frequency components that cause glitches, it is necessary to judge the amplitude sizes of each frequency point. Specifically, the sampling points on the spectrum curve are taken in turn, and their amplitudes are compared with the preset maximum and minimum allowed interference amplitudes. If the amplitude of a certain frequency point exceeds the maximum value or is lower than the minimum value, it can be judged that the frequency band corresponding to this point is the sensitive interference frequency band.

[0097] In some embodiments, by setting the normal allowable floating range of the amplitude of the spectrum curve, then comparing the amplitudes of the spectrum sampling points point by point to judge the over-limit points, and determining the interference frequency band according to their frequency parameters. Optionally, by obtaining the normal spectrum samples through prior training, calculating the standard deviation range at different frequencies as the judgment threshold, and then judging which frequency points in the test samples have amplitudes exceeding the standard deviation range, and determining the interference frequency band according to their frequencies.

[0098] As Figure 2 shown, it is the time-domain data wave diagram and the frequency-domain data wave diagram of the actual waveform curve in the embodiment of the present application.

[0099] In Figure 2 , on the left, A is the time-domain image of the actual waveform curve, the abscissa is time, and the ordinate is the load current, which can be seen to be relatively chaotic. On the right, B is the frequency-domain image of the actual waveform curve, the abscissa is frequency, and the ordinate is time. After converting the time-domain image into the frequency-domain image, interference items can be clearly observed. There are peaks with amplitudes significantly greater than those of other frequency components near the frequency components of 100 Hz and 130 Hz, which may be caused by interference such as power grid frequency interference, electromagnetic interference, and mechanical resonance.

[0100] S107. Perform notch filtering on this interference frequency band to obtain optimized operating parameters, so that this interference frequency band is within this preset frequency range.

[0101] In step S107, it specifically includes:

[0102] S1071. Input the interference frequency band into the transfer function of the notch filter to obtain an optimized interference frequency band;

[0103] The notch filter is an infinite impulse response digital filter, and this filter can be represented by the following linear difference equation:

[0104] In the formula and are filter coefficients. Perform a z-transform on both sides of equation (1) to obtain the transfer function of the digital filter as:

[0105] If for , then the zero point can be taken. At the same time, in order to ensure that when , , then the pole can be taken. Then it can be further known that the transfer function of the infinite impulse response digital filter is:

[0106] Among them, is the z-domain transfer function, is the center frequency of the notch filter, is the pole radius of the notch filter, is a unit delay operator, is two unit delay operators.

[0107] Take the interference frequency band in the detected load current signal as the input quantity and send it into the filter transfer function. The main parameter input into the transfer function here is the frequency range value of this interference frequency band, that is, the interference start frequency and the end frequency, which determines the frequency interval to be suppressed subsequently; after being calculated and processed by the filter transfer function, the output is an optimized signal obtained by notch filtering the input signal. The frequency range of the output signal is the same as that of the input, but for the interference frequency band in the original input signal, the waveform spectrum amplitude will be significantly suppressed, that is, the output signal is the waveform data of the load current in the time domain after filtering optimization, and its frequency domain characteristic is that the waveform components of the specified interference frequency band in the input signal are suppressed.

[0108] Query the notch filter amplitude corresponding to the amplitude of the interference frequency band in the preset notch filter amplitude data table of the interference frequency band. The method of increasing the notch filter amplitude is mainly achieved by adjusting the pole radius a in the parameters of the filter. The smaller the value of a, the larger the notch filter amplitude.

[0109] S1072. Determine the amplitudes of the interference frequency band and the optimized interference frequency band.

[0110] Record its frequency range from f1 to f2, and measure the maximum amplitude A1 of the interference frequency band on the frequency domain diagram. In the same interference frequency band from f1 to f2, measure the maximum amplitude A2 of the signal frequency domain diagram after notch filtering processing. Compare the maximum amplitudes A1 and A2 of the interference frequency band on the two frequency domain diagrams, and calculate the amplitude difference ΔA = A1 - A2, which is the change in amplitude of the signal in this frequency band after passing through the notch filter.

[0111] S1073. If the amplitude of the interference frequency band decreases, increase the notch filter amplitude based on a preset increase amplitude, so that the amplitude of the interference frequency band is within the preset interference amplitude range, and obtain optimized operating parameters.

[0112] The optimized operating parameters refer to optimizing the notch filter amplitude, and obtaining the optimized notch filter amplitude by adjusting the notch filter amplitude according to the amplitude of the interference frequency band. According to the change in the amplitude of the interference frequency band determined in step S1072, if it is detected that the amplitude of the interference frequency band decreases, that is, the change in the amplitude of the interference frequency band determined in S1072 is positive, it means that the notch filter has played a role in suppressing the interference frequency band, and it is necessary to continue to increase the effect of the notch filter to further suppress the interference.

[0113] The preset increase amplitude refers to an increment of the amplitude parameter of a notch filter set in advance; the optimized notch filter amplitude refers to the best amplitude parameter that enables the filter to produce the desired suppression effect after tuning.

[0114] If it is determined according to step S1072 that after the previous filtering process, the amplitude of the spikes in a specific interference frequency band has decreased, but is still higher than the allowable error requirement, then execute step S1073, and use the method of increasing the filter amplitude parameter to expand the filtering range and depth, in order to further suppress the spike interference and control it within an acceptable range.

[0115] According to the preset increment of the filter amplitude parameter, based on the amplitude of the notch filter determined in the first round of optimization in step S1071, multiply the amplitude of the notch filter by the preset increase amplitude to obtain the increased amplitude of the notch filter in this round. Increase the parameter value according to the calculated increased amplitude of the notch filter, repeat the filtering process, and re-measure the spike amplitude according to step S1072.

[0116] If the measurement result shows that the spike amplitude is within the preset interference amplitude range, record the current parameter combination and complete this round of optimization; if the spike amplitude is still higher than the preset interference amplitude range, continue to increase the amplitude value and loop through the detection and adjustment of S1072 and S1073 until the best parameter combination that makes the spike amplitude stable within the allowable range is found.

[0117] S1074. If the amplitude of the interference frequency band fluctuates and is not within the preset interference amplitude range, then reduce the notch filter amplitude based on the preset reduction amplitude so that the amplitude of the interference frequency band is within the preset interference amplitude range, and obtain the optimized operating parameters.

[0118] The optimized operating parameters refer to optimizing the notch filter amplitude, and obtaining the optimized notch filter amplitude by adjusting the notch filter amplitude according to the amplitude of the interference frequency band.

[0119] Specifically, if according to the detection in step S1072, the spike amplitude of a specific interference frequency band not only does not decrease, but instead shows obvious fluctuations, continuing to increase the filtering amplitude may cause signal distortion. The amplitude of the interference frequency band fluctuating means that the amplitude of the interference frequency band first drops to within the preset interference amplitude range and then rises outside the preset interference amplitude range.

[0120] At this time, execute step S1074. Multiply the preset reduction amplitude by the notch filter amplitude of the first-round optimization determined in step S1071 to obtain the notch filter reduction amplitude of this round of optimization. Use the notch filter reduction amplitude to gradually reduce the amplitude to smooth the signal. Repeat the filtering process and detect whether the spike amplitude is within the preset interference amplitude range. If it is within the preset interference amplitude range, record the current parameter combination to complete the optimization; if it still exceeds the allowable fluctuation range, continue to reduce the amplitude and loop S1072 and S1074 until the desired suppression effect is obtained.

[0121] When the amplitude of the interference frequency band is within the preset interference amplitude range, it indicates that the desired suppression effect has been obtained. Then save the notch filter amplitude parameter at this time and back it up. This parameter is the optimized notch filter amplitude, so that the five-axis machine tool motor continues to operate according to this optimized notch filter amplitude.

[0122] As Figure 3 shown, on the left, A is the frequency-domain image of the load current before notch filtering. It can be seen that there is an interference frequency band in the range of 100 Hz - 150 Hz, and the amplitude is -20 to -40 decibels. On the right, B is the time-domain image of the load current after notch filtering. From the load curve, it is shown as: the load current is a smooth sine curve, F(x) = sin(x). From the motor rotation state, it is shown as: the motor eliminates vibration and runs smoothly.

[0123] S108. Send the optimized operating parameters to the numerical control system so that the numerical control system makes adjustments according to the optimized operating parameters.

[0124] According to the optimized notch filter amplitude finally obtained in step S107, send the optimized notch filter amplitude to the numerical control system so that the numerical control system adjusts according to the optimized notch filter amplitude, and continuously operates according to the optimized operating parameters of the numerical control system.

[0125] The above is a flowchart of a method for assisting a five-axis machine tool to intelligently configure drive parameters in an embodiment of the present application. Next, in combination with Figure 4 , a more specific solution for intelligently configuring drive parameters in the present application will be described:

[0126] As Figure 4 shown, it is another flowchart of a method for assisting a five-axis machine tool to intelligently configure drive parameters in an embodiment of the present application.

[0127] S401: Send the optimized operating parameters to the numerical control system so that the numerical control system adjusts according to the optimized operating parameters.

[0128] It can be understood that this step is similar to step S108 and will not be elaborated here.

[0129] S402: In response to the opening operation of the parameter identification mode, calculate the feedback speed error value based on the theoretical operating speed and the actual operating speed.

[0130] The parameter identification mode is the operating state in which the numerical control auxiliary system starts to intelligently configure drive parameters. After the parameter identification mode is enabled, the system will start to automatically configure the drive parameters.

[0131] The theoretical operating speed is based on the set given speed value, and the actual operating speed is the speed feedback value detected by the motor in real time. Calculating the feedback speed error value means comparing the theoretical speed and the actual speed to obtain the difference between the two.

[0132] Then, in the parameter identification mode, in order to evaluate the actual operating effect of the motor, it is necessary to calculate the error of the speed control loop. Specifically, when the mode is enabled, the theoretical speed reference value is obtained according to the set value and compared with the actual operating speed fed back by the detection module. The deviation size of the speed control can be quantitatively obtained through the difference between the two.

[0133] S403: If the feedback speed error value is not within the preset speed error threshold range, increase the operating speed based on the preset first speed gain amplitude so that the feedback speed error value is within the preset speed error threshold range.

[0134] The feedback speed error value refers to the speed deviation value calculated by comparing the set theoretical speed value with the actual operating speed of the motor feedback by the detection module through the foregoing steps. This speed error value can quantitatively represent the gap between the actual speed control effect of the motor and the expected speed;

[0135] The preset speed error threshold range refers to the maximum and minimum values of the allowable floating of the speed control error determined in advance according to the motor parameters. Exceeding this range means that the speed control performance is unacceptable and needs to be adjusted and optimized;

[0136] The first speed gain amplitude refers to the proportional factor for amplifying the speed adjustment amount in order to reduce the speed control error within the allowable range when the speed error is relatively large.

[0137] First, read the maximum and minimum values of the preset speed error threshold configured in advance to determine the normal floating range; then compare the calculated current speed error value with this allowable range to judge whether it is greater than the maximum threshold or less than the minimum threshold. If the speed error exceeds the allowable range, it is determined that the speed control effect is poor and needs to be adjusted and optimized; if the speed error is within the allowable range, the speed control performance is acceptable. When it is determined that the speed error exceeds the allowable range, due to the relatively large error, in the first round of adjustment, the set motor speed adjustment amount is queried from the data table according to the feedback speed error to adjust the speed. If it is found that the feedback speed error is still not within the preset speed error threshold range after the adjustment, the speed increment of the adjustment is appropriately amplified according to the preset first speed gain parameter, and the output speed of the speed controller is increased to reduce the speed deviation and make the feedback speed error value within the allowable normal range, thereby completing the optimization of the speed control performance.

[0138] In some embodiments, the first speed gain amplitude can be set to 10%. For example, assume that the set speed of a motor is 2000 rpm, and the actual measured speed is 1900 rpm. After calculation, the speed error is 100 rpm. After analysis, the normal operating speed range of this motor is 1950 - 2050 rpm, and the allowable speed error is ±50 rpm. By querying the data table, it is known that when the speed error is 100 rpm, the set motor speed adjustment amount is to increase by 50 rpm. After increasing the motor speed by 50 rpm, it is found that the actual measured speed is still not within 1900 - 2050 rpm. Then, according to the first speed gain amplitude, the current speed increment is determined to be 50 rpm * 10% = 5 rpm.

[0139] If the feedback speed error value is within the preset speed error threshold range, it means that this error will not have too much impact on the operation of the machine tool, and the system will not respond to this error value and keep the machine tool running normally.

[0140] S404. If the feedback speed error value is not within the preset speed error threshold range and the feedback speed error value fluctuates, the operating speed is decreased based on a preset second speed gain amplitude, so that the feedback speed error value is within the preset speed error threshold range.

[0141] If, after adjustment, the feedback speed error value is still not within the preset speed error threshold range and there is a fluctuating process in the feedback speed error, where this fluctuating process refers to a numerical fluctuation process in which the feedback error value first decreases to within the preset speed error threshold range and then rises outside the preset speed error range. This process is caused by an excessive motor operating speed control gain, which leads to oscillations in the numerical control system and generates fluctuations.

[0142] The preset second speed gain amplitude is a preset gain parameter used to adjust the speed control gain. When it is detected that the feedback speed error value is not within the preset speed error threshold range and the feedback speed error value fluctuates, it indicates that the motor operating speed needs to be decreased. Then, the motor operating speed is decreased according to the preset second speed gain amplitude.

[0143] In some embodiments, the preset second speed gain amplitude can be set to a value less than the first speed gain amplitude. For example, it can be set to 5%. For example, in the example of step S503, if, after multiple speed increment adjustments, the feedback error value of the motor operating speed fluctuates (the feedback error value first decreases to within the preset speed error threshold range and then rises outside the preset speed error range) and is not within the preset speed error threshold range, then the speed gain needs to be adjusted. At this time, according to the preset second speed gain amplitude, the motor speed adjustment amount is multiplied by the preset second speed gain amplitude to obtain the current speed gain reduction amount, and the motor speed is decreased.

[0144] S405. In response to the activation operation of the parameter identification mode, a following error value is calculated based on the theoretical position parameter and the actual position parameter, where the following error is the difference between the theoretical position parameter and the actual position parameter.

[0145] The parameter identification mode is the operating state in which the numerical control auxiliary system starts to intelligently configure the drive parameters. When the parameter identification mode is activated, the system will start to automatically configure the drive parameters.

[0146] The position parameters can include linear position and angular position. The theoretical position parameter is the planned position calculated according to the target trajectory, and the actual position parameter is the current real-time position measured by a position feedback device; the following error is the difference between the theoretical position and the actual position.

[0147] S406. If the following error value is greater than the preset following error value, increase the position parameter based on the preset first position gain amplitude so that the following error value is not greater than the preset following error value.

[0148] The preset following error value is the set maximum allowable position deviation, and the preset first position gain amplitude is the preset gain parameter used to increase the output of the position controller.

[0149] Specifically, when it is detected that the following error exceeds the preset maximum allowable position deviation, it means that the current axial position has seriously lagged behind the desired position, and it is necessary to increase the output of the position controller to keep up with the target position. At this time, the position adjustment amount corresponding to the following error value is queried in the preset data table through the calculated following error value. In the first round of adjustment process, the position parameter is increased according to the position adjustment amount. If it still exceeds the preset following error value after adjustment, then according to the preset first position gain amplitude, the preset first position gain amplitude is multiplied by the position adjustment amount to obtain the position adjustment amount for the second round, and the position parameter is adjusted according to the position adjustment amount for the second round until the following error is reduced to the allowable range.

[0150] If the following error value is not greater than the preset following error value, it means that the following error value does not affect the normal operation of the machine tool motor, and the system will not respond to this error value and keep the machine tool running normally.

[0151] S407. If the following error value is greater than the preset following error value and the following error value fluctuates, reduce the position parameter based on the preset second position gain amplitude so that the following error value is not greater than the preset following error value.

[0152] The following error value fluctuating means that the following error value has a numerical fluctuation process of first decreasing to the preset following error value and then rising to a value outside the preset following error value. The generation of this process is due to the excessive position control gain of the motor operation, causing oscillations in the numerical control system and resulting in fluctuations; the preset second position gain amplitude is the preset gain parameter used to reduce the output of the position controller.

[0153] In step S406, if after two or more rounds of adjustment, the follow-up error value is still greater than the preset follow-up error value and the follow-up error value fluctuates, then a reduction operation needs to be performed on the position parameter. Multiply the position adjustment amount obtained in the first round of adjustment in step S406 by the preset second position gain amplitude to obtain the position parameter adjustment value that needs to be reduced, and perform a reduction operation on the position parameter according to this position parameter adjustment value. If it is still detected that the follow-up error value is still greater than the preset follow-up error value and the follow-up error value fluctuates, then continue to perform a reduction operation on the position parameter according to this position parameter adjustment value. If during the process, the follow-up error value is greater than the preset follow-up error value and the follow-up error value does not fluctuate, then perform an increase operation on the position parameter according to the preset first position gain amplitude in step S406, and perform multiple rounds of adjustment until the follow-up error value is not greater than the preset follow-up error value.

[0154] In addition to the intelligent configuration of the position parameter, the numerical control auxiliary system can also adjust the current loop gain in the same way of multiple rounds of successive adjustment, and accurately control the motor current by comparing the actual current and the target current of the feedback motor.

[0155] After completing the parameter configuration of the feedback speed error and the follow-up error, it is also necessary to consider the detection of fault conditions. When detecting faults, it is necessary to perform fault repair according to the real-time data situation of the numerical control system. The following is a scheme for saving fault data of the numerical control system, which specifically includes steps S408 to S410:

[0156] S408. In response to the alarm operation of the numerical control system, obtain the fault code corresponding to the alarm issued by the numerical control system;

[0157] When a fault occurs during the operation of the numerical control system, in order to accurately locate the cause of the problem, it is necessary to obtain the detailed fault information feedback by the numerical control system. Specifically, when the sensor or self-check module in the numerical control system monitors abnormal operation parameters, the system will automatically trigger an alarm operation, send an alarm prompt to the operator, and prompt that the system has a fault condition. Corresponding to the alarm signal, the numerical control system will simultaneously feedback a coded value that can represent the error type, that is, the fault code. This fault code stores the specific cause information that leads to the alarm.

[0158] For example, the fault information is as follows: (Format: alarm number = alarm message)

[0159] 22 = E.OV, overvoltage; 24 = E.UV, undervoltage; 25 = E1.OC, overcurrent...

[0160] S409. Based on the preset fault parameter table and the fault code, judge whether the numerical control system is in a fault state;

[0161] When the numerical control system alarms, some alarms are caused by instantaneous changes and do not require maintenance. For the other part of the alarms, which indicate that the numerical control system has a fault, it is usually necessary to query the fault code to determine whether the numerical control system is in a fault state. The preset fault parameter table refers to a query table established in advance that records various fault codes and their corresponding fault contents; determining whether it is in a fault state means searching in the table according to the obtained fault code to confirm the specific fault situation that has occurred in the current numerical control system.

[0162] S410. If so, store the cached data within the preset time period into the memory card.

[0163] The preset time period refers to the duration of a time interval set in advance; the cached data refers to various motion and signal logs generated during the operation of the numerical control system within this time period. Storing the cached data means saving these historical logs completely for analysis.

[0164] During normal operation, to save memory and improve performance, high-speed temporary data is collected and temporarily cached. When it is determined that the numerical control system is in a fault state, the data in the cache needs to be saved to the memory card, and by real-time detecting whether there is data exceeding the preset time period in the cache, if so, the data exceeding the preset time period is cleared to save memory.

[0165] In some embodiments, the preset time period can be set to 10 minutes. When the numerical control system is in a fault state, the cached data ten minutes before and after this fault time point is saved to the memory card.

[0166] At the same time, to combine the actual scenario with the parameter data during the fault, the in-plant processing video for 7 days is also retained, and the NC program code of the processing that caused the fault is completely saved to analyze whether there is a problem with the program. The industrial control computer terminal obtains the relevant information of the numerical control system through the OPCUA protocol and saves it for a long time, such as: spindle ratio, feed ratio, rapid traverse ratio, feed axis debt ratio, bus on / off state, feed axis command feedback position information.

[0167] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

[0168] The following introduces the system in the embodiments of the present application from the module perspective:

[0169] Please refer to Figure 5, which is a schematic diagram of the functional module structure of a five-axis machine tool auxiliary system for intelligently configuring driver parameters in an embodiment of the present application. The system includes:

[0170] A loop module 501, which is used to respond to the opening operation of the parameter identification mode, take the theoretical load current, the actual load current, and the glitch amplitude as loop variables, and loop through the following steps until the glitch amplitude is within the preset glitch amplitude range;

[0171] An acquisition module 502, which is used to acquire the theoretical operating parameters of the numerical control system, and the operating parameters include the notch filter amplitude, the operating speed, the load current, and the position parameters;

[0172] A generation module 503, which is used to fit and generate a theoretical fundamental wave curve based on the theoretical load current and the current time and an actual waveform curve based on the actual load current and the current time;

[0173] A determination module 504, which is used to determine the comparison difference between the theoretical fundamental wave curve and the actual waveform curve as the glitch amplitude;

[0174] A judgment module 505, which is used to judge whether the glitch amplitude is within the preset glitch amplitude range;

[0175] A detection module 506, which is used to detect the interference frequency band within the actual waveform curve if it is not within the preset glitch amplitude range, and the interference frequency band is a discrete frequency band outside the preset interference amplitude range;

[0176] In some embodiments, the detection module 506 may specifically include:

[0177] A curve conversion unit 5061, which is used to convert the actual waveform curve into a frequency domain curve if it is not within the preset glitch amplitude range;

[0178] A frequency band determination unit 5062, which is used to determine the frequency region greater than the preset interference amplitude range as the interference frequency band.

[0179] A processing module 507, which is used to perform notch filtering processing on the interference frequency band to obtain optimized operating parameters, so that the interference frequency band is within the preset frequency range;

[0180] In some embodiments, the processing module 507 may specifically include:

[0181] A frequency band input unit 5071, which is used to input the interference frequency band into the transfer function of the notch filter to obtain an optimized interference frequency band;

[0182] An amplitude determination unit 5072, which is used to determine the amplitudes of the interference frequency band and the optimized interference frequency band;

[0183] An amplitude increasing unit 5073, configured to, if the amplitude of the interference frequency band decreases, increase the amplitude of the notch filter based on a preset increase amplitude, so that the amplitude of the interference frequency band is within a preset interference amplitude range, and obtain optimized operating parameters;

[0184] An amplitude decreasing unit 5074, configured to, if the amplitude of the interference frequency band fluctuates and is not within the preset interference amplitude range, decrease the amplitude of the notch filter based on a preset decrease amplitude, so that the amplitude of the interference frequency band is within the preset interference amplitude range, and obtain optimized operating parameters;

[0185] A sending module 508, configured to send the optimized operating parameters to the numerical control system, so that the numerical control system makes adjustments according to the optimized operating parameters;

[0186] In some embodiments, the five-axis machine tool auxiliary system may further include:

[0187] A speed error calculation module 509, configured to, in response to the opening operation of the parameter identification mode, calculate a feedback speed error value based on a theoretical operating speed and an actual operating speed;

[0188] A speed increasing module 510, configured to, if the feedback speed error value is not within a preset speed error threshold range, increase the operating speed based on a preset first speed gain amplitude, so that the feedback speed error value is within the preset speed error threshold range;

[0189] A speed decreasing module 511, configured to, if the feedback speed error value is not within the preset speed error threshold range and the feedback speed error value fluctuates, decrease the operating speed based on a preset second speed gain amplitude, so that the feedback speed error value is within the preset speed error threshold range;

[0190] A follow-up error calculation module 512, configured to, in response to the opening operation of the parameter identification mode, calculate a follow-up error value based on a theoretical position parameter and an actual position parameter, where the follow-up error is the difference between the theoretical position parameter and the actual position parameter;

[0191] A position parameter increasing module 513, configured to, if the follow-up error value is greater than a preset follow-up error value, increase the position parameter based on a preset first position gain amplitude, so that the follow-up error value is not greater than the preset follow-up error value;

[0192] A position parameter decreasing module 514, configured to, if the follow-up error value is greater than the preset follow-up error value and the follow-up error value fluctuates, decrease the position parameter based on a preset second position gain amplitude, so that the follow-up error value is not greater than the preset follow-up error value;

[0193] A fault code acquisition module 515, configured to acquire a fault code corresponding to an alarm issued by the numerical control system in response to an alarm operation of the numerical control system;

[0194] A fault judgment module 516, configured to judge whether the numerical control system is in a fault state based on a preset fault parameter table and the fault code;

[0195] A data storage module 517, configured to, if so, store the cached data within a preset time period into a memory card.

[0196] The system in the embodiments of the present application is described above from the perspective of modular functional entities. Next, the system in the embodiments of the present invention application is described from the perspective of hardware processing. Please refer to Figure 6 , which is a schematic structural diagram of an entity device of a five-axis machine tool auxiliary system for intelligently configuring drive parameters in the embodiments of the present application.

[0197] It should be noted that Figure 6 The structure of the system shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0198] As Figure 6 shown, the system includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage section 608 into a random access memory (RAM) 603, such as executing the method described in the above embodiments. In the RAM 603, various programs and data required for system operations are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0199] The following components are connected to the I / O interface 605: an input section 606 including a camera, an infrared sensor, etc.; an output section 607 including a liquid crystal display (LCD), a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0200] Specifically, according to an embodiment of the present invention, the processes described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product that includes a computer program carried on a system-readable medium, the computer program including a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network via the communication section 609, and / or installed from the removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the present invention are executed.

[0201] It should be noted that the action recognition system-readable medium shown in the embodiments of the present invention can be a system-readable signal medium, a system-readable storage medium, or any combination of the above two. The system-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the system-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the system-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present invention, the system-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a system-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above.

[0202] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. Among them, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0203] Specifically, the system of this embodiment includes a processor and a memory, and a computer program is stored on the memory. When the computer program is executed by the processor, the numerical control assistance method provided in the above embodiment is implemented.

[0204] As another aspect, the present invention also provides a system-readable storage medium, which may be included in the system described in the above embodiments; or may exist separately without being assembled into the system. The above storage medium carries one or more computer programs, and when the one or more computer programs are executed by a processor of the system, the system implements the method provided in the above embodiments.

[0205] The above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0206] As used in the above embodiments, depending on the context, the term "when..." can be interpreted to mean "if...", or "after...", or "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if detecting (the stated condition or event)" can be interpreted to mean "if determining...", or "in response to determining...", or "when detecting (the stated condition or event)", or "in response to detecting (the stated condition or event)".

[0207] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a system-readable storage medium, or transmitted from one system-readable storage medium to another system-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) manner. The system-readable storage medium can be any available medium that the system can access, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid-state drive), etc.

[0208] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by relevant hardware instructed by a computer program. This program can be stored in a computer-readable storage medium. When this program is executed, it can include the processes of the above method embodiments. The aforementioned storage medium includes various media that can store program codes, such as ROM, random access memory (RAM), magnetic disks, or optical discs.

Claims

1. An auxiliary method for a five-axis machine tool with intelligent configuration of drive parameters, characterized in that, The method includes: In response to the activation operation of the parameter identification mode, using the theoretical load current, the actual load current, and the glitch amplitude as loop variables, and looping through the following steps until the glitch amplitude is within the preset glitch amplitude range; Obtain the theoretical operating parameters of the numerical control system, where the operating parameters include the notch filter amplitude, the operating speed, the load current, and the position parameter; Generate a theoretical fundamental wave curve based on the theoretical load current and the current time, and generate an actual waveform curve based on the actual load current and the current time; Determine the comparison difference between the theoretical fundamental wave curve and the actual waveform curve as the glitch amplitude; Judge whether the glitch amplitude is within the preset glitch amplitude range; If it is not within the preset glitch amplitude range, detect the interference frequency band within the actual waveform curve, where the interference frequency band is a discrete frequency band outside the preset interference amplitude range; Perform notch filter processing on the interference frequency band to obtain optimized operating parameters, such that the interference frequency band is within the preset frequency range; Send the optimized operating parameters to the numerical control system, causing the numerical control system to make adjustments according to the optimized operating parameters; In response to the activation operation of the parameter identification mode, calculate the feedback speed error value based on the theoretical operating speed and the actual operating speed; if the feedback speed error value is not within the preset speed error threshold range, then increase the operating speed based on a preset first speed gain amplitude, such that the feedback speed error value is within the preset speed error threshold range; If the feedback speed error value is not within the preset speed error threshold range and the feedback speed error value fluctuates, then decrease the operating speed based on a preset second speed gain amplitude, such that the feedback speed error value is within the preset speed error threshold range.

2. The method according to claim 1, wherein The step of performing notch filter processing on the interference frequency band to obtain optimized operating parameters specifically includes: Input the interference frequency band into the transfer function of the notch filter to obtain an optimized interference frequency band; Determine the amplitudes of the interference frequency band and the optimized interference frequency band; If the amplitude of the interference frequency band decreases, increase the notch filter amplitude based on a preset increase amplitude, such that the amplitude of the interference frequency band is within the preset interference amplitude range, to obtain optimized operating parameters; If the amplitude of the interference frequency band fluctuates and is not within the preset interference amplitude range, then decrease the notch filter amplitude based on a preset decrease amplitude, such that the amplitude of the interference frequency band is within the preset interference amplitude range, to obtain optimized operating parameters.

3. The method according to claim 1, characterized in that, After the step of sending the optimized operating parameters to the numerical control system, the method further includes: In response to the activation operation of the parameter identification mode, calculate the following error value based on the theoretical position parameter and the actual position parameter, where the following error is the difference between the theoretical position parameter and the actual position parameter; If the following error value is greater than the preset following error value, then increase the position parameter based on a preset first position gain amplitude, such that the following error value is not greater than the preset following error value; If the follow-up error value is greater than a preset follow-up error value and the follow-up error value fluctuates, the position parameter is reduced based on a preset second position gain amplitude so that the follow-up error value is not greater than the preset follow-up error value.

4. The method according to claim 2, wherein The transfer function is: Among them, is the z-domain transfer function, is the center frequency of the notch filter, is the pole radius of the notch filter, is a unit delay operator, is two unit delay operators.

5. The method according to claim 1, wherein The step of detecting the interference frequency band in the actual waveform curve if it is not within the preset glitch amplitude range specifically includes: If it is not within the preset glitch amplitude range, convert the actual waveform curve into a frequency domain curve; Determine the frequency region greater than the preset interference amplitude range as the interference frequency band.

6. The method according to claim 1, characterized in that, After the step of sending the optimized operating parameters to the numerical control system, the method further includes: In response to an alarm operation of the numerical control system, obtain a fault code corresponding to the alarm issued by the numerical control system; Based on a preset fault parameter table and the fault code, determine whether the numerical control system is in a fault state; If so, store the cached data within a preset time period into a memory card.

7. An auxiliary system for a five-axis machine tool that intelligently configures drive parameters, characterized in that, The system includes: A loop module, configured to, in response to the opening operation of the parameter identification mode, use the theoretical load current, the actual load current, and the glitch amplitude as loop variables, and loop through the following steps until the glitch amplitude is within the preset glitch amplitude range; An acquisition module, configured to acquire the theoretical operating parameters of the numerical control system, where the operating parameters include notch filter amplitude, operating speed, load current, and position parameter; A generation module, configured to fit and generate a theoretical fundamental wave curve based on the theoretical load current and the current time and fit and generate an actual waveform curve based on the actual load current and the current time; A determination module, configured to determine the comparison difference between the theoretical fundamental wave curve and the actual waveform curve as the glitch amplitude; A judgment module, configured to judge whether the glitch amplitude is within the preset glitch amplitude range; A detection module, configured to, if it is not within the preset glitch amplitude range, detect the interference frequency band in the actual waveform curve, where the interference frequency band is a discrete frequency band outside the preset interference amplitude range; A processing module, configured to perform notch filtering processing on the interference frequency band to obtain optimized operating parameters so that the interference frequency band is within the preset frequency range; A sending module, configured to send the optimized operating parameters to the numerical control system so that the numerical control system makes adjustments according to the optimized operating parameters; A speed error calculation module, configured to, in response to the opening operation of the parameter identification mode, calculate a feedback speed error value based on the theoretical operating speed and the actual operating speed; A speed increasing module, configured to, if the feedback speed error value is not within the preset speed error threshold range, increase the operating speed based on a preset first speed gain amplitude so that the feedback speed error value is within the preset speed error threshold range; A speed decreasing module, configured to, if the feedback speed error value is not within the preset speed error threshold range and the feedback speed error value fluctuates, decrease the operating speed based on a preset second speed gain amplitude so that the feedback speed error value is within the preset speed error threshold range.

8. An auxiliary system for a five-axis machine tool that intelligently configures drive parameters, characterized in that, Includes: One or more processors and memories; The memory is coupled to the one or more processors, and the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to cause the auxiliary system to execute the method according to any one of claims 1-6.

9. A machine-readable storage medium for a five-axis machine tool auxiliary system that intelligently configures drive parameters, including instructions, characterized in that When the instructions run on the auxiliary system, the auxiliary system is caused to execute the method according to any one of claims 1-6.

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