A galvanometer control system

Abstract

The present application discloses a galvanometer control system, which receives an output signal sent from a client, sends an output control signal to the galvanometer, drives the motor to move according to the specified parameters and trajectory, thereby driving the galvanometer to scan, receives the feedback signal generated by the galvanometer scanning, processes the feedback signal, and the processing is multi-frequency processing. The feedback information after multi-frequency processing is collected and transmitted to a signal comparator, and the actual amplitude gain is determined according to the feedback information. The difference between the actual amplitude gain and the amplitude gain threshold is the error, receives the error information, determines the frequency adjustment amount according to the error, and adjusts the frequency according to the frequency adjustment amount to obtain the output signal. A control group of the amplitude gain threshold is introduced to make the predicted value closer to the actual value, thereby improving its accuracy and reliability. The predicted value predicts the change trend of the amplitude gain in advance, and can adjust the control parameters of the galvanometer in advance. The system can automatically adapt to changes in the environment and improve the stability of the system.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a galvanometer control system. Background Art

[0002] Laser scanning is a technology that has developed with the widespread application of laser imagesetters and laser printers. Laser scanning has been applied to optical medicine, image transmission, etc. Galvanometer scanning is a scanning method in laser scanning technology. Galvanometer scanning is widely used in laser marking, laser engraving, laser tracking, laser demonstration biomedicine, semiconductor processing and other fields.

[0003] The key component of solid-state laser radar is the electromagnetic galvanometer (hereinafter referred to as the galvanometer). The main working principle of the galvanometer is to combine horizontal scanning and vertical scanning into two-dimensional scanning. When the laser beam hits the working galvanometer, a two-dimensional array is scanned through mirror reflection. The galvanometer is driven by the input single-frequency signal to scan in a simple harmonic motion. Only when the galvanometer works at the resonant frequency can it scan to a suitable angle within a safe gain.

[0004] For example, Chinese patent announcement number CN112888985B discloses a control method, control device and laser radar for a galvanometer, which belongs to the field of laser radar. The method includes: outputting a control signal (S301); wherein the control signal is used to control the galvanometer to scan; detecting a feedback signal of the galvanometer scanning (S302); determining the actual amplitude gain of the galvanometer according to the feedback signal, and determining the error between the actual amplitude gain and a preset amplitude gain threshold (S303); determining a frequency adjustment amount according to the error, and adjusting the frequency according to the frequency adjustment amount to obtain an output signal (S304).

[0005] However, when the galvanometer is scanning, if similar or identical signal frequencies appear around the galvanometer, the laser pulse shape of the galvanometer will become unstable, causing the focus and direction of the galvanometer to deviate, making it difficult to accurately identify the laser pulse signal, resulting in the galvanometer being unable to work normally. Summary of the invention

[0006] The embodiment of the present application solves the problem of unstable laser pulse shape in the prior art by providing a galvanometer control system, thereby improving the stability of the laser pulse shape and the accuracy of target signal positioning.

[0007] The embodiment of the present application provides a galvanometer control system, characterized by comprising:

[0008] S101, receiving an output signal sent from a client, wherein the output signal is mainly output by a signal generator and is a single-frequency signal, and amplifying the single-frequency signal to obtain an output control signal;

[0009] Send an output control signal to the galvanometer. After receiving the control signal, the drive system will drive the motor to move according to the specified parameters and trajectory, thereby driving the galvanometer to scan;

[0010] S102, receiving a feedback signal generated by the galvanometer scanning, wherein the feedback signal is used to indicate that the galvanometer is controlled by the control signal to perform periodic motion, and detecting the feedback signal of the galvanometer by a position sensor disposed on the galvanometer;

[0011] S103, processing the feedback signal, wherein the processing is multi-frequency processing, which is to simultaneously process and analyze signals of multiple different frequencies or frequency bands;

[0012] S104, collecting feedback information after multi-frequency processing and transmitting it to the signal comparator, determining the actual amplitude gain according to the feedback information, the difference between the actual amplitude gain and the amplitude gain threshold is the error, and determining the frequency adjustment amount according to the error obtained based on the linear closed-loop control algorithm, the actual amplitude gain of the galvanometer is determined by comparing the maximum amplitude A1 of the control signal and the maximum amplitude A2 of the galvanometer feedback signal, and is calculated using the formula 10×lg(A2 / A1);

[0013] S105, receiving error information, determining a frequency adjustment amount according to the error, the frequency adjustment amount Δf is proportional to the error e, the proportionality coefficient K determines the degree of influence of the error on the frequency adjustment amount, the frequency adjustment amount is calculated by Δf=K×e, and the frequency is adjusted according to the frequency adjustment amount to obtain an output signal.

[0014] Preferably, the steps of the multi-frequency processing are as follows:

[0015] A1. Collect signals, detect the real-time motion state of the galvanometer through the position sensor set on the galvanometer, and convert the state information into electrical signals;

[0016] A2. Preprocessing signals: Preprocessing the collected feedback signals, including amplification, filtering, digitization and other steps;

[0017] A3. Analyze the frequency domain. Perform frequency domain analysis on the pre-processed digital signal. Through frequency domain analysis, convert the time domain signal into a frequency domain signal to obtain the amplitude and phase information of the feedback signal at different frequencies.

[0018] A4. Separate multi-frequency signals. In the frequency domain, according to the frequency characteristics of the feedback signal, separate the signal into multiple components with different frequencies by setting appropriate filters or using digital signal processing technology;

[0019] A5. Process frequency components and process each frequency component separately;

[0020] A6, synthesize the signal, recombining the processed frequency components into a complete signal;

[0021] A7, control feedback, taking the synthesized signal as a new feedback signal, comparing and analyzing it with the control signal, and adjusting the parameters of the control signal according to the comparison result to achieve precise control of the galvanometer motion;

[0022] A8. Iterative optimization: Repeat the above steps to continuously iterate and optimize the multi-frequency processing process.

[0023] Preferably, in step S101, the feedback signal of the galvanometer is a single-frequency signal, there is a phase difference between the phase of the feedback signal and the phase of the control signal, the amplitude of the feedback signal is the angle of rotation of the galvanometer, and the amplitude gain of the feedback signal is the degree of signal amplification.

[0024] Preferably, a group of galvanometer control groups is preset, and the steps are as follows:

[0025] S201, setting a galvanometer working system control group, the control group is set in an environment where the temperature can be accurately controlled and maintained stable, and recording the amplitude gain threshold at different time points or in a stable state as a reference value;

[0026] S202, detecting the value of the amplitude gain threshold at different temperatures, operating the galvanometer working system at different ambient temperatures, gradually changing the ambient temperature, and recording the amplitude gain threshold of the galvanometer at each temperature point. In order to more accurately understand the impact of temperature on the amplitude gain threshold, it is necessary to conduct experiments at different temperature points multiple times and take the average value to reduce the error;

[0027] S203, comparing the detected values ​​with the control group, using a linear regression model to describe the relationship between temperature and amplitude gain threshold, the regression model is a regression analysis model, and the data are fitted by the regression analysis model;

[0028] S204, verifying the accuracy of the amplitude gain threshold.

[0029] Preferably, predicting the amplitude gain threshold change includes:

[0030] S301, receiving amplitude gain threshold data when the galvanometer is working under different environmental conditions such as temperature and humidity, wherein the data includes environmental parameters such as temperature and humidity and corresponding amplitude gain thresholds;

[0031] After collecting the data, use statistical analysis software or data visualization tools to analyze and visualize the data;

[0032] S302, cleaning and arranging the collected data, removing outliers or erroneous data, ensuring the quality of model input, and establishing a prediction model between amplitude gain threshold and environmental factors such as temperature based on the collected data, wherein the prediction model includes linear regression, support vector machine, neural network, etc.;

[0033] S303, inputting the sorted historical temperature and amplitude gain threshold data, and using a linear regression model to detect a predicted amplitude gain threshold.

[0034] Preferably, a group of galvanometer control groups based on humidity is preset, and the steps are as follows:

[0035] S401, setting another galvanometer working system control group in an environment where humidity can be controlled, in which the humidity can be accurately controlled in a closed laboratory or test environment;

[0036] S402, electronic components in the processing system are protected from moisture, such as by using a moisture-proof agent, a sealed box or a moisture-proof coating, to ensure that the electronic components will not be damaged or short-circuited due to moisture in a high humidity environment;

[0037] S403, initializing the system to ensure that the system is in normal working condition;

[0038] S404, the collected feedback signal determines the actual amplitude gain, calculates the amplitude gain error at each humidity point according to steps S104 and S105, and analyzes the collected data using statistical analysis software or data visualization tools.

[0039] Preferably, the closed-loop linear control algorithm refers to a negative feedback control algorithm in which the error and the frequency adjustment amount are linear, and the closed-loop linear control algorithm includes but is not limited to a proportional-integral control algorithm, a proportional-differential control algorithm, and a proportional control algorithm.

[0040] Preferably, the fitted data can obtain a model, Y=aT+b, where Y represents the amplitude gain threshold, T represents the ambient temperature, and the model parameters a and b are estimated by methods such as the least squares method, which is a method of solving parameters by minimizing the square error between the actual observation value and the model prediction value.

[0041] Preferably, first, a series of predicted values ​​of amplitude gain thresholds are input, and second, the predicted data set is conditionally matched with the control group data set;

[0042] Then, the predicted value is compared with the actual measured value point by point, and the predicted amplitude gain threshold is compared with the actual amplitude gain threshold obtained by experiment or measurement under the same or similar temperature and humidity conditions;

[0043] Next, calculate the difference between the predicted value and the actual value, and use a chart to show the relationship between the predicted value and the actual value;

[0044] Finally, it is observed whether the difference between the predicted value and the actual value shows a certain trend with the change of temperature or humidity, and the final amplitude gain threshold is obtained by comparing with the two control groups.

[0045] Preferably, a more accurate amplitude gain threshold is obtained by comparison with the temperature control group and the humidity control group, and this amplitude gain threshold is substituted into step S104.

[0046] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0047] By performing multi-frequency processing on the feedback signal, multiple signals of different frequencies or frequency bands can be processed and analyzed simultaneously, improving the processing power and flexibility of the system. Multi-frequency processing can separate different components in the signal for separate processing, thereby improving the system's ability to respond to complex signals.

[0048] Through the linear closed-loop control algorithm, the system can accurately adjust the frequency of the signal generator based on the error between the amplitude gain and the threshold of the galvanometer feedback signal, thereby achieving precise control of the galvanometer movement. This closed-loop control strategy ensures the high stability and accuracy of the system.

[0049] A control group of amplitude gain threshold is introduced. By comparing the predicted amplitude threshold with the baseline value in the control group, the predicted value is made closer to the actual value, thereby improving its accuracy and reliability. The predicted value predicts the changing trend of the amplitude gain in advance, and can adjust the control parameters of the galvanometer in advance to avoid performance degradation due to sudden changes in environmental factors. The system can automatically adapt to environmental changes and improve system stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A system framework diagram of a galvanometer control system of the present invention;

[0051] Figure 2 A schematic diagram of a multi-frequency processing flow of a galvanometer control system of the present invention;

[0052] Figure 3 It is a flow chart of a temperature control group based on a galvanometer control system of the present invention;

[0053] Figure 4 It is a schematic diagram of a flow chart of a galvanometer control system based on a humidity control group of the present invention;

[0054] Figure 5 The present invention is a schematic flow chart of a predicted amplitude gain threshold value of a galvanometer control system. DETAILED DESCRIPTION

[0055] To facilitate the understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

[0056] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more related listed items.

[0058] Embodiment 1: Figure 1 As shown, the present application provides a galvanometer control system, comprising:

[0059] S101, receiving an output signal sent from the client, the output signal is mainly output by a signal generator, the output signal is a single-frequency signal, the single-frequency signal is amplified to obtain an output control signal, the signal generator can generate a variety of waveforms, such as sine wave, square wave, triangle wave, etc., and by setting different parameters to meet various test and measurement requirements.

[0060] The output control signal is sent to the galvanometer. After receiving the control signal, the drive system will drive the motor to move according to the specified parameters and trajectory, thereby driving the galvanometer to scan.

[0061] S102, receiving a feedback signal generated by the galvanometer scanning, wherein the feedback signal is used to indicate that the galvanometer is controlled by the control signal to perform periodic motion, and the feedback signal of the galvanometer is detected by a position sensor provided on the galvanometer, and the position sensor is a gravity sensor, an acceleration sensor or an angle sensor, etc.

[0062] In general, the feedback signal of the galvanometer is a single-frequency signal. There is a phase difference between the phase of the feedback signal and the phase of the control signal. The amplitude of the feedback signal, that is, the angle of rotation of the galvanometer, and the amplitude gain of the feedback signal, that is, the degree of signal amplification, are related to multiple factors. First, it is related to the ratio between the maximum amplitude of the feedback signal and the maximum amplitude of the control signal. When the maximum amplitude of the control signal increases, if the maximum amplitude of the feedback signal also increases accordingly, the amplitude gain will increase. Secondly, the amplitude gain is also related to the frequency of the control signal. In particular, when the frequency of the control signal matches the resonant frequency of the galvanometer, the vibration amplitude of the galvanometer will reach the maximum value, and thus the amplitude gain of the feedback signal will also reach the maximum.

[0063] S103, processing the feedback signal, the processing is multi-frequency processing, such as Figure 2 As shown, this step specifically includes:

[0064] A1. Signal acquisition. First, the real-time motion state of the galvanometer is detected by the position sensor (such as gravity sensor, acceleration sensor or angle sensor, etc.) set on the galvanometer, and the state information is converted into electrical signals, namely feedback signals. These feedback signals contain the motion information of the galvanometer at different frequencies and are the basis for subsequent multi-frequency processing.

[0065] A2. Signal preprocessing: preprocessing the collected feedback signal, including amplification, filtering, digitization and other steps. Amplification is to increase the amplitude of the signal for subsequent processing; filtering is to remove noise and interference in the signal and improve the signal-to-noise ratio; digitization is to convert analog signals into digital signals for computer processing.

[0066] A3. Frequency domain analysis: The pre-processed digital signal is subjected to frequency domain analysis. Commonly used methods include Fourier transform (FT) or fast Fourier transform (FFT). Through frequency domain analysis, the time domain signal is converted into a frequency domain signal to obtain the amplitude and phase information of the feedback signal at different frequencies.

[0067] A4. Multi-frequency signal separation: In the frequency domain, according to the frequency characteristics of the feedback signal, the signal is separated into multiple components of different frequencies by setting appropriate filters or using digital signal processing technology.

[0068] A5. Frequency component processing: Each frequency component is processed separately, including adjusting the amplitude, changing the phase, applying filters and other operations. These processing operations are set according to specific application requirements to achieve the purpose of improving signal quality and system performance.

[0069] A6. Signal synthesis, which recombines the processed frequency components into a complete signal. During the synthesis process, it is necessary to ensure that the phase and amplitude relationships between the components are correct to avoid unnecessary distortion or interference.

[0070] A7. Feedback control: the synthesized signal is used as a new feedback signal, which is compared and analyzed with the control signal. According to the comparison result, the parameters of the control signal (such as frequency, amplitude, phase, etc.) are adjusted to achieve precise control of the galvanometer movement.

[0071] A8. Iterative optimization: Repeat the above steps to continuously iterate and optimize the multi-frequency processing process. Through multiple iterations, the processing accuracy and efficiency are gradually improved to achieve a more stable and reliable system performance.

[0072] S104, collect feedback information after multi-frequency processing and transmit it to the signal comparator, determine the actual amplitude gain according to the feedback information, the difference between the actual amplitude gain and the amplitude gain threshold is the error, the control device determines the frequency adjustment amount according to the error obtained based on the linear closed-loop control algorithm, calculates the difference between the actual amplitude gain of the feedback signal and the amplitude gain threshold, and takes the absolute value of the difference. The actual amplitude gain of the galvanometer is determined by comparing the maximum amplitude (A1) of the control signal with the maximum amplitude (A2) of the galvanometer feedback signal, and is calculated using the formula 10×lg(A2 / A1).

[0073] A control signal with a known maximum amplitude A1 is sent to the galvanometer, the signal is received, and the maximum amplitude A2 of the returned feedback signal is measured. A2 can be measured using an oscilloscope or a multimeter. Substitute A1 and A2 into the formula 10×lg(A2 / A1) to calculate the actual amplitude gain.

[0074] S105, determining the frequency adjustment amount according to the error, and performing frequency adjustment according to the frequency adjustment amount to obtain an output signal, collecting information on the actual amplitude gain and transmitting it to the linear controller. The collection method depends on the design and configuration of the system and is performed through wired (such as serial port, parallel port, Ethernet, etc.) or wireless methods.

[0075] In addition, the linear controller analyzes and processes the feedback signal, extracts the motion information of the galvanometer, and uses it to adjust the control signal in real time to form a closed-loop control system. In this system, the linear controller continuously receives feedback information from the galvanometer and adjusts the control signal based on this information, thereby achieving precise control of the galvanometer motion. This closed-loop control method can significantly improve the stability and accuracy of the system.

[0076] Specifically, the frequency adjustment amount is used to adjust the frequency of the signal generator. The frequency adjustment amount is signed. When the sign of the frequency adjustment amount is positive, the current frequency of the signal generator is increased by the frequency adjustment amount; when the sign of the frequency adjustment amount is negative, the current frequency of the signal generator is reduced by the frequency adjustment amount. A closed-loop linear control algorithm refers to a negative feedback control algorithm in which the error and the frequency adjustment amount are linear. The closed-loop linear control algorithm includes but is not limited to any one of a proportional-integral control algorithm, a proportional-differential control algorithm, and a proportional control algorithm. In a closed-loop linear control system, the error is the absolute value of the difference between the actual amplitude gain (35dB) and the final amplitude gain threshold (40dB), i.e., 5dB.

[0077] Specifically, in proportional control, the frequency adjustment amount (Δf) is proportional to the error (e). The proportional coefficient (K) determines the degree of influence of the error on the frequency adjustment amount.

[0078] Δf=K×e

[0079] In other words, if K = 1 (this is just an example value), a 5dB error will result in a 5 unit frequency adjustment.

[0080] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0081] Through multi-frequency signal processing and frequency domain analysis, the system can accurately identify the motion characteristics of the galvanometer at different frequencies, such as amplitude and phase information. The feedback control link allows the system to adjust the control signal according to real-time feedback information, thereby achieving high-precision control of the galvanometer movement.

[0082] By performing multi-frequency processing on the feedback signal, the laser pulse shape of the galvanometer is made more stable when the galvanometer is scanning, and the deviation of the focus and direction of the galvanometer when working is reduced. The frequency adjustment amount is determined by the error between the actual amplitude gain obtained from the feedback signal and the amplitude gain threshold. The frequency is adjusted according to the frequency adjustment amount to obtain a control signal for driving the galvanometer to scan, so as to realize closed-loop control of the amplitude gain of the galvanometer and control the stability of the amplitude gain of the galvanometer.

[0083] Embodiment 2: During the operation of the galvanometer system, the amplitude gain threshold is not constant, but is affected by a variety of external factors, especially temperature changes. When the ambient temperature changes, the physical properties inside the galvanometer will change accordingly, which in turn will lead to the adjustment of the amplitude gain threshold. Specifically, the temperature change causes the thermal expansion or contraction of the galvanometer material and the change of the performance of the electronic components, which will affect the amplitude and response speed of the galvanometer. Therefore, in order to ensure that the galvanometer system can maintain stable and efficient operation under different temperature conditions, it is necessary to adjust the amplitude gain threshold accordingly.

[0084] The embodiments of the present application are optimized based on the above embodiments.

[0085] In some embodiments, Figure 3 As shown, a set of temperature-based galvanometer control groups is preset, and the steps are as follows:

[0086] S201, setting a galvanometer working system control group in a temperature-controllable environment, in which the temperature can be accurately controlled and kept stable, and recording the amplitude gain thresholds at different time points or in a stable state as reference values.

[0087] Specifically, we set up a blank control group in a constant temperature environment of 25°C and recorded the amplitude gain threshold of the galvanometer at this temperature. After multiple measurements, we concluded that the average amplitude gain threshold was X1.

[0088] S202, detecting the performance of the amplitude gain threshold at different temperatures, operating the galvanometer working system at different ambient temperatures, gradually changing the ambient temperature, and recording the amplitude gain threshold of the galvanometer at each temperature point. In order to more accurately understand the impact of temperature on the amplitude gain threshold, it is necessary to conduct experiments at different temperature points multiple times and take the average value to reduce the error.

[0089] Specifically, the galvanometer system is operated at temperature points such as 10°C, 20°C, 30°C, and 40°C, and the amplitude gain threshold at each temperature point is recorded. Assume that the data we obtain are as follows: at 10°C, the amplitude gain threshold is X2, at 20°C, the amplitude gain threshold is X3 (close to X1), at 30°C, the amplitude gain threshold is X4, and at 40°C, the amplitude gain threshold is X5.

[0090] S203, the performance of the amplitude gain threshold at different temperatures is compared with that of the control group, and a linear regression model is used to describe the relationship between temperature and the amplitude gain threshold. The regression model is a regression analysis model, and the data are fitted by the regression analysis model.

[0091] Specifically, the fitted data can obtain a model, Y=aT+b, where Y represents the amplitude gain threshold, T represents the ambient temperature, a and b are both fitted data, and the model parameters a and b are estimated by methods such as the least squares method, where the least squares method is a method of solving parameters by minimizing the square error between the actual observation value and the model prediction value.

[0092] S204, detecting the amplitude threshold of the galvanometer under different ambient temperatures to verify the accuracy.

[0093] Through this process, the performance of the galvanometer under different ambient temperatures can be predicted according to actual needs, ensuring that it can maintain stable and efficient operation under various temperature conditions.

[0094] like Figure 5 As shown, the change of the amplitude gain threshold is predicted, and the specific steps are as follows:

[0095] S301, receiving amplitude gain threshold data when the galvanometer is working under different environmental conditions such as temperature and humidity, wherein the data includes environmental parameters such as temperature and humidity and corresponding amplitude gain thresholds.

[0096] Specifically, a series of temperature points are set, for example, from -20°C to +60°C, with a point taken every 5°C or 10°C to cover the operating temperature range that the galvanometer may encounter. Similarly, a series of humidity points are set, for example, from 10%RH to 90%RH, with a point taken every 10%RH or 15%RH to cover the possible humidity range.

[0097] After the data is collected, statistical analysis software or data visualization tools are used to analyze and visualize the data. For example, a three-dimensional graph or heat map of temperature-humidity-amplitude gain threshold is drawn to more intuitively show the relationship and trend between the data. In addition, machine learning algorithms are used to model and predict the data.

[0098] S302, cleaning and organizing the collected data, removing outliers or erroneous data, ensuring the quality of model input, and establishing a prediction model between the amplitude gain threshold and environmental factors such as temperature based on the collected data. The prediction model includes linear regression, support vector machine, neural network, etc.

[0099] S303, inputting historical temperature and amplitude gain threshold data, and using a linear regression model to detect a predicted amplitude gain threshold.

[0100] Specifically, the least square method (OLS) is used to estimate the parameters a (slope) and b (intercept) of the linear regression model. By calculation, Y = aT + b, if a = 0.2 and b = 10, then the equation is: Y = 0.2T + 10, at 25°C, the amplitude gain threshold is 15, and at 20°C, the amplitude gain threshold is 14.

[0101] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0102] By establishing the control group and predicting the amplitude gain threshold as described above, the changing trend of the amplitude gain can be predicted in advance, and the control parameters of the galvanometer can be adjusted in advance to avoid performance degradation due to sudden changes in environmental factors. The system can automatically adapt to environmental changes and improve system stability.

[0103] Embodiment 3: During the operation of the galvanometer system, the amplitude gain threshold is not constant, but is affected by a variety of external factors, especially changes in humidity. When the ambient humidity changes, the physical properties inside the galvanometer will change accordingly, which in turn will lead to adjustments to the amplitude gain threshold. Specifically, changes in humidity will lead to changes in the performance of electronic components, which will affect the amplitude and response speed of the galvanometer. Therefore, in order to ensure that the galvanometer system can maintain stable and efficient operation under different humidity conditions, it is necessary to adjust the amplitude gain threshold accordingly.

[0104] The application embodiment is optimized based on the above embodiment.

[0105] like Figure 4 As shown, in some embodiments, a group of galvanometer control groups based on humidity is preset, and the steps are as follows:

[0106] S401, set up another galvanometer working system control group in an environment where the humidity can be controlled. In this environment, the humidity can be accurately controlled in a closed laboratory or test environment to ensure that the environment can be stably maintained at different humidity levels and that the humidity changes have little impact on the external environment.

[0107] Specifically, starting from 20%RH, set a test point every 10%RH until 90%RH. The test points are set at 20%RH, 30%RH, 40%RH... until 90%RH. Ensure that the humidity is stable and lasts for a period of time for accurate testing.

[0108] S402, protect the electronic components in the processing system from moisture, such as by using moisture-proof agents, sealed boxes or moisture-proof coatings, etc. Ensure that the electronic components will not be damaged or short-circuited due to moisture in a high humidity environment.

[0109] Insulation check. Before testing, perform an insulation check on the circuits and connections in the system. Use a megohmmeter to check the insulation resistance of wires and connectors to ensure there are no exposed wires or potential short circuit points. This helps reduce the risk of accidents in high humidity environments.

[0110] Overheat protection: Ensure that the system has overheat protection to prevent damage to the system due to overheating of components in a high humidity environment. The overheat protection device should cut off the power supply or reduce power consumption in time when the temperature reaches the set value. When the temperature exceeds 60°C, the overheat protection switch will cut off the power supply to prevent damage to the components due to overheating.

[0111] S403, initialize the system to ensure that the system is in normal working condition. This includes checking the operation of key components such as power supply, signal generator, motor and galvanometer, checking whether the power supply is normal and whether the motor can rotate normally, and proceed according to the steps of S101-S105.

[0112] S404, determine the actual amplitude gain based on the collected feedback signal, calculate the amplitude gain error at each humidity point according to steps 104 and 105, analyze the collected data using statistical analysis software or data visualization tools, draw charts and graphs to show the performance changes of the system at different humidity levels, and find out the specific impact of humidity on system performance by comparing the data at different test points. By comparison, the amplitude gain threshold at normal humidity is obtained.

[0113] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0114] Through the designed humidity control group experiment, the variation law of amplitude gain under different humidity environment conditions is accurately captured. The potential variation trend of amplitude gain is predicted, so that the control parameters of the galvanometer can be adjusted in advance before the environmental factors suddenly change, which gives the system a high degree of environmental adaptability. In a complex and changeable working environment, the system can autonomously perceive the subtle changes in environmental conditions and adjust its own working state accordingly to ensure the stability and reliability of performance. This adaptive ability not only improves the operating efficiency of the system, but also greatly reduces the risk of performance degradation caused by environmental changes.

[0115] Example 4: When the initial result of the amplitude threshold obtained using the prediction mechanism is not accurate enough, in order to ensure its accuracy and reliability, we need to compare and analyze it in detail with the control group data, which includes two groups, temperature and humidity. This comparison process will help us identify the differences between the predicted value and the actual value, and correct or adjust the predicted value based on these differences.

[0116] The embodiments of the present application are optimized based on the above embodiments.

[0117] First, enter a series of predicted values ​​for the amplitude gain thresholds, which usually correspond to specific temperature and humidity conditions. Organize these predicted values ​​into a clear data list or data set, and at the same time, collect the amplitude gain threshold data obtained through experiments or measurements under the same or similar conditions for temperature control groups and humidity control groups. These data should cover the temperature and humidity range corresponding to the predicted values ​​to enable accurate comparison.

[0118] Second, the prediction dataset is matched with the control dataset to ensure that each prediction value has a corresponding actual measurement value, which should be obtained under similar temperature and humidity conditions.

[0119] Then, the predicted value is compared with the actual measured value point by point, and the predicted amplitude gain threshold is compared with the actual amplitude gain threshold obtained by experiment or measurement under the same or similar temperature and humidity conditions.

[0120] Next, calculate the difference between the predicted value and the actual value. This can be done through simple difference calculation or using more complex statistical indicators (such as mean square error, relative error, etc.). In order to more intuitively understand the size and trend of the difference, use charts (such as scatter plots, line charts, etc.) to show the relationship between the predicted value and the actual value. This helps to identify potential outliers or patterns.

[0121] Finally, observe whether the difference between the predicted value and the actual value shows a certain trend with the change of temperature or humidity. For example, in certain temperature or humidity ranges, the prediction error is larger. According to the results of the difference analysis and the calibration suggestions, make necessary adjustments and optimizations to the prediction model. This can be achieved by modifying model parameters, adding new input features, or introducing more complex algorithms. Use new data sets to verify the calibrated model. Ensure that the calibrated model has higher accuracy and reliability in predicting the amplitude gain threshold.

[0122] Specifically, a more accurate amplitude gain threshold is obtained by comparing with the temperature control group and the humidity control group, and this amplitude gain threshold is substituted into step S104, so that the difference between the actual amplitude gain and the amplitude gain threshold is more accurate, thereby improving the stability of the galvanometer operation.

[0123] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0124] Based on the results of comparison and analysis, we will calibrate or adjust the predicted values. This includes modifying the parameters of the prediction model, optimizing the processing of input data, adjusting experimental conditions, etc. Through these adjustments, the predicted values ​​are closer to the actual values, thereby improving their accuracy and reliability.

[0125] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A galvanometer control system, characterized in that: include: S101, receiving an output signal sent from a client, the output signal being output by a signal generator and being a single-frequency signal, and amplifying the single-frequency signal to obtain an output control signal; Send an output control signal to the galvanometer. After receiving the control signal, the drive system will drive the motor to move according to the specified parameters and trajectory, thereby driving the galvanometer to scan; S102, receiving a feedback signal generated by the galvanometer scanning, wherein the feedback signal is used to indicate that the galvanometer is controlled by the control signal to perform periodic motion, and detecting the feedback signal of the galvanometer by a position sensor disposed on the galvanometer; S103, processing the feedback signal, wherein the processing is multi-frequency processing, which is to simultaneously process and analyze signals of multiple different frequencies or frequency bands; S104, collecting feedback information after multi-frequency processing and transmitting it to the signal comparator, determining the actual amplitude gain according to the feedback information, the difference between the actual amplitude gain and the amplitude gain threshold is the error, and determining the frequency adjustment amount according to the error obtained based on the linear closed-loop control algorithm, the actual amplitude gain of the galvanometer is determined by comparing the maximum amplitude A1 of the control signal and the maximum amplitude A2 of the galvanometer feedback signal, and is calculated using the formula 10×lg(A2 / A1); S105, receiving error information, determining a frequency adjustment amount according to the error, the frequency adjustment amount Δf is proportional to the error e, the proportionality coefficient K determines the degree of influence of the error on the frequency adjustment amount, the frequency adjustment amount is calculated by Δf=K×e, and the frequency is adjusted according to the frequency adjustment amount to obtain an output signal; The steps of the multi-frequency processing are as follows: A1. Collect signals, detect the real-time motion state of the galvanometer through the position sensor set on the galvanometer, and convert the state information into electrical signals; A2, preprocessing signal, preprocessing the collected feedback signal; A3. Analyze the frequency domain. Perform frequency domain analysis on the pre-processed digital signal. Through frequency domain analysis, convert the time domain signal into a frequency domain signal to obtain the amplitude and phase information of the feedback signal at different frequencies. A4. Separate multi-frequency signals. In the frequency domain, according to the frequency characteristics of the feedback signal, separate the signal into multiple components with different frequencies by setting appropriate filters or using digital signal processing technology; A5. Process the frequency components and process each frequency component separately; A6, synthesize the signal, recombining the processed frequency components into a complete signal; A7, control feedback, taking the synthesized signal as a new feedback signal, comparing and analyzing it with the control signal, and adjusting the parameters of the control signal according to the comparison result to achieve precise control of the galvanometer motion; A8. Iterative optimization: Repeat the above steps to continuously iterate and optimize the multi-frequency processing process.

2. A galvanometer control system as claimed in claim 1, characterized in that: In step S101, the feedback signal of the galvanometer is a single-frequency signal. There is a phase difference between the phase of the feedback signal and the phase of the control signal. The amplitude of the feedback signal is the angle of rotation of the galvanometer. The amplitude gain of the feedback signal is the degree of signal amplification.

3. A galvanometer control system as claimed in claim 1, characterized in that: Preset a group of temperature galvanometer control groups, the steps are as follows: S201, setting a galvanometer working system control group, the control group is set in an environment where the temperature can be accurately controlled and maintained stable, and recording the amplitude gain threshold at different time points or in a stable state as a reference value; S202, detecting the values ​​of the amplitude gain threshold at different temperatures, operating the galvanometer working system at different ambient temperatures, gradually changing the ambient temperature, and recording the amplitude gain threshold of the galvanometer at each temperature point. In order to more accurately understand the effect of temperature on the amplitude gain threshold, it is necessary to conduct experiments at different temperature points for multiple times and take the average value to reduce the error; S203, comparing the detected values ​​with the control group, using a linear regression model to describe the relationship between temperature and amplitude gain threshold, the regression model is a regression analysis model, and the data are fitted by the regression analysis model; S204, verifying the accuracy of the amplitude gain threshold.

4. A galvanometer control system as claimed in claim 3, characterized in that: Predicted amplitude gain threshold changes include: S301, receiving amplitude gain threshold data when the galvanometer is working under different temperature and humidity environmental conditions, wherein the data includes temperature and humidity environmental parameters and corresponding amplitude gain thresholds; After collecting the data, use statistical analysis software or data visualization tools to analyze and visualize the data; S302, cleaning and arranging the collected data, removing outliers or erroneous data, ensuring the quality of model input, and establishing a prediction model between the amplitude gain threshold and the temperature based on the collected data, wherein the prediction model includes linear regression, support vector machine, and neural network; S303, inputting the sorted historical temperature and amplitude gain threshold data, and using a linear regression model to detect a predicted amplitude gain threshold.

5. A galvanometer control system as claimed in claim 1, characterized in that: To preset a set of galvanometer control groups based on humidity, follow these steps: S401, setting another galvanometer working system control group in an environment where humidity can be controlled, in which the humidity can be accurately controlled in a closed laboratory or test environment; S402, electronic components in the processing system are protected from moisture to ensure that the electronic components are not damaged or short-circuited due to moisture in a high humidity environment; S403, initializing the system to ensure that the system is in normal working condition; S404, the collected feedback signal determines the actual amplitude gain, calculates the amplitude gain error at each humidity point according to steps S104 and S105, and analyzes the collected data using statistical analysis software or data visualization tools.

6. A galvanometer control system as claimed in claim 1, characterized in that: A linear closed-loop control algorithm refers to a negative feedback control algorithm in which the error and the frequency adjustment amount are linear. The closed-loop linear control algorithm includes but is not limited to a proportional-integral control algorithm, a proportional-differential control algorithm, and a proportional control algorithm.

7. A galvanometer control system as claimed in claim 3, characterized in that: The fitted data can obtain a model, Y=aT+b, where Y represents the amplitude gain threshold, T represents the ambient temperature, and the model parameters a and b are estimated by the least squares method, which is a method of solving parameters by minimizing the square error between the actual observation value and the model prediction value.

8. A galvanometer control system as claimed in claim 5, characterized in that: First, a series of predicted values ​​of amplitude gain thresholds are input; Secondly, the prediction data set is matched with the control group data set; Then, the predicted value is compared with the actual measured value point by point, and the predicted amplitude gain threshold is compared with the actual amplitude gain threshold obtained by experiment or measurement under the same or similar temperature and humidity conditions; Next, calculate the difference between the predicted value and the actual value, and use a chart to show the relationship between the predicted value and the actual value; Finally, it is observed whether the difference between the predicted value and the actual value shows a certain trend with the change of temperature or humidity, and the final amplitude gain threshold is obtained by comparing with the two control groups.

9. A galvanometer control system as claimed in claim 8, characterized in that: A more accurate amplitude gain threshold is obtained by comparison with the temperature control group and the humidity control group, and this amplitude gain threshold is substituted into step S104.

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