Z-axis follow-up control integrated control method and device of laser pipe cutting machine, processor and computer readable storage medium thereof

Abstract

The present application relates to a kind of Z-axis of laser pipe cutting machine is controlled integrated control method, comprising the following steps: pipe face cutting is carried out to pipe material, and the capacitance feedback control parameter is adjusted by capacitance feedback control module, avoid obvious jitter appears;The control proportion of setting controlled integrated control module, the reduction proportion and acceleration threshold value, to obtain the actual target speed of current laser pipe cutting machine Z-axis;According to the adjustment parameter of the controlled integrated control module setting, the corresponding knife path of laser pipe cutting machine with over edge cutting is executed;Whether collision appears in cutting process is judged, if yes, then return to adjust corresponding parameter, otherwise, it is considered that current parameter setting is reasonable to carry out normal processing.The present application also relates to a corresponding device, processor and its storage medium.The method, device, processor and its storage medium of the present application are used, under the premise of guaranteeing the stability of pipe face cutting, effectively improve the Z-axis responsiveness of pipe over edge cutting.

Description

Technical Field

[0001] This invention relates to the field of laser cutting processing, specifically to a Z-axis follow-up control method, device, processor, and computer-readable storage medium for a laser tube cutting machine. Background Technology

[0002] When cutting materials on a laser cutting machine, the distance between the laser cutting head and the material surface often changes due to unevenness or deformation of the material surface. This results in lower cutting accuracy, damage to the material, and failure to achieve the desired cutting effect. To obtain ideal laser-cut products, the gap between the cutting head nozzle and the material must be kept constant, which requires good Z-axis following response.

[0003] Current technologies primarily target planar laser machine tools, where the Z-axis height fluctuation of the sheet metal during processing is relatively small. However, for tube-cutting laser machine tools, when the tube rotates at high speed, the Z-axis height changes drastically. If the Z-axis responsiveness is insufficient, collisions with the sheet metal can easily occur, damaging the cutting head. Traditional Z-axis control methods utilize capacitive feedback control, the specific control methods of which are as follows... Figure 1 As shown in the diagram. The inputs to the capacitor feedback control module are the target capacitance value and the actual capacitance value, and the output is the target velocity V along the Z-axis. out (Hereinafter referred to as the follower target velocity V) follow This module typically uses PID control. During the pipe cutting process (where the Z-axis height changes significantly), traditional PID controllers usually require adjusting the proportional (P) or derivative (D) components to high values ​​to achieve high responsiveness. However, this results in frequent vibrations during the pipe cutting process (where the Z-axis height changes relatively little). Furthermore, during the pipe cutting process, the capacitance on the edge differs from the capacitance on the surface. Relying solely on capacitance feedback for adjustment makes it difficult to ensure that the distance from the surface to the plate remains consistent with the distance from the edge to the plate, leading to poor overall cutting results.

[0004] Therefore, a Z-axis following control method suitable for tube cutting laser machine tools is needed to improve the following response of the Z-axis, so that the interval between the cutting head and the tube is relatively stable when the machine tool is processing at high speed, resulting in better product quality. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a Z-axis follow-up control method, device, processor and computer-readable storage medium for a laser tube cutting machine.

[0006] To achieve the above objectives, the Z-axis integrated control method, device, processor, and computer-readable storage medium of the laser tube cutting machine of the present invention are as follows:

[0007] The Z-axis integrated control method for this laser tube cutting machine is characterized by the following steps:

[0008] (1) Cut the pipe surface and adjust the capacitor feedback control parameters through the capacitor feedback control module to avoid obvious jitter;

[0009] (2) Set the tracking ratio, reduction ratio and acceleration threshold of the integrated tracking and control module to obtain the actual target speed of the Z-axis of the current laser tube cutting machine;

[0010] (3) According to the adjustment parameters set by the integrated control module, the laser tube cutting machine executes the corresponding cutting path with over-edge cutting.

[0011] (4) Determine whether a collision occurs during the cutting process. If so, return to step (2) to adjust the corresponding parameters. Otherwise, consider the current parameter settings to be reasonable and proceed with normal processing.

[0012] Preferably, step (2) specifically includes the following steps:

[0013] (2.1) The interpolation target velocity V obtained through the interpolation control module ctrl Multiplied by the corresponding control ratio, it is increased to the target servo speed V obtained through the capacitor feedback control module. follow The actual target velocity V along the Z-axis is obtained from this. out ;

[0014] (2.2) Determine whether the change in acceleration of the current Z-axis during the switching process of rising or falling segments exceeds the threshold, and recalculate the actual target speed of the Z-axis based on the actual change.

[0015] Preferably, step (2.1) is implemented in the following manner:

[0016] V out =V follow +R0V ctrl

[0017] Wherein, R0 is the proportional control;

[0018] When the pipe moves along the Z-axis, first rising and then falling, the actual target speed V is calculated as follows: out :

[0019]

[0020] Where R1 is the reduction ratio;

[0021] When the interpolation target speed V ctrlWhen the value is positive, it is determined that the current Z-axis is in the rising segment, and the interpolation target velocity V... ctrl If the value is negative, it indicates that the current Z-axis is in a descending segment.

[0022] Preferably, step (2.2) specifically determines the magnitude of acceleration in the following manner:

[0023] |V out1 -V out0 |>A max T0

[0024] Among them, V out1 V represents the actual target velocity calculated along the Z-axis. out0 This represents the actual target speed along the Z-axis output in the previous cycle; T0 represents the control cycle, and A... max For the threshold;

[0025] When the target's rate of change satisfies the above formula, it indicates that the current acceleration exceeds the threshold, and the actual target velocity along the Z-axis needs to be recalculated as follows:

[0026]

[0027] If the target's rate of change does not satisfy the above formula, it means that the acceleration has not exceeded the threshold, and the output is performed directly.

[0028] Preferably, the integrated control module includes the following process:

[0029] (a) Observe the Z-axis rising segment to see if there is a collision with the plate due to untimely lifting. If so, continue to increase the follow-up control ratio until there is no collision with the plate, and then proceed to process (b).

[0030] (b) Observe the Z-axis descent segment to see if there is excessive speed or over-impact on the plate. If so, continue to reduce the reduction ratio until it does not hit the plate, and then proceed to process (c).

[0031] (c) Observe the area near the Z-axis rise and fall transition segment to see if there is any jitter. If so, reduce the acceleration threshold and proceed to process (d).

[0032] (d) Observe whether there is obvious uncut or overburned phenomenon on the cross-section of the edge. If so, it means that the distance between the cutting head and the plate on the edge is inconsistent with that on the surface. Then, adjust the control ratio by fine adjustment until the processing requirements are met.

[0033] Preferably, step (3) specifically includes:

[0034] When cutting on the pipe surface and entering the rising section of the edge crossing, the Z-axis upward response is improved by increasing the control ratio; when cutting on the pipe surface and entering the falling section of the edge crossing, the Z-axis downward response is improved by decreasing the reduction ratio, thereby ensuring that the pipe does not collide when crossing the edge at high speed.

[0035] Preferably, when step (4) is being processed normally, the following treatment is performed:

[0036] The actual target speed of the current laser tube cutting machine's Z-axis, output by the integrated control module, is transmitted to the servo driver, which then transmits it to the servo motor and transmission device. The servo motor and transmission device then send the speed to the actual position of the mechanical end for corresponding capacitance detection, and the obtained actual capacitance is fed back to the capacitance feedback control module for timely adjustment.

[0037] The device for integrated Z-axis control of a laser tube cutting machine includes:

[0038] A processor is configured to execute computer-executable instructions;

[0039] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of integrated Z-axis control of the laser tube cutting machine described above.

[0040] The processor that realizes integrated Z-axis control of the laser tube cutting machine is configured to execute computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of integrated Z-axis control of the laser tube cutting machine described above are realized.

[0041] The main feature of this computer-readable storage medium is that it stores a computer program that can be executed by a processor to implement the steps of integrated control of the Z-axis of the laser tube cutting machine described above.

[0042] The Z-axis integrated control method, device, processor, and computer-readable storage medium of the laser tube cutting machine of this invention effectively improve the Z-axis responsiveness of tube cutting over the edge while ensuring the stability of tube surface cutting, and ensure that the cutting head will not collide during high-speed movement; at the same time, it also ensures that the height on the edge and the height on the surface are basically consistent during tube cutting, effectively improving the processing effect. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of a traditional Z-axis capacitive feedback control method.

[0044] Figure 2This is a schematic diagram of the Z-axis follow-control integrated control method of the present invention.

[0045] Figure 3 This is a schematic diagram of the overall processing flow of the integrated control module of the present invention.

[0046] Figure 4 This is a schematic diagram illustrating the parameter adjustment process of the integrated control module of the present invention. Detailed Implementation

[0047] To more clearly describe the technical content of the present invention, the following description is provided in conjunction with specific embodiments.

[0048] Before describing the embodiments of the present invention in detail, it should be noted that, in the following, the terms “comprising,” “including,” or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0049] Please see Figures 2 to 4 As shown, the Z-axis integrated control method of the laser tube cutting machine includes the following steps:

[0050] (1) Cut the pipe surface and adjust the capacitor feedback control parameters through the capacitor feedback control module to avoid obvious jitter;

[0051] (2) Set the tracking ratio, reduction ratio and acceleration threshold of the integrated tracking and control module to obtain the actual target speed of the Z-axis of the current laser tube cutting machine;

[0052] (3) According to the adjustment parameters set by the integrated control module, the laser tube cutting machine executes the corresponding cutting path with over-edge cutting.

[0053] (4) Determine whether a collision occurs during the cutting process. If so, return to step (2) to adjust the corresponding parameters. Otherwise, consider the current parameter settings to be reasonable and proceed with normal processing.

[0054] In a preferred embodiment of the present invention, step (2) specifically includes the following steps:

[0055] (2.1) The interpolation target velocity V obtained through the interpolation control module ctrl Multiplied by the corresponding control ratio, it is increased to the target servo speed V obtained through the capacitor feedback control module. follow The actual target velocity V along the Z-axis is obtained from this. out ;

[0056] (2.2) Determine whether the change in acceleration of the current Z-axis during the switching process of rising or falling segments exceeds the threshold, and recalculate the actual target speed of the Z-axis based on the actual change.

[0057] In a preferred embodiment of the present invention, step (2.1) is specifically implemented in the following manner:

[0058] V out =V follow +R0V ctrl

[0059] Wherein, R0 is the proportional control;

[0060] When the pipe moves along the Z-axis, first rising and then falling, the actual target speed V is calculated as follows: out :

[0061]

[0062] Where R1 is the reduction ratio;

[0063] When the interpolation target speed V ctrl When the value is positive, it is determined that the current Z-axis is in the rising segment, and the interpolation target velocity V... ctrl If the value is negative, it indicates that the current Z-axis is in a descending segment.

[0064] In a preferred embodiment of the present invention, step (2.2) specifically determines the magnitude of acceleration in the following manner:

[0065] |V out1 -V out0 |>A max T0

[0066] Among them, V out1 V represents the actual target velocity calculated along the Z-axis. out0 This represents the actual target speed along the Z-axis output in the previous cycle; T0 represents the control cycle, and A... max For the threshold;

[0067] When the target's rate of change satisfies the above formula, it indicates that the current acceleration exceeds the threshold, and the actual target velocity along the Z-axis needs to be recalculated as follows:

[0068]

[0069] If the target's rate of change does not satisfy the above formula, it means that the acceleration has not exceeded the threshold, and the output is performed directly.

[0070] In a preferred embodiment of the present invention, the integrated control module includes the following process:

[0071] (a) Observe the Z-axis rising segment to see if there is a collision with the plate due to untimely lifting. If so, continue to increase the follow-up control ratio until there is no collision with the plate, and then proceed to process (b).

[0072] (b) Observe the Z-axis descent segment to see if there is excessive speed or over-impact on the plate. If so, continue to reduce the reduction ratio until it does not hit the plate, and then proceed to process (c).

[0073] (c) Observe the area near the Z-axis rise and fall transition segment to see if there is any jitter. If so, reduce the acceleration threshold and proceed to process (d).

[0074] (d) Observe whether there is obvious uncut or overburned phenomenon on the cross-section of the edge. If so, it means that the distance between the cutting head and the plate on the edge is inconsistent with that on the surface. Then, adjust the control ratio by fine adjustment until the processing requirements are met.

[0075] In a preferred embodiment of the present invention, when step (4) is being processed normally, the following treatment is performed:

[0076] The actual target speed of the current laser tube cutting machine's Z-axis, output by the integrated control module, is transmitted to the servo driver, which then transmits it to the servo motor and transmission device. The servo motor and transmission device then send the speed to the actual position of the mechanical end for corresponding capacitance detection, and the obtained actual capacitance is fed back to the capacitance feedback control module for timely adjustment.

[0077] The Z-axis integrated control method of this laser tube cutting machine, as described in this technical solution, has the following specific implementation principle: Figure 2 As shown. The input to the interpolation control module is the interpolation target position P sent from the host computer. ctrl The output is the interpolated target velocity V. ctrl The input to the integrated control module is the target speed V. follow and interpolation target velocity V ctrl The output is the actual target speed. The main implementation flow of the integrated control module is as follows:

[0078] S1. Multiply the calculated interpolated target velocity by a certain proportional value (hereinafter referred to as the follower proportional value R0), and increase it to the follower target velocity V. follow The actual target velocity V along the Z-axis is obtained from the above. out The calculation method is as follows:

[0079] V out =V follow +R0V ctrl

[0080] S1.1. Specifically, since the pipe crossing is divided into two parts (the Z-axis first rises, then falls), and the response requirements of the two Z-axis parts are different, a certain modification has been made to the falling segment of the Z-axis. That is, based on the original control proportional R0, a certain proportional value (hereinafter referred to as the reduction proportional R1) is multiplied, and then increased to the target speed V. fo / / ow Above. The calculation method is as follows:

[0081]

[0082] The basis for determining the ascending and descending segments is the interpolation target velocity V. ctrl The sign of the interpolation target velocity V ctrl If the value is positive, it is judged as an upward segment; otherwise, it is a downward segment.

[0083] S2. Since the actual target velocity may change significantly during the transition between the ascent and descent phases, it is necessary to determine whether the acceleration change exceeds the threshold A. max The judgment method is as follows:

[0084] |V out1 -V out0 |>A max T0

[0085] Among them, V out1 V represents the actual target velocity calculated along the Z-axis. out1 T0 represents the actual target speed of the Z-axis output in the previous cycle; T0 represents the control cycle.

[0086] (1) If this inequality is satisfied, it means that the acceleration exceeds the threshold. The actual target velocity Z is then recalculated as follows:

[0087]

[0088] The basis for the rising and falling segments is the same as in step S1.1: if the interpolation target velocity V ctrl If the value is positive, it is judged as an upward segment; otherwise, it is a downward segment.

[0089] (2) If this inequality is not satisfied, it means that the acceleration has not exceeded the threshold and is output directly.

[0090] In summary, the overall calculation flowchart of the integrated control module is as follows: Figure 3 As shown.

[0091] Note that when cutting the pipe surface, the interpolation target speed is always 0, and the output of the integrated control module will be the target speed. In other words, this module mainly improves the Z-axis responsiveness during edge cutting without affecting the original responsiveness of pipe surface cutting, and will not cause pipe surface cutting jitter.

[0092] In practical applications, the machine tool used in this technical solution is a laser tube cutting machine. This machine tool needs to be equipped with a capacitance detection device to achieve capacitance feedback control in conjunction with the machine tool controller. Simultaneously, this technical solution needs to be integrated with the machine tool controller, which must be able to obtain the interpolation target position or interpolation target speed issued by the host computer of the machine tool control software. The steps for using the method of this invention are as follows:

[0093] S1. First, the pipe surface is cut. By adjusting its own capacitive feedback control parameters, the pipe surface cutting can be made without obvious vibration.

[0094] S2. Set the follow-up ratio, reduction ratio, and acceleration threshold of the integrated follow-up control module.

[0095] S3. Execute the toolpath with edge-crossing cutting (taking square tube cutting toolpath as an example). During cutting on the tube surface, the interpolation target speed is always 0. At this time, the Z-axis is controlled entirely by the follow-up target speed, similar to the phenomenon in step S1. When the edge-crossing rising segment begins, the Z-axis interpolation speed is calculated according to the method of this invention, making the Z-axis rising speed faster. Simultaneously, the faster the edge-crossing rotation speed, the greater the Z-axis interpolation speed, resulting in a greater improvement in the Z-axis upward responsiveness. Similarly, when the edge-crossing falling segment begins, the Z-axis interpolation speed is calculated according to the method of this invention, making the Z-axis falling speed faster. Simultaneously, the faster the edge-crossing rotation speed, the greater the improvement in the Z-axis falling responsiveness. This ensures that no collision occurs during high-speed edge-crossing.

[0096] S4. Observe whether collisions or other problems occur during the cutting process. If they still occur, return to step S2 and readjust the corresponding parameters. If no problems occur, the parameters are considered reasonable, and normal processing can proceed.

[0097] It's important to note that the set of parameters in step S2 may not be suitable for all machining scenarios. For example, different pipe sizes or rotational speeds require different parameters. The specific adjustment steps for step S2 are shown below, with a flowchart as follows: Figure 4 As shown.

[0098] Step 1: Observe the Z-axis ascending segment to see if there is any collision with the control plate due to delayed upward movement. If so, increase the follower ratio to improve the responsiveness of the ascending segment. Continue increasing the follower ratio until collision with the control plate is eliminated.

[0099] Step 2: Observe the Z-axis descent segment to see if there is excessive speed or overshooting of the plate. If so, reduce the reduction ratio to decrease the responsiveness of the descent segment. Continue to reduce the reduction ratio until it no longer hits the plate.

[0100] Step 3: Observe the area near the Z-axis rise and fall transition segment for any jitter. If jitter is present, the acceleration threshold needs to be lowered to reduce the velocity jumps in the middle of the rise and fall segments.

[0101] Step 4: Observe whether there are obvious uncut or overburned phenomena on the cut surface of the edge. If so, it means that the height of the cutting head on the edge is inconsistent with that on the surface, and the control ratio needs to be finely adjusted until the processing requirements are met.

[0102] Furthermore, this debugging method is not limited to adjustments made by end customers before actual processing; machine tool manufacturers can pre-configure parameter combinations suitable for different pipe materials based on the machine tool's structural characteristics.

[0103] Furthermore, the method of the present invention is not only applicable to the square tube over-edge toolpath in this example, but also applicable to other tube types (including irregular tubes), or other toolpath situations where the Z-axis height varies greatly.

[0104] The device for integrated Z-axis control of a laser tube cutting machine includes:

[0105] A processor is configured to execute computer-executable instructions;

[0106] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of integrated Z-axis control of the laser tube cutting machine described above.

[0107] The processor that realizes integrated Z-axis control of the laser tube cutting machine is configured to execute computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of integrated Z-axis control of the laser tube cutting machine described above are realized.

[0108] The computer-readable storage medium contains a computer program that can be executed by a processor to implement the steps of integrated Z-axis control of the laser tube cutting machine described above.

[0109] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0110] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution device.

[0111] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0112] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0113] In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "embodiment," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0114] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0115] The Z-axis integrated control method, device, processor, and computer-readable storage medium of the laser tube cutting machine of this invention effectively improve the Z-axis responsiveness of tube cutting over the edge while ensuring the stability of tube surface cutting, and ensure that the cutting head will not collide during high-speed movement; at the same time, it also ensures that the height on the edge and the height on the surface are basically consistent during tube cutting, effectively improving the processing effect.

[0116] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

Claims

1. A Z-axis follow-up control method for a laser tube cutting machine, characterized in that, The method includes the following steps: (1) Cut the pipe surface and adjust the capacitor feedback control parameters through the capacitor feedback control module to avoid obvious jitter; (2) Set the tracking ratio, reduction ratio and acceleration threshold of the integrated tracking and control module to obtain the actual target speed of the Z-axis of the current laser tube cutting machine; (3) According to the adjustment parameters set by the integrated control module, the laser tube cutting machine executes the corresponding cutting path with over-edge cutting; (4) Determine whether a collision occurs during the cutting process. If so, return to step (2) to adjust the corresponding parameters. Otherwise, consider the current parameter settings to be reasonable and proceed with normal processing. Step (2) specifically includes the following steps: (2.1) The interpolation target velocity obtained through the interpolation control module Multiply by the corresponding control ratio, and increase to the target speed obtained through the capacitor feedback control module. The above is used to obtain the actual target velocity along the Z-axis. ; (2.2) Determine whether the change in acceleration of the current Z-axis during the switching process of the rising or falling segment exceeds the threshold, and recalculate the actual target velocity of the Z-axis based on the actual change. Step (2.1) is implemented in the following way: in, For the control ratio, To follow the target speed, To interpolate the target velocity; When the pipe moves along the Z-axis, first rising and then falling, the actual target speed is calculated as follows: : in, To reduce the proportion; When the interpolation target speed When the value is positive, it is determined that the current Z-axis is in the rising segment, and the interpolation target speed is... If the value is negative, it indicates that the current Z-axis is in a descending phase. The magnitude of acceleration is determined in step (2.2) in the following way: in, This represents the actual target velocity calculated along the Z-axis. This represents the actual target speed along the Z-axis output in the previous cycle; T0 represents the control cycle. For the threshold; When the target's rate of change satisfies the above formula, it indicates that the current acceleration exceeds the threshold, and the actual target velocity along the Z-axis needs to be recalculated as follows: If the target's rate of change does not satisfy the above formula, it means that the acceleration has not exceeded the threshold, and the output is performed directly. The specific steps (3) are as follows: When cutting on the pipe surface and entering the rising section of the edge crossing, the Z-axis upward response is improved by increasing the control ratio; when cutting on the pipe surface and entering the falling section of the edge crossing, the Z-axis downward response is improved by decreasing to the reduction ratio, thereby ensuring that the pipe does not collide when crossing the edge at high speed.

2. The Z-axis follow-up control method for a laser tube cutting machine according to claim 1, characterized in that, The integrated control module includes the following process: (a) Observe the Z-axis rising segment to see if there is a collision with the plate due to untimely lifting. If so, continue to increase the follow-up control ratio until there is no collision with the plate, and then proceed to process (b). (b) Observe the Z-axis descent segment to see if there is excessive speed or over-impact on the plate. If so, the reduction ratio should be continuously reduced until the plate is no longer touched, and then proceed to process (c). (c) Observe the area near the Z-axis rise and fall transition segment to see if there is any jitter. If so, reduce the acceleration threshold and proceed to process (d). (d) Observe whether there is obvious uncut or overburned phenomenon on the cross-section of the edge. If so, it means that the distance between the cutting head and the plate on the edge is inconsistent with that on the surface. Then, adjust the control ratio by fine adjustment until the processing requirements are met.

3. The Z-axis follow-up control method for a laser tube cutting machine according to claim 1, characterized in that, When step (4) is being processed normally, the following treatment is performed: The actual target speed of the current laser tube cutting machine's Z-axis, output by the integrated control module, is transmitted to the servo driver, which then transmits it to the servo motor and transmission device. The servo motor and transmission device then send the speed to the actual position of the mechanical end for corresponding capacitance detection, and the obtained actual capacitance is fed back to the capacitance feedback control module for timely adjustment.

4. A device for integrated Z-axis control of a laser tube cutting machine, characterized in that, The device includes: A processor is configured to execute computer-executable instructions; The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the step of integrated control of the Z-axis of the laser tube cutting machine as described in any one of claims 1 to 3.

5. A processor for integrated Z-axis follow-and-control of a laser tube cutting machine, characterized in that, The processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the step of integrated Z-axis control of the laser tube cutting machine as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, It stores a computer program that can be executed by a processor to implement the steps of integrated control of the Z-axis of the laser tube cutting machine as described in any one of claims 1 to 3.

Images