Equipment operation control methods, devices, computer equipment and storage media

Abstract

This application relates to a method, apparatus, computer device, storage medium, and computer program product for equipment operation control. The method includes: acquiring the processing path of a target device; performing multi-segment trajectory planning on the processing path based on multiple candidate speed curves to obtain control parameters for each stage; during the operation of the target device, acquiring the control parameters for the next cycle's stage and the curve characteristic information corresponding to each candidate speed curve for the next cycle; based on the control parameters for the next cycle's stage and the curve characteristic information, determining the target speed curve from the multiple candidate speed curves that meets the conditions for stable operation; and controlling the operation of the target device in the next cycle using the target speed curve. This method can improve the flexibility and compliance of equipment operation control.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, and in particular to a method, apparatus, computer equipment, storage medium and computer program product for equipment operation control. Background Technology

[0002] A velocity profile, also known as a velocity curve, is a curve that describes the change of velocity of a moving object over time. It can intuitively reflect the speed and direction of the object's motion. In the field of intelligent equipment control, configuring the corresponding velocity curve is an important part of trajectory planning when planning the trajectory of equipment operation, and it plays an important role in the smooth motion control of the equipment.

[0003] Currently, when planning the trajectory of equipment, a fixed speed curve is usually pre-configured for the equipment, and the equipment is controlled according to the fixed speed curve. This results in poor flexibility in equipment operation control, which can easily lead to poor smoothness in equipment operation control and cannot meet the current control requirements of equipment trajectory planning. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for equipment operation control that can improve the flexibility and compliance of equipment operation control in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a device operation control method, the method comprising:

[0006] Obtain the processing path of the target device;

[0007] Multi-segment trajectory planning is performed on the processing path based on multiple candidate speed curves to obtain control parameters for each stage;

[0008] During the operation of the target device, the control parameters of the next cycle stage and the curve characteristic information corresponding to each candidate speed curve in the next cycle are obtained.

[0009] Based on the control parameters of the next cycle stage and the characteristic information of each curve, a target speed curve that meets the conditions for stable operation is determined from the multiple candidate speed curves.

[0010] In the next cycle, the target speed curve is used to control the operation of the target device.

[0011] Secondly, this application also provides a device for controlling the operation of an equipment, the device comprising:

[0012] The processing path acquisition module is used to acquire the processing path of the target device;

[0013] The trajectory planning module is used to perform multi-segment trajectory planning on the processing path based on multiple candidate speed curves to obtain control parameters for each stage;

[0014] The information acquisition module is used to acquire the control parameters of the next cycle stage and the curve characteristic information of each candidate speed curve in the next cycle during the operation of the target device.

[0015] The speed curve determination module is used to determine the target speed curve that meets the stable operation conditions from the multiple candidate speed curves based on the control parameters of the stage of the next cycle and the characteristic information of each curve.

[0016] A switching control module is used to control the operation of the target device in the next cycle using the target speed curve.

[0017] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0018] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0019] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the above-described method.

[0020] The aforementioned equipment operation control methods, devices, computer equipment, storage media, and computer program products, when controlling the operation of target equipment, can perform multi-segment trajectory planning on the processing path of the target equipment based on multiple candidate speed curves to obtain control parameters for each stage. Subsequently, during the operation of the target equipment, the control parameters of the next cycle stage and the curve characteristic information of each candidate speed curve in the next cycle can be obtained. The curve characteristics of each candidate speed curve in the next cycle, such as amplitude-frequency characteristics, are determined through the curve characteristic information. Then, based on the control parameters of the next cycle stage and the curve characteristic information of each candidate speed curve in the next cycle, the target speed curve that meets the stable operation conditions is determined from the candidate speed curves. The equipment operation is controlled according to the target speed curve. By automatically switching the current speed curve to the target speed curve that is more in line with the current operating conditions of the equipment, the speed profile can be freely switched during operation, effectively improving the flexibility and smoothness of equipment operation control. Attached Figure Description

[0021] Figure 1This is an application environment diagram of the device operation control method in one embodiment;

[0022] Figure 2 This is a flowchart illustrating a device operation control method in one embodiment;

[0023] Figure 3 This is a schematic diagram of a process in one embodiment for obtaining control parameters for the next cycle stage and curve characteristic information corresponding to each candidate speed curve in the next cycle during the operation of the target device.

[0024] Figure 4 This is a flowchart illustrating the process of performing expected vibration analysis on the target device based on the control parameters and curve characteristic information of the next cycle stage in one embodiment to determine the expected vibration information of the target device.

[0025] Figure 5 This is a flowchart illustrating the process of performing expected vibration analysis on a target device based on the inherent frequency and the spectral information of the priority velocity curve of the next cycle, in one embodiment, to determine the expected vibration information of the device.

[0026] Figure 6 This is a flowchart illustrating the device operation control method in another embodiment;

[0027] Figure 7 This is a structural block diagram of the device operation control device in one embodiment;

[0028] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0030] The equipment operation control method provided in this application embodiment can be applied to, for example, Figure 1In the application environment shown, the equipment control system 102 communicates with the target device 104. A data storage system stores the data that the equipment control system 102 needs to process. The data storage system can be integrated into the equipment control system 102 or placed in the cloud or on another network server. The equipment control system 102 can obtain the processing path of the target device 104, perform multi-segment trajectory planning on the processing path based on multiple candidate speed curves, obtain the control parameters for each stage, and during the operation of the target device, obtain the control parameters for the next cycle's stage and the curve characteristic information corresponding to each candidate speed curve for the next cycle. It then determines the target speed curve that meets the conditions for stable operation from the multiple candidate speed curves and uses the target speed curve to control the operation of the target device 104 in the next cycle.

[0031] The device control system 102 can be integrated into any terminal or server. The terminal can be, but is not limited to, various personal computers, laptops, smartphones, tablets, portable wearable devices, etc. The portable wearable device can be a smartwatch, smart bracelet, etc. The server can be implemented using a standalone server or a server cluster composed of multiple servers.

[0032] The target device 104 can be any terminal device that requires trajectory planning and operation control based on speed curves during operation. The specific type of device varies depending on the work scenario in which the target device 104 is located. For example, in a welding scenario, the target device 104 can be a welding robot or welding robot arm, while in a fine carving scenario, the target device 104 can be an automatic fine carving machine, etc.

[0033] In one embodiment, such as Figure 2 As shown, a device operation control method is provided, which can be applied to... Figure 1 Taking the equipment control system 102 as an example, the following steps are included:

[0034] S202, Obtain the processing path of the target device.

[0035] The processing path of the target equipment is the running path that the target equipment needs to move during operation. The processing path can be composed of multiple trajectory position points.

[0036] Specifically, when it is necessary to control the operation of the target equipment, the equipment control system can first obtain the processing path of the target equipment and determine the running trajectory of the target equipment during actual operation.

[0037] S204 performs multi-segment trajectory planning on the processing path based on multiple candidate speed curves to obtain control parameters for each stage.

[0038] Among them, the speed curve, also known as the speed profile, is a curve that describes the speed change of a moving object during its movement. By planning the machining path based on the speed curve, the speed information of each trajectory position point in the machining path can be obtained. After determining the target speed curve, the operation of the target equipment can be controlled based on the target speed curve.

[0039] The candidate speed curve is the speed curve that may be used when controlling the operation of the target equipment. During the operation of the target equipment, the current speed curve may not be able to achieve smooth operation control due to the working environment. For example, in some processing scenarios, the running path of the equipment may have a series of short broken lines. Using the current speed curve for operation control may result in a significant deceleration and equipment vibration.

[0040] To ensure sufficient selection of speed profiles for the equipment in its operating environment, designers can pre-configure multiple candidate speed profile types. Common speed profile types include T-type, S-type, Sine type, quintic polynomial type, exponential type, and so on. The required candidate speed profile types will vary depending on the operating environment. For example, in a precision engraving scenario, T-type, S-type, and Sine type candidate speed profiles can be configured, while in a laser processing scenario, S-type and Sine type candidate speed profiles can be configured.

[0041] Multi-segment trajectory planning is a trajectory planning process that divides the processing path into multiple continuous and smooth stage paths according to a preset number of segments, and determines the control parameters corresponding to each stage path. By performing multi-segment trajectory planning on the processing path, the velocity information of each trajectory position point on the processing path can be obtained.

[0042] Understandably, the preset number of segments when planning a multi-segment trajectory for a processing path can be determined by the designer based on the actual trajectory planning requirements. For example, it can be 3 segments, 7 segments, 15 segments, etc. The larger the number of segments, the better the trajectory continuity and control compliance, but the corresponding control efficiency will be reduced. Therefore, in this application, taking into account both control compliance and control efficiency, an example with a preset number of 7 segments will be used.

[0043] Among them, the control parameters are the key parameters of each stage of the path, which can reflect the speed information of each stage of the path. The subsequent operation of the target equipment in each stage of the path needs to be controlled according to the control parameters.

[0044] In one embodiment, the control parameters may include total duration Ti, maximum acceleration A, maximum jerk Jerk, initial velocity V0, target velocity Vt, and final velocity Ve.

[0045] Specifically, after obtaining the processing path of the target equipment, the equipment control system can first divide the processing path into multiple stages according to the preset number of segments, and then perform multi-segment trajectory planning on the processing path based on multiple pre-configured candidate speed curves to determine the speed information of each trajectory position point of the processing path, thereby obtaining the control parameters of each stage.

[0046] Taking a preset number of 7 segments as an example, the equipment control system can divide the processing path into 7 stages: acceleration segment, uniform acceleration segment, deceleration segment, constant speed segment, acceleration / deceleration segment, uniform deceleration segment, and deceleration / deceleration segment. Then, based on multiple pre-configured candidate velocity curves, multi-segment trajectory planning is performed to determine the control parameters for each stage, such as the total duration Ti, maximum acceleration A, maximum jerk Jerk, initial velocity V0, target velocity Vt, and final velocity Ve for each stage.

[0047] In one embodiment, the equipment control system performs multi-segment trajectory planning on the processing path based on multiple pre-configured candidate speed curves. This can be seen as first performing multi-segment trajectory planning on the processing path based on each candidate speed curve to obtain the candidate control parameters corresponding to each candidate speed curve. Then, based on the candidate control parameters, the system further plans the target control parameters that can cover the usage constraints of all candidate speed curves, and determines the target control parameters as the unified control parameters for the corresponding stage path.

[0048] Since different types of speed curves correspond to different curve representations, for example, a T-shaped speed curve can be divided into three stages: uniform acceleration, uniform speed, and uniform deceleration, while an S-shaped speed curve can be divided into seven stages: acceleration segment, uniform acceleration segment, deceleration segment, uniform speed segment, acceleration / deceleration segment, uniform deceleration segment, and deceleration / deceleration segment. Taking candidate speed curves including T-shaped and S-shaped speed curves as examples, when the equipment control system performs trajectory planning, it needs to align each stage of each candidate speed curve. For example, the uniform acceleration segment of a T-shaped curve corresponds to the acceleration, uniform acceleration, and deceleration segments of an S-shaped curve; the uniform speed segment of a T-shaped curve corresponds to the uniform speed segment of an S-shaped curve; and the uniform deceleration segment of a T-shaped curve corresponds to the acceleration / deceleration, uniform deceleration, and deceleration segments of an S-shaped curve. When performing multi-segment trajectory planning, the T-shaped velocity curve and the S-shaped velocity curve can be uniformly divided into 7 segments according to the preset number of segments. The T-shaped velocity curve is divided into stages T1, T2, T3, T4, T5, T6, and T7, and the S-shaped velocity curve is divided into stages S1, S2, S3, S4, S5, S6, and S7. For the T-shaped curve, appropriate modifications are made, that is, T1, T2, and T3 are uniform acceleration stages, T4 is a uniform speed stage, and T5, T6, and T7 are uniform deceleration stages.

[0049] S206: During the operation of the target equipment, acquire the control parameters of the next cycle stage and the curve characteristic information of each candidate speed curve in the next cycle.

[0050] The equipment control system collects data and performs operational control according to a control cycle during the operation of the target equipment. Understandably, the specific duration of the control cycle can be determined by the designer based on the actual application scenario; for example, the duration of the control cycle can be 4ms, 2ms, or 1ms, etc.

[0051] During the initial startup of the target device, in the first control cycle, the device control system performs operational control on the target device based on the initial speed curve. The initial speed curve can be preset by the designer according to the actual application scenario, or it can be determined as the target speed curve that meets the conditions for stable operation based on the control parameters of the stage of the first control cycle and the curve characteristic information of each candidate speed curve in the first control cycle.

[0052] Curve characteristic information refers to data reflecting the curve characteristics of a candidate speed curve, such as its amplitude-frequency response. The equipment control system can directly or indirectly determine the curve characteristics of a candidate speed curve using this information. Since the control parameters differ for each stage of the path, indicating variations in the operating conditions of the target equipment at each stage, the curve characteristic information corresponding to the candidate speed curve may differ in each cycle.

[0053] Specifically, during the operation of the target equipment, the equipment control system can obtain the control parameters of the next cycle stage, as well as the curve characteristic information of each candidate speed curve in the next cycle.

[0054] S208 determines the target speed curve that meets the conditions for stable operation from multiple candidate speed curves based on the control parameters and curve characteristic information of the next cycle stage.

[0055] Among them, the stable operation condition is a preset judgment condition used to determine whether the equipment can operate smoothly when the operation control is performed with the corresponding candidate speed curve. Stable operation of the equipment refers to the operating state in which no vibration or minimal vibration occurs during the operation of the equipment. Understandably, the stable operation condition can be pre-generated and set in the equipment control system by the designer according to the actual selection requirements.

[0056] Specifically, based on the curve characteristic information of the candidate speed curve in the next cycle, the equipment control system can determine the curve characteristics of the candidate speed curve in the next cycle, such as the amplitude-frequency characteristic. The curve characteristics can reflect the operational stability of the target equipment when controlled by the candidate speed curve. Therefore, the equipment control system can determine the target speed curve that meets the stable operation conditions from multiple candidate speed curves based on the control parameters of the next cycle stage and the curve characteristic information of each candidate speed curve in the next cycle.

[0057] In one embodiment, the equipment control system is pre-set with vibration evaluation indicators and vibration evaluation methods corresponding to the vibration evaluation indicators. After obtaining the control parameters and curve characteristic information of the next cycle stage, the system can evaluate the vibration of each candidate velocity curve based on the control parameters and curve characteristic information of the next cycle stage, and obtain the vibration evaluation data of each candidate velocity curve in the next cycle. The vibration evaluation data reflects the vibration degree of the target equipment under the current excitation. The candidate velocity curve with the smallest vibration degree is determined as the target velocity curve that meets the stable operation conditions.

[0058] In one embodiment, after determining the target speed curve, the equipment control system can calculate the interpolation position and send the interpolation position to each axis driver of the equipment to control the movement of the equipment and complete the processing task.

[0059] S210 uses the target speed curve to control the operation of the target equipment in the next cycle.

[0060] Specifically, once the target speed curve is determined, the equipment control system can automatically switch to the target speed curve in the next cycle to control the operation of the target equipment.

[0061] In the above-mentioned equipment operation control method, when controlling the operation of the target equipment, multi-segment trajectory planning can be performed on the processing path of the target equipment based on multiple candidate speed curves to obtain the control parameters for each stage. Subsequently, during the operation of the target equipment, the control parameters of the next cycle stage and the curve characteristic information of each candidate speed curve in the next cycle can be obtained. The curve characteristics of each candidate speed curve in the next cycle are determined by the curve characteristic information, such as amplitude-frequency characteristics. Then, based on the control parameters of the next cycle stage and the curve characteristic information of each candidate speed curve in the next cycle, the target speed curve that meets the stable operation conditions is determined from each candidate speed curve. The equipment operation is controlled according to the target speed curve. By automatically switching the current speed curve to the target speed curve that is more in line with the current operating conditions of the equipment, the speed profile can be freely switched during operation, effectively improving the flexibility and smoothness of equipment operation control.

[0062] The target device is prone to shocks during speed profile switching. To improve the smoothness of the target device's operation during automatic speed profile switching, in one embodiment, such as... Figure 3 As shown in step S206, during the operation of the target device, the control parameters for the next cycle stage and the curve characteristic information corresponding to each candidate speed curve in the next cycle are obtained, including:

[0063] S302: During the operation of the target device, acquire the operating parameters of the target device during the operation process.

[0064] Among them, operating parameters are parameter information obtained by collecting operating data of the equipment during operation. They can be used to characterize the operating status of the equipment during operation. For example, operating parameters may include information such as the operating speed, operating acceleration, and operating position of the equipment.

[0065] Specifically, during the operation of the target equipment, the equipment control system can acquire the operating parameters of the target equipment during the operation process.

[0066] In one embodiment, the equipment control system can control the operation of multiple devices in multiple operating environments. When controlling the operation of a target device, the system can determine the data storage area corresponding to the target device based on the device identifier of the target device, and obtain the operating parameters of the target device during operation from the data storage area corresponding to the target device.

[0067] S304, Based on the operating parameters, determine the acceleration change trend of the target device in the current cycle.

[0068] Among them, the acceleration change trend is the trend information used to characterize the acceleration change of the target device at the current moment. By using the acceleration change trend, it can be determined whether the target device has an acceleration change at the current moment, whether the acceleration change is continuous, and the direction of the acceleration change.

[0069] Specifically, since the operating parameters of the target equipment during operation can characterize the operating state of the target equipment during operation, the equipment control system can determine the acceleration change trend of the target equipment at the current moment based on the operating state of the target equipment as characterized by the operating parameters.

[0070] In one embodiment, the operating parameters of the target device during operation may include the operating speed of the target device and the device position matching the operating speed. The device control system can determine the acceleration information of the target device at its current position, such as the magnitude of acceleration or the acceleration trend, based on the operating speed and device position of the target device during operation. Subsequently, the acceleration trend of the target device at the current moment can be determined based on the acceleration information of the target device at its current position.

[0071] For example, if the acceleration information of the target device at its current location is the magnitude of acceleration, then the difference in acceleration variation over consecutive historical moments can be determined based on the magnitude of the target device's acceleration at the current moment and the magnitude of the device's acceleration at the current moment. If the difference is less than a preset difference threshold, then the acceleration trend of the target device at the current moment can be determined to be continuous. Conversely, if the difference is greater than or equal to the preset difference threshold, then the acceleration trend of the target device at the current moment can be determined to be discontinuous.

[0072] In one embodiment, the operating parameters of the target device during operation may include the operating speed of the target device and the operating time matching the operating speed. The device control system can determine the acceleration of the target device at each operating moment based on the operating speed and operating time. By determining the acceleration difference between the current moment and consecutive historical moments, the system compares the acceleration difference with a preset difference threshold. If the acceleration difference is less than the preset difference threshold, the acceleration trend of the target device at the current moment can be determined to be continuous. Conversely, if the difference is greater than or equal to the preset difference threshold, the acceleration trend of the target device at the current moment can be determined to be discontinuous.

[0073] In one embodiment, the operating parameters of the target device during operation may include the acceleration of the target device at each operating moment. The device control system can determine the acceleration change trend of the target device at the current moment based on the acceleration at each operating moment. For example, it can perform an integration operation based on the acceleration at each operating moment to determine the acceleration change trend of the target device at the current moment. When the integration result is within a preset integration result range, the acceleration change trend of the target device at the current moment can be determined to be continuous. When the integration result is not within the preset integration result range, the acceleration change trend of the target device at the current moment can be determined to be discontinuous.

[0074] S306, when the acceleration trend is continuously changing, obtains the control parameters of the next cycle stage and the curve characteristic information of each candidate velocity curve in the next cycle.

[0075] If the acceleration of the target device changes continuously at the current moment, it can be considered that automatic switching of the velocity curve at this moment can ensure smooth movement of the target device and avoid impact on the target device during movement. In other words, the current moment is the moment when velocity curve switching is allowed.

[0076] Specifically, when the equipment control system determines that the acceleration of the target equipment is changing continuously at the current moment, it can obtain the control parameters of the next cycle stage and the curve characteristic information of each candidate velocity curve corresponding to the next cycle, so as to determine the target velocity curve based on the control parameters of the next cycle stage and the curve characteristic information of each candidate velocity curve in the next cycle.

[0077] In the above embodiments, performing the speed curve switching operation only when the acceleration change trend is determined to be continuously changing can effectively improve the smoothness of the target device's operation during automatic switching and avoid the target device being impacted during operation.

[0078] Determining the target speed curve is a crucial step in compliant control of the equipment. The following examples will illustrate the specific steps for determining the target speed curve.

[0079] In one embodiment, S208, based on the control parameters of the next cycle stage and the characteristic information of each curve, a target speed curve that meets the conditions for smooth operation is determined from multiple candidate speed curves, including:

[0080] Based on the control parameters and curve characteristics of the next cycle stage, a predicted vibration analysis is performed on the target equipment to determine its expected vibration information. Based on this expected vibration information, the target velocity curve that meets the conditions for stable operation is selected from multiple candidate velocity curves.

[0081] Among them, expected vibration analysis is an analytical operation used to analyze the vibration of the target equipment when it is running based on each candidate velocity curve. By performing expected vibration analysis on the target equipment, the operating vibration of the target equipment when it is controlled based on the corresponding candidate velocity curve can be predicted.

[0082] In one embodiment, by performing a anticipated vibration analysis on the target device, a target velocity curve whose acceleration amplitude-frequency characteristics meet the conditions for stable operation in the next cycle can be determined. The acceleration amplitude-frequency characteristics can be used to characterize the likelihood of vibration of the target device when operating based on this velocity curve. Better acceleration amplitude-frequency characteristics indicate that controlling the target device's operation using this velocity curve will achieve the effect of less anticipated vibration. Therefore, the target velocity curve of the target device can be determined by determining the acceleration amplitude-frequency characteristics of the target device when operating based on each candidate velocity curve in the next cycle. For example, the candidate velocity curve with the best amplitude-frequency characteristics can be determined as the target velocity curve that meets the conditions for stable operation.

[0083] The expected vibration information of the target equipment can be used to characterize the vibration of the target equipment when it is operated and controlled using candidate velocity curves. It is understood that the form of the expected vibration information can be determined according to the analysis method of the expected vibration analysis. For example, the expected vibration information may include the expected vibration state and / or vibration evaluation value.

[0084] Specifically, after obtaining the control parameters of the next cycle stage and the curve characteristic information of each candidate speed curve in the next cycle, the equipment control system can perform expected vibration analysis on the target equipment based on the control parameters of the next cycle stage and the curve characteristic information to determine the expected vibration information of the target equipment. Then, based on the expected vibration information of the target equipment, the target speed curve that meets the stable operation conditions is determined from each candidate speed curve.

[0085] In one embodiment, the equipment control system performs expected vibration analysis on the target equipment based on the control parameters of the next cycle stage and the characteristic information of each curve. This expected vibration analysis can be performed on the target equipment based on all the characteristic information of the curves.

[0086] In one embodiment, the equipment control system can perform expected vibration analysis on the target equipment based on the control parameters of the next cycle stage and some curve characteristic information in each curve characteristic information. For example, the equipment control system can determine whether there is curve characteristic information corresponding to the key speed curve in each curve characteristic information. If there is, the expected vibration analysis of the target equipment is performed first based on the curve characteristic information corresponding to the key speed curve and the control parameters of the next cycle stage. If the expected vibration information of the target equipment relative to the key speed curve meets the stable operation conditions, the key speed curve can be determined as the target speed curve that meets the stable operation conditions.

[0087] In the above embodiments, by performing expected vibration analysis on the target equipment, the target velocity curve whose acceleration frequency domain amplitude meets the conditions for stable operation can be selected from multiple candidate velocity curves based on the expected vibration information of the target equipment. This can effectively improve the control compliance of the subsequent switching to the target velocity curve for operation control of the equipment.

[0088] Furthermore, in one embodiment, the expected vibration information includes the expected vibration state, and the curve characteristic information includes the parameter range corresponding to the candidate velocity curve under stable operating conditions. Based on the control parameters of the next cycle stage and the curve characteristic information, the expected vibration of the target equipment is analyzed to determine the expected vibration information of the target equipment, including:

[0089] For each candidate velocity curve, the control parameters for the next cycle stage are compared with the parameter range corresponding to the candidate velocity curve in the next cycle under stable operating conditions. If the control parameters for the next cycle stage match the parameter range, the expected vibration state of the target equipment is determined to be a stable operating state.

[0090] The parameter range corresponding to the candidate speed curve in a stable operating state is the range that the control parameters of the target equipment should match when it is in a stable operating state based on the candidate speed curve.

[0091] Understandably, in one embodiment, if the operating environment of the target device remains unchanged, the parameter range corresponding to the candidate speed curve under stable operating conditions can be determined by the designer during trajectory planning, for example, based on experimental or empirical values. Subsequently, the device control system directly selects the parameter range that matches both the stage identifier and the curve identifier from a pre-configured parameter range based on the stage identifier and the curve identifier of the candidate curve for the next cycle, thus determining the parameter range corresponding to the candidate speed curve under stable operating conditions for the next cycle.

[0092] In another embodiment, since the operating environment of the target device may change during operation, the parameter range corresponding to its stable operating state in each cycle may also change accordingly. Therefore, in order to switch speed curves more accurately, the device control system can maintain the real-time performance and accuracy of the parameter range by acquiring the parameter range of the candidate speed curve for the next cycle in real time. It is understood that the parameter range of the candidate speed curve for the next cycle acquired in real time can be the parameter range corresponding to the candidate speed curve in the stable operating state determined by the designer based on the latest operating environment, or it can be the parameter range corresponding to the candidate speed curve in the stable operating state determined in real time by a parameter range determination component pre-set in the device control system based on the latest operating environment.

[0093] A parameter range is the range within which a parameter needs to be compared with a control parameter. A control parameter may contain multiple parameter types, meaning there may be multiple control parameters and multiple parameter ranges, which can correspond to all or some of the control parameters in the control parameters.

[0094] Specifically, for each candidate speed curve, the equipment control system can compare the control parameters of the next cycle stage with the parameter range of the candidate speed curve in the stable operating state of the next cycle to determine whether the control parameters of the next cycle stage match the parameter range of the candidate speed curve, that is, whether the control parameters of the next cycle stage belong to the parameter range of the candidate speed curve.

[0095] If the control parameters and parameter range match in the next cycle, it indicates that the candidate velocity curve corresponding to the parameter range has good acceleration amplitude-frequency characteristics in the next cycle. Controlling the target equipment according to the candidate velocity curve corresponding to the parameter range in the next cycle can improve the operating stability of the equipment, and the expected vibration state of the equipment is a stable operating state.

[0096] In one embodiment, if multiple parameter ranges exist corresponding to each of the multiple control parameters, the matching of the control parameters and parameter ranges for the next cycle stage can be determined when each control parameter matches its corresponding parameter range. Taking an S-shaped velocity curve as an example, in the next cycle, the parameter ranges corresponding to the S-shaped velocity curve in a stable operating state include the parameter ranges corresponding to the total operating time Ti, maximum acceleration A, and maximum jerk Jerk in the control parameters, respectively. These parameter ranges are composed of corresponding parameter interval thresholds. For example, the parameter range corresponding to Ti can be composed of thresholds ai and bi, the parameter range corresponding to A can be composed of thresholds Aa and Ab, and the parameter range corresponding to Jerk can be composed of thresholds a and b. Only when Ti ∈ [ai, bi], f(A) ∈ [Aa, Ab], and f(A, Jerk) ∈ [a, b] can the expected vibration state of the target device in the next cycle be determined to be a stable operating state.

[0097] In some embodiments, the equipment control system may also specify the number of parameter range matches required for a stable operating state. Based on the number of parameter range matches, it can be determined whether the control parameters of the next cycle stage match the parameter range. Taking an S-shaped velocity curve as an example, if the equipment control system specifies that the number of parameter range matches required for a stable operating state is two, then it is only necessary for at least two of Ti, f(A), and f(A, Jerk) to match their respective parameter ranges to determine that the expected vibration state of the target equipment in the next cycle is a stable operating state.

[0098] In some embodiments, key parameters can be pre-set in the equipment control system. When the key parameter in the control parameters matches its corresponding parameter range, the expected vibration state of the target equipment in the next cycle can be determined to be a stable operating state. Again, taking an S-shaped velocity curve as an example, if the key parameter Ti is pre-set in the equipment control system, then only when Ti matches its corresponding parameter range, i.e., Ti∈[ai, bi], can the expected vibration state of the target equipment in the next cycle be determined to be a stable operating state.

[0099] Furthermore, based on the expected vibration information of the target equipment, a target speed curve that meets the conditions for stable operation is determined from multiple candidate speed curves, including: if the expected vibration state of the target equipment corresponding to the candidate speed curve is a stable operating state, then the candidate speed curve is determined as the target speed curve that meets the conditions for stable operation.

[0100] Specifically, if the target device is in a stable state corresponding to the preset vibration state of the candidate velocity curve, it means that controlling the target device based on the candidate velocity curve in the next cycle can improve the operating stability of the target device. Therefore, the device control system can determine the candidate velocity curve as the target velocity curve that meets the stable operation conditions.

[0101] In one embodiment, if multiple target speed curves that meet the conditions for stable operation exist simultaneously, during actual control, one target speed curve can be randomly selected to control the operation of the target equipment.

[0102] In one embodiment, if multiple target speed curves that meet the conditions for stable operation exist simultaneously, the equipment control system can further perform a stability assessment on the multiple target speed curves that meet the conditions for stable operation, and select the target speed curve with the smallest expected vibration level to control the operation of the target equipment.

[0103] In the above embodiments, by comparing the control parameters of the next cycle stage with the parameter ranges of each candidate velocity curve, the expected vibration state of the target device in the next cycle can be quickly determined based on the comparison results of each control parameter and the corresponding parameter range when determining the target velocity curve. If the control parameters match the corresponding parameter range, the expected vibration state of the target device in the next cycle is determined to be a stable operating state, and the candidate velocity curve is determined as the target velocity curve. This can effectively improve the analysis efficiency of the expected vibration analysis of the target device, reduce the complexity of determining the target velocity curve, and thus effectively improve the speed of determining the target velocity curve.

[0104] In addition to performing expected vibration analysis on the target equipment by using the parameter range corresponding to the candidate velocity curve under stable operating conditions, in one embodiment, such as Figure 4 As shown, the curve characteristic information includes the curve type of the candidate velocity curves. Based on the control parameters of the next cycle stage and the characteristic information of each curve, a predicted vibration analysis is performed on the target equipment to determine the predicted vibration information of the target equipment, including:

[0105] S402, obtain the natural frequency of the target device, and determine the priority speed curve from each candidate speed curve.

[0106] The candidate velocity curve type is a parameter obtained by classifying candidate velocity curves based on their curve characteristics. Different curve types correspond to different curve characteristics, and naturally, the expressions for these curve characteristics also differ. For example, when a candidate velocity curve is a T-shaped velocity curve, its corresponding curve characteristic is a T-shaped curve characteristic, and its curve characteristic expression is a T-shaped expression. Conversely, when a candidate velocity curve is a Sine-shaped velocity curve, its corresponding curve characteristic is a sine-shaped curve characteristic, and its curve characteristic expression is a sine expression.

[0107] The natural frequency of a target device refers to the vibration frequency of the target device determined by its own structure in the absence of external excitation.

[0108] Priority speed curves are candidate speed curves that have a high probability of stable operation in the current operating environment of the target equipment.

[0109] Specifically, when performing anticipated vibration analysis on target equipment, the equipment control system can first obtain the natural frequency of the target equipment and determine the preferred velocity curve from among the candidate velocity curves. Understandably, the preferred velocity curve can be pre-determined by the designer based on the operating environment of the target equipment and set in the equipment control system.

[0110] S404, based on the control parameters of the stage in the next cycle and the curve type of the priority speed curve in the next cycle, determine the first curve characteristic of the priority speed curve in the next cycle.

[0111] Specifically, after determining the priority speed curve, the equipment control system can determine the basic expression of the priority speed curve based on its curve type. Then, based on the control parameters of the next cycle stage and the basic expression of the priority speed curve, it can determine the first curve characteristic of the priority speed curve for the next cycle. Understandably, when the control parameters are different, the curve characteristics of the candidate speed curve will also differ; therefore, the candidate speed curve will exhibit different amplitude-frequency characteristics in different cycles.

[0112] S406, based on the characteristics of the first curve, perform frequency domain transformation on the priority velocity curve of the next cycle to obtain the spectral information of the priority velocity curve of the next cycle.

[0113] Specifically, the equipment control system performs frequency domain transformation on the priority speed curve of the next cycle based on the first curve characteristics, which can convert the first curve characteristics of the priority speed curve from the time domain to the frequency domain, and obtain the spectrum information of the priority speed curve of the next cycle.

[0114] S408 performs expected vibration analysis on the target equipment based on the natural frequency and the spectral information of the priority velocity curve of the next cycle, and determines the expected vibration information of the equipment.

[0115] Specifically, after obtaining the spectral information of the priority speed curve for the next cycle, the equipment control system can determine the peak amplitude of the priority speed curve based on the spectral information, and then perform vibration analysis on the target equipment based on the peak amplitude and natural frequency of the priority speed curve to determine the expected vibration information of the target equipment.

[0116] In this embodiment, by using the control parameters of the next cycle stage and the curve type of the priority speed curve, the first curve feature of the priority speed curve in the next cycle can be accurately determined. Subsequently, based on the spectrum information obtained after frequency domain transformation of the first curve feature and the natural frequency of the target device, the expected vibration analysis of the target device is performed. This can directly trigger the expected vibration information of the target device from the factors that may cause the target device to vibrate, effectively improving the accuracy of determining the expected vibration information of the target device.

[0117] In one embodiment, if the equipment control system determines, based on the parameter range of the candidate speed curves under stable operating conditions, that there is no control parameter in the next cycle stage that matches the parameter range of each candidate speed curve, it can further use the spectrum analysis method described in the above embodiment on each candidate speed curve to determine whether there is a target speed curve that meets the stable operating conditions.

[0118] Furthermore, in one embodiment, the priority speed curve includes a selected speed curve, and the expected vibration information includes the expected vibration state. In step S408, based on the natural frequency and the spectral information of the priority speed curve for the next cycle, an expected vibration analysis is performed on the target device to determine the expected vibration information of the device. This includes: determining the peak amplitude of the selected speed curve for the next cycle based on the spectral information of the selected speed curve for the next cycle. If the natural frequency is greater than the peak amplitude, the expected vibration state of the target device under the selected speed curve for the next cycle is determined to be a stable operating state.

[0119] The selected speed curve is the candidate speed curve with the highest probability of smooth operation among the priority speed curves. It is understandable that the selected speed curve may differ depending on the operating environment of the target equipment. For example, the selected speed curve could be a T-shaped speed curve, an S-shaped speed curve, a Sine-shaped speed curve, a fifth-order polynomial speed curve, or an exponential speed curve. In common target equipment operating scenarios, such as welding scenarios, the Sine speed curve usually has the highest probability of smooth operation. Therefore, this application uses the Sine speed curve as the selected speed curve for illustration.

[0120] Sine-type velocity curves describe velocity changes based on a sine function. A sine function is a periodic function whose value fluctuates between -1 and 1. Therefore, sine-type velocity curves also exhibit periodic velocity changes, with a shape similar to a sine wave. In equipment trajectory planning, sine-type velocity curves typically achieve smooth and natural motion, enabling the target equipment to change speed smoothly during startup and shutdown, avoiding abrupt acceleration and deceleration. Therefore, when candidate velocity curves include sine-type velocity curves, priority should be given to whether the expected vibration state of the target equipment under the sine-type velocity curve meets the conditions for stable operation. If it does, the sine-type velocity curve can be directly determined as the target velocity curve.

[0121] Specifically, when the priority speed curve includes a selected speed curve, such as a sine speed curve, the equipment control system can determine the peak amplitude of the selected speed curve in the next cycle based on the spectrum information of the selected speed curve in the next cycle. Then, the natural frequency of the target equipment is compared with the peak amplitude of the selected speed curve. Since the target equipment is most prone to excitation at its natural frequency, and the peak amplitude of the selected speed curve is greater than that of the selected speed curve, such as a sine speed curve, it can be considered that the probability of excitation of the target equipment caused by controlling the operation of the target equipment according to the selected speed curve is the lowest. Therefore, the equipment control system can determine that the expected vibration state of the target equipment under the selected speed curve is a stable operating state, and determine the selected speed curve as the target speed curve that meets the stable operating conditions.

[0122] In this embodiment, when the priority speed curve includes the selected speed curve, it is possible to prioritize whether the expected vibration state of the target equipment under the selected speed curve meets the conditions for stable operation. If it does, the selected speed curve is directly determined as the target speed curve that meets the conditions for stable operation, which can effectively improve the determination efficiency of the target speed curve and thus improve the control compliance of the target equipment operation control.

[0123] In another embodiment, the anticipated vibration information also includes vibration evaluation values. For example... Figure 5 As shown in S408, based on the natural frequency and the spectral information of the priority velocity curve for the next cycle, the expected vibration analysis of the target equipment is performed to determine the expected vibration information of the equipment, and also includes:

[0124] S502, when the natural frequency is less than or equal to the peak amplitude, determine the non-priority velocity curves other than the priority velocity curves among the candidate velocity curves.

[0125] Specifically, if the equipment control system determines that the natural frequency of the target equipment is less than or equal to the peak amplitude represented by the spectral information of the selected speed curve, it indicates that the target equipment may not have the best stable operating state under the selected speed curve. The equipment control system needs to evaluate the vibration of each candidate speed curve and select the target speed curve with the minimum expected vibration from the candidate speed curves.

[0126] Since the spectral information of the priority speed curve has been determined, the equipment control system needs to first identify the non-priority speed curves from among the candidate speed curves. Understandably, this application does not limit the specific number of priority and non-priority speed curves; there can be one or more.

[0127] S504, based on the control parameters of the stage of the next cycle and the curve type of the non-priority speed curve of the next cycle, determine the second curve characteristic of the non-priority speed curve of the next cycle.

[0128] Specifically, the equipment control system can determine the second curve characteristic of the non-priority speed curve in the next cycle based on the control parameters of the current stage of the next cycle and the curve type of the non-priority speed curve in the next cycle. Understandably, the process of determining the second curve characteristic is basically the same as the process of determining the first curve characteristic, and will not be elaborated further here.

[0129] S506, based on the characteristics of the second curve, perform frequency domain transformation on the non-priority velocity curve of the next cycle to obtain the spectral information of the non-priority velocity curve of the next cycle.

[0130] Specifically, the equipment control system can perform frequency domain transformation on the non-priority speed curve of the next cycle based on the characteristics of the second curve to obtain the spectrum information of the non-priority speed curve of the next cycle.

[0131] S508, based on the spectral information of the priority velocity curve and the spectral information of the non-priority velocity curve, determines the frequency domain amplitude integral of each candidate velocity curve within the frequency domain range of its inherent frequency.

[0132] The size of the frequency domain range of the natural frequency can be preset by the designer based on empirical values. The frequency domain amplitude integral of each candidate velocity curve within the frequency domain range of the natural frequency can be determined by a preset integral calculation formula. Different velocity curve types correspond to different integral calculation formulas.

[0133] The magnitude of the frequency domain amplitude integral of the candidate velocity curve within the frequency domain range of the natural frequency can reflect the degree of vibration of the target equipment under the candidate velocity curve.

[0134] Specifically, the equipment control system can determine the spectrum information of each candidate speed curve based on the spectrum information of the priority speed curve and the spectrum information of the non-priority speed curve. Then, based on the integral calculation formula corresponding to each candidate speed curve and the spectrum information of each candidate speed curve, it calculates the frequency domain amplitude integral of each candidate speed curve within the frequency domain range of the natural frequency, thereby obtaining the frequency domain amplitude integral of each candidate speed curve within the frequency domain range of the natural frequency.

[0135] S510, determine the vibration evaluation value represented by the amplitude integral of each frequency domain.

[0136] Specifically, the equipment control system can determine the vibration evaluation value represented by the amplitude integral of each frequency domain.

[0137] In one embodiment, the equipment control system can directly use the integral of each frequency domain amplitude as the vibration evaluation value of the target equipment under the corresponding candidate velocity curve in the next cycle.

[0138] In one embodiment, the equipment control system can sort the amplitude integrals of each frequency domain in ascending order and determine the sorting number of each amplitude integral as the vibration evaluation value of the target equipment under the corresponding candidate velocity curve in the next cycle.

[0139] In this embodiment, when the peak amplitude of the selected velocity curve is less than or equal to the natural frequency of the device, the device control system can determine the frequency domain amplitude integral of each candidate velocity curve within the frequency domain range of the natural frequency based on the spectral information of each candidate velocity curve, and thereby determine the vibration evaluation value of the target device under each candidate velocity curve. This can effectively improve the accuracy of the determination of the target velocity curve, and thus improve the operational stability of the target device when the target device is subsequently controlled based on the target velocity curve.

[0140] In one embodiment, after determining the vibration evaluation value represented by the amplitude integral of each frequency domain, the equipment control system determines the target velocity curve that meets the stable operation conditions from the candidate velocity curves based on the expected vibration information of the target equipment. This includes: determining the candidate velocity curve corresponding to the smallest evaluation value among the vibration evaluation values ​​as the target velocity curve that meets the stable operation conditions. In this case, the stable operation condition is that the velocity curve has the smallest vibration evaluation value.

[0141] Specifically, the vibration evaluation value of the candidate velocity curve can reflect the energy of the candidate velocity curve within the frequency range of its natural frequency. The smaller the vibration evaluation value, the smaller the energy of the candidate velocity curve within the frequency range of its natural frequency. The lower the probability of equipment excitation when controlling the equipment based on the candidate velocity curve, the better. Therefore, the equipment control system can determine the candidate velocity curve corresponding to the smallest vibration evaluation value among all vibration evaluation values ​​as the target velocity curve that meets the conditions for stable operation.

[0142] In one embodiment, such as Figure 6 As shown, a device operation control method is provided. Taking the application of this method in the operation control scenario of a machine tool as an example, the method specifically includes the following steps:

[0143] First, designers need to select candidate speed curves for switching to the machine tool's operating scenario. Candidate speed curves include S-shaped speed curves and Sine-shaped speed curves.

[0144] The equipment control system acquires the processing trajectory of the target equipment, performs multi-segment trajectory planning based on each candidate speed curve, and obtains the control parameters for each stage. The control parameters include the total duration Ti, maximum acceleration A, maximum jerk Jerk, initial speed V0, target speed Vt, and final speed Ve for each stage.

[0145] During actual operation, the equipment control system controls the machine tool based on the initial speed curve and acquires the acceleration information of the machine tool during operation. Based on the acceleration information, it determines whether the acceleration change trend of the machine tool is continuous. If the acceleration change trend of the machine tool is continuous, it is considered that the speed curve switching operation can be performed at this time to ensure the smoothness of the machine tool movement and avoid impact.

[0146] The equipment control system acquires the control parameters for the current stage of the next cycle, as well as the parameter ranges corresponding to each candidate speed curve under stable operating conditions in the next cycle. The control parameters Ti, A, and Jerk are compared with the parameter ranges of each candidate speed curve to determine if a parameter range exists that matches all three parameters. If such a range exists, the candidate speed curve corresponding to that range is considered a candidate speed curve that satisfies the stable operating conditions. The system then continues to determine the number of candidate speed curves that satisfy the stable operating conditions. If only one candidate speed curve satisfies the stable operating conditions, such as only S-shaped or Sine-shaped speed curves, then that candidate speed curve is determined as the target speed curve.

[0147] If the number of candidate velocity curves that meet the conditions for stable operation is zero or more, it is necessary to continue with subsequent amplitude-frequency characteristic analysis and select the target velocity curve with the best amplitude-frequency characteristics from among the candidate velocity curves.

[0148] Specifically, the equipment control system determines the first curve characteristic of the Sine speed curve based on the control parameters of the next cycle stage, performs a Fourier transform on the Sine speed curve based on the first curve characteristic to obtain the curve spectrum of the Sine speed curve, determines the peak amplitude of the Sine speed curve based on the curve spectrum, and simultaneously obtains the natural frequency of the machine tool. The natural frequency of the machine tool can be input by the user or obtained by the equipment control system after performing a frequency scan on the machine tool.

[0149] The equipment control system compares the peak amplitude of the Sine-type speed curve with the natural frequency. If the natural frequency of the machine tool is greater than the peak amplitude of the Sine-type speed curve, the Sine-type speed curve is directly determined as the target speed curve.

[0150] When the natural frequency of the machine tool is less than or equal to the peak amplitude of the Sine-type speed curve, the equipment control system determines the second curve characteristic of the S-type speed curve based on the control parameters of the next cycle stage. Based on the second curve characteristic, a Fourier transform is performed on the S-type speed curve to obtain the curve spectrum of the S-type speed curve. Then, the integral formulas corresponding to the Sine-type speed curve and the S-type speed curve are called to integrate the frequency domain amplitude of each candidate speed curve near the natural frequency to obtain the evaluation value of each candidate speed curve.

[0151] The integral formula corresponding to the Sine-type velocity curve is:

[0152] ;

[0153] The integral formula corresponding to the S-shaped velocity curve is:

[0154] ;

[0155] Where α(Ti), β(Ti), γ(Ti), and δ(Ti) represent coefficients related to Ti, which are set by the designers based on empirical values. Ti is the duration of the next cycle, Am is the maximum acceleration, ω is the frequency of the velocity curve, h is the stage path length, T is the total duration, α = acceleration time / T, and β = acceleration time / acceleration time.

[0156] In one embodiment, to improve computational efficiency, if the machine tool's current position has passed the uniform velocity range of the S-curve, the integral formula corresponding to the S-curve velocity curve can be:

[0157] ;

[0158] The candidate velocity curve with the smallest evaluation value is determined as the target velocity curve.

[0159] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0160] Based on the same inventive concept, this application also provides an equipment operation control device for implementing the equipment operation control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more equipment operation control device embodiments provided below can be found in the limitations of the equipment operation control method described above, and will not be repeated here.

[0161] In one embodiment, such as Figure 7 As shown, a device operation control 700 is provided, comprising: a processing path acquisition module 701, a trajectory planning module 702, an information acquisition module 703, a speed curve determination module 704, and a switching control module 705, wherein:

[0162] The processing path acquisition module 701 is used to acquire the processing path of the target device.

[0163] The trajectory planning module 702 is used to perform multi-segment trajectory planning on the processing path based on multiple candidate speed curves to obtain control parameters for each stage.

[0164] The information acquisition module 703 is used to acquire the control parameters of the next cycle stage and the curve characteristic information of each candidate speed curve in the next cycle during the operation of the target device.

[0165] The speed curve determination module 704 is used to determine the target speed curve that meets the conditions for stable operation from multiple candidate speed curves based on the control parameters of the next cycle stage and the characteristic information of each curve.

[0166] The switching control module 705 is used to control the operation of the target equipment in the next cycle using the target speed curve.

[0167] In one embodiment, the information acquisition module is used to: acquire the operating parameters of the target device during its operation; determine the acceleration change trend of the target device in the current cycle based on the operating parameters; and acquire the control parameters of the next cycle stage and the curve characteristic information corresponding to each candidate velocity curve in the next cycle when the acceleration change trend is continuously changing.

[0168] In one embodiment, the speed curve determination module is used to: perform expected vibration analysis on the target equipment based on the control parameters of the next cycle stage and the characteristic information of each curve, and determine the expected vibration information of the target equipment; and determine the target speed curve that meets the stable operation conditions from multiple candidate speed curves based on the expected vibration information of the target equipment.

[0169] In one embodiment, the expected vibration information includes the expected vibration state. The curve characteristic information includes the parameter range corresponding to the candidate velocity curve in a stable operating state. The velocity curve determination module is used to compare the control parameters of the next cycle stage with the parameter range corresponding to the candidate velocity curve in the next cycle in a stable operating state for each candidate velocity curve; if the control parameters of the next cycle stage match the parameter range, the expected vibration state of the target equipment is determined to be a stable operating state. If the expected vibration state of the target equipment corresponding to the candidate velocity curve is a stable operating state, then the candidate velocity curve is determined as the target velocity curve that meets the stable operating conditions.

[0170] In one embodiment, the curve characteristic information includes the curve type of the candidate velocity curves. The velocity curve determination module is used to: acquire the natural frequency of the target device and determine the preferred velocity curve from each candidate velocity curve; determine the first curve feature of the preferred velocity curve for the next cycle based on the control parameters of the stage in the next cycle and the curve type of the preferred velocity curve for the next cycle; perform frequency domain transformation on the preferred velocity curve for the next cycle based on the first curve feature to obtain the spectral information of the preferred velocity curve for the next cycle; and perform expected vibration analysis on the target device based on the natural frequency and the spectral information of the preferred velocity curve for the next cycle to determine the expected vibration information of the device.

[0171] In one embodiment, the preferred velocity curve includes a selected velocity curve; the expected vibration information includes the expected vibration state. The velocity curve determination module is used to: determine the peak amplitude of the selected velocity curve for the next cycle based on the spectral information of the selected velocity curve for the next cycle; and determine that the expected vibration state of the target device under the selected velocity curve for the next cycle is a stable operating state if the natural frequency is greater than the peak amplitude.

[0172] In one embodiment, the expected vibration information further includes a vibration evaluation value. The velocity curve determination module is also configured to: determine the non-priority velocity curves (excluding the priority velocity curve) among the candidate velocity curves when the natural frequency is less than or equal to the peak amplitude; determine the second curve characteristics of the non-priority velocity curves in the next cycle based on the control parameters of the stage in the next cycle and the curve type of the non-priority velocity curves in the next cycle; perform frequency domain transformation on the non-priority velocity curves in the next cycle according to the second curve characteristics to obtain the spectral information of the non-priority velocity curves in the next cycle; determine the frequency domain amplitude integral of each candidate velocity curve within the frequency domain range of the natural frequency based on the spectral information of the priority velocity curves and the spectral information of the non-priority velocity curves; and determine the vibration evaluation value represented by each frequency domain amplitude integral.

[0173] Each module in the aforementioned equipment operation control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0174] In one embodiment, a computer device is provided, which may be a server integrating a device control system, and its internal structure diagram may be as follows: Figure 8 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data such as the processing path of the target device, multiple candidate speed curves, control parameters for each stage, control parameters for the next stage, curve characteristic information corresponding to each candidate speed curve in the next cycle, and the target speed curve. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a device operation control method.

[0175] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0176] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the specific steps of the above-described device operation control method.

[0177] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, it implements the specific steps of the above-described device operation control method.

[0178] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the specific implementation steps of the above-described device operation control method.

[0179] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the acquisition, storage, processing, and transmission of the data all comply with relevant laws and regulations.

[0180] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0181] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0182] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A device operation control method characterized by comprising: The method comprises: acquiring a processing path of a target device; based on a plurality of candidate speed curves, respectively performing multi-segment trajectory planning on the processing path to obtain candidate control parameters corresponding to each of the candidate speed curves, and determining control parameters of each stage based on the candidate control parameters; during operation of the target device, acquiring control parameters of a stage in a next cycle and curve characteristic information corresponding to each of the candidate speed curves in the next cycle; based on the control parameters of the stage in the next cycle and the curve characteristic information, performing expected vibration analysis on the target device to determine expected vibration information of the target device; based on the expected vibration information of the target device, determining a target speed curve meeting a smooth operation condition from the plurality of candidate speed curves; in the next cycle, controlling the target device to operate by using the target speed curve.

2. The method of claim 1, wherein, The acquiring, during operation of the target device, of the control parameters of the stage in the next cycle and the curve characteristic information corresponding to each of the candidate speed curves in the next cycle comprises: during operation of the target device, acquiring an operating parameter of the target device in the operation process; based on the operating parameter, determining an acceleration change trend of the target device in a current cycle; when the acceleration change trend is continuous change, acquiring the control parameters of the stage in the next cycle and the curve characteristic information corresponding to each of the candidate speed curves in the next cycle.

3. The method of claim 1, wherein, The expected vibration information comprises an expected vibration state, and the curve characteristic information comprises a parameter range corresponding to the candidate speed curve in a smooth operation state; The expected vibration analysis on the target device based on the control parameters of the stage in the next cycle and the curve characteristic information comprises: for each candidate speed curve, comparing the control parameters of the stage in the next cycle with the parameter range corresponding to the candidate speed curve in the smooth operation state; when the control parameters of the stage in the next cycle match the parameter range, determining that the expected vibration state of the target device is the smooth operation state; The determining, based on the expected vibration information of the target device, of the target speed curve meeting the smooth operation condition from the plurality of candidate speed curves comprises: if the expected vibration state of the target device corresponding to the candidate speed curve is the smooth operation state, determining the candidate speed curve as the target speed curve meeting the smooth operation condition.

4. The method of claim 1, wherein, The curve characteristic information comprises a curve type of the candidate speed curve; The expected vibration analysis on the target device based on the control parameters of the stage in the next cycle and the curve characteristic information comprises: acquiring an inherent frequency of the target device and determining a priority speed curve from the candidate speed curves; based on the control parameters of the stage in the next cycle and the curve type of the priority speed curve in the next cycle, determining a first curve feature of the priority speed curve in the next cycle; perform frequency domain conversion on the priority speed curve of the next period based on the first curve feature to obtain frequency spectrum information of the priority speed curve of the next period; perform expected vibration analysis on the target device according to the natural frequency and the frequency spectrum information of the priority speed curve of the next period to determine expected vibration information of the device.

5. The method of claim 4, wherein, The priority speed curve comprises a selected speed curve; and the expected vibration information comprises an expected vibration state. The expected vibration analysis on the target device according to the natural frequency and the frequency spectrum information of the priority speed curve of the next period to determine the expected vibration information of the device comprises: determine a peak amplitude of the selected speed curve of the next period according to the frequency spectrum information of the selected speed curve of the next period; in a case where the natural frequency is greater than the peak amplitude, determine that an expected vibration state of the target device under the selected speed curve of the next period is a steady running state.

6. The method of claim 5, wherein, The expected vibration information further comprises a vibration evaluation value. The expected vibration analysis on the target device according to the natural frequency and the frequency spectrum information of the priority speed curve of the next period to determine the expected vibration information of the device further comprises: in a case where the natural frequency is less than or equal to the peak amplitude, determine a non-priority speed curve in the candidate speed curves other than the priority speed curve; determine a second curve feature of the non-priority speed curve of the next period based on the control parameter of the stage of the next period and a curve type of the non-priority speed curve of the next period; perform frequency domain conversion on the non-priority speed curve of the next period according to the second curve feature to obtain frequency spectrum information of the non-priority speed curve of the next period; determine a frequency domain amplitude integral of each of the candidate speed curves in a frequency domain range to which the natural frequency belongs based on the frequency spectrum information of the priority speed curve and the frequency spectrum information of the non-priority speed curve; determine a vibration evaluation value represented by each of the frequency domain amplitude integrals.

7. An apparatus operation control device characterized by comprising: The apparatus comprises: a machining path acquisition module configured to acquire a machining path of a target device; a trajectory planning module configured to perform multi-segment trajectory planning on the machining path based on a plurality of candidate speed curves to obtain candidate control parameters corresponding to the candidate speed curves respectively, and determine control parameters of stages based on the candidate control parameters; an information acquisition module configured to acquire, during operation of the target device, the control parameter of the stage of the next period and curve characteristic information corresponding to the candidate speed curves of the next period respectively; a speed curve determination module configured to perform expected vibration analysis on the target device based on the control parameter of the stage of the next period and the curve characteristic information to determine expected vibration information of the target device, and determine a target speed curve satisfying a steady running condition from the plurality of candidate speed curves according to the expected vibration information of the target device; a switching control module configured to control the target device to operate using the target speed curve in the next period.

8. The apparatus of claim 7, wherein, The information obtaining module is configured to: obtain a running parameter of the target device in a running process of the target device; and determine an acceleration change trend of the target device in a current period according to the running parameter. When the acceleration change trend is continuous change, obtain a control parameter of a stage in a next period and curve characteristic information corresponding to each of the candidate speed curves in the next period. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor, when executing the computer program, implements the steps of the method in any one of claims 1 to 6.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method in any one of claims 1 to 6.

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