Automatic glass film cutting device based on improved LADRC and control method

Abstract

The invention discloses an automatic glass film cutting device based on improved LADRC and a control method, and belongs to the field of glass film cutting. The device comprises an X-axis platform, a Y-axis platform vertically arranged on the X-axis platform, a precise rotating platform vertically arranged on the Y-axis platform and a film cutting tool arranged on the precise rotating platform; the Y-axis platform can move back and forth on the X-axis platform; the precise rotating platform can move left and right on the Y-axis platform and can rotate; a telescopic mechanism is arranged in the film cutting tool; the control method comprises the following steps: performing glass film cutting, adjusting the moving track of the film cutting tool, controlling the rotation of the precise rotating platform, controlling the film cutting device by adopting an improved LADRC control algorithm, cutting the film by adopting different expected force waveforms, and displaying the operating state of the film cutting tool and the contact force between the film cutting tool and glass in real time according to film cutting data. The device is simple in structure, high in disturbance resistance and high in control precision, and the contact force between the cutter and the glass is stable and fast to control.

Description

Technical Field

[0001] The invention relates to the technical field of glass film cutting, in particular to an automatic glass film cutting device and a control method based on improved LADRC. Background Art

[0002] The market demand for glass film cutting is large, but the existing film cutting methods are mainly manual film cutting. Based on the need to achieve automation, some scholars have begun to study automatic film cutting. The existing automatic film cutting methods include automatic film cutting based on rotating disc cutters, but film cutting based on this method wastes a lot of materials, and there is a lot of film residue at the edge of the glass. Therefore, it is planned to simulate the manual edge cutting mode and use a servo feed system to achieve automatic edge cutting.

[0003] Since the hardness of the film is seriously affected by the ambient temperature, in order to ensure the accuracy and consistency of automatic film cutting, the pressure between the cutter and the edge of the glass must be basically stable during the film cutting process. Therefore, the constant force control of the automatic film cutting system based on the XY platform is an important link to ensure the quality of film cutting. The stability of the linear active disturbance rejection controller (LADRC) system is related to the parameters of the object, and has nothing to do with whether the internal and external disturbances are bounded. The tracking differentiator (TD) in the LADRC can reduce the noise pollution of the input signal, but it will cause phase lag.

[0004] In view of this, it is necessary to develop an automatic glass film cutting device and control method based on improved LADRC to overcome the above problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an automatic glass film cutting device and a control method based on improved LADRC, which adopts an improved LADRC control algorithm, has a simple control structure, strong anti-disturbance ability, and higher control accuracy, thereby achieving stable and rapid control of the contact force between the tool and the glass.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] An automatic glass film cutting device based on improved LADRC comprises an X-axis platform, a Y-axis platform vertically arranged on the X-axis platform, a precision rotating platform vertically arranged on the Y-axis platform and a film cutting tool arranged on the precision rotating platform; the Y-axis platform can move forward and backward on the X-axis platform; the precision rotating platform can move left and right and rotate on the Y-axis platform; a telescopic mechanism is arranged inside the film cutting tool.

[0008] A further improvement of the technical solution of the present invention is that: the X-axis platform includes a first base, a first servo motor is fixedly arranged at one end of the first base, and the first servo motor is connected to a first lead screw through a first coupling; first slide rails are arranged in parallel on both sides of the first base, and a first slide table is arranged on the first slide rails; the other end of the first lead screw is connected to the first base away from the first servo motor side after passing through the first slide table;

[0009] The Y-axis platform includes a second base, a second servo motor is fixedly arranged at one end of the second base, and the second servo motor is connected to a second lead screw through a second coupling; second slide rails are arranged in parallel on both sides of the second base, and a second slide table is arranged on the second slide rails; the second lead screw passes through the second slide table, and the other end is connected to the second base away from the second servo motor side;

[0010] The first base and the second base are perpendicular to each other, and the first lead screw and the second lead screw are perpendicular to each other; the second base is fixed on the first slide, and the precision rotating platform is fixed on the second slide.

[0011] A further improvement of the technical solution of the present invention is that: the precision rotating platform includes a stepper motor and a hollow rotating table; the stepper motor and the table surface of the hollow rotating table are on the same horizontal plane; a turbine and a worm are provided inside the hollow rotating table to drive the hollow rotating table to rotate, and the rotation of the turbine is driven by the stepper motor through the worm.

[0012] A further improvement of the technical solution of the present invention is that: the film cutting tool includes a tool base fixedly mounted on a precision rotating platform, a cylindrical hole is opened on the side wall of the tool base, a pressure sensor is arranged in the cylindrical hole, and a telescopic mechanism is arranged at the upper end of the tool base, the telescopic mechanism includes an electric push rod and a tool head clamp, the electric push rod is embedded in the tool base and contacts with the side wall of the tool base, and the tool head clamp is fixed to the top of the electric push rod; a tool head for film cutting is installed on the tool head clamp; the electric push rod is composed of an electric push rod motor, a reducer and a push rod; a screw rod is arranged inside the push rod, and the rotation of the screw rod drives the push rod to extend and retract.

[0013] A further improvement of the technical solution of the present invention is that the device also includes a drive system controlled by PLC, the drive system includes a servo driver, a stepper driver, an L298N module and a power supply module, the servo driver controls the first servo motor on the X-axis platform and the second servo motor on the Y-axis platform through the ENTHERCAT bus, the stepper driver controls the stepper motor on the precision rotating platform through pulses, and the L298N module controls the forward and reverse rotation of the electric push rod motor.

[0014] A control method for an automatic glass film cutting device based on an improved LADRC comprises the following steps:

[0015] Step 1, the PC collects the pressure signal of the pressure sensor through the PLC, processes the collected pressure signal, and then obtains the error signal by subtracting it from the given expected contact force; the output signal generated by the improved LADRC control algorithm acts on the servo driver through the PLC, and the servo driver drives the first servo motor and the second servo motor to operate after receiving the instruction, and the first servo motor and the second servo motor respectively convert the rotational motion into a linear motion in the vertical direction through the first lead screw and the second lead screw, so as to realize the automatic cutting of the film between the glasses by the film cutting tool;

[0016] Step 2, PLC sends high and low level signals to the L298N motor drive module of the electric push rod motor to control the extension and retraction of the electric push rod; PLC sends digital signals to the servo driver to control the speed and direction of the first servo motor and the second servo motor; the second lead screw drives the second slide to move in the Y-axis direction, the first lead screw drives the first slide to move in the X-axis direction, and then drives the second base to move, the second base moves with the second slide, and the film cutting tool moves with the second slide, so that the running trajectory of the film cutting tool can be adjusted;

[0017] Step 3: The PC uses the PLC to send a pulse signal to the stepper driver, and controls the speed and direction of the stepper motor on the precision rotating platform through relative positioning instructions. The stepper motor drives the hollow rotating platform to rotate through the turbine and worm.

[0018] Step 4, using the improved LADRC control algorithm to control the automatic glass film cutting device, and indirectly controlling the contact force between the film cutting tool and the glass by controlling the position of the film cutting tool; the position loop adopts PD control, and the improved LADRC control algorithm is applied to the force control of the outer loop;

[0019] Step 5, planning the running trajectory of the film cutting tool. The film cutting tool moves forward a certain distance under the film, and the electric push rod pushes the cutter head upward to pierce the film. The precision rotating platform rotates to tilt the blade of the cutter head toward the glass side. The film cutting tool moves rapidly along the edge of the glass to cut the film. When the film in front of the film cutting tool is cut, the precision rotating platform rotates to turn the blade to the rear, and the film cutting tool moves rapidly along the edge of the glass to cut the remaining film. When the film cutting tool moves rapidly, the contact force between the film cutting tool and the glass is controlled by improving the LADRC control algorithm.

[0020] Step 6, using different desired force waveforms to perform automatic glass film cutting;

[0021] Step 7, the automatic glass film cutting data is transmitted from the PLC to the HMI and displayed and controlled in real time through the interface;

[0022] Step 8, observation of total disturbance during automatic glass film cutting process.

[0023] The further improvement of the technical solution of the present invention is that in step 4, the automatic glass film cutting device is controlled by using an improved LADRC control algorithm, and a two-step iterative "prediction" method is used to overcome the phase delay, that is, the signal of the previous step of filtering plus the product of the differential signal and the prediction step length is used as the approximation of the current step tracking differentiator input signal, and then the differential signal is used to predict forward to approximate the current filter output signal:

[0024]

[0025] Where x1(t) represents the filtered signal, x2(t) represents the differential signal of the filtered signal, r represents the convergence speed, v represents the input signal, y represents the predicted value of the filter output signal, k1 and k2 represent the prediction step size; the phase delay is compensated by optimizing k1 and k2;

[0026] The linear extended state observer, the core of linear active disturbance rejection control, observes the disturbance of the system in real time:

[0027]

[0028] Where z1 is the tracking value of the actual contact force between the special tool and the glass; z2 is the observed value of x2; z3 is the estimated value of the total disturbance; β1, β2, β3 are adjustable gain parameters; b is the control gain of the force controller; and u is the control input of the force controller.

[0029] A further improvement of the technical solution of the present invention is that in step 6, the desired force waveform selects one of a constant value and a sine wave, and the amplitude and period of the desired force waveform are freely set.

[0030] A further improvement of the technical solution of the present invention is that: in step 7, the collected automatic glass film cutting data includes the speed and position of the first servo motor and the second servo motor and the contact force between the film cutting tool and the glass, and the collected data is transmitted to the HMI; the HMI displays the data and the corresponding waveform in real time; the operator can set the desired force parameters through the HMI according to needs.

[0031] A further improvement of the technical solution of the present invention is that in step 8, the total disturbance of the automatic glass film cutting system is observed in real time by improving the output value z3 of the expanded state observer in the LADRC control algorithm, z3 is transmitted to the HMI through the PLC, and z3 and the corresponding waveform are displayed on the HMI interface.

[0032] Due to the adoption of the above technical solution, the technical progress achieved by the present invention is:

[0033] 1. The automatic glass film cutting device of the present invention can mechanize the glass film cutting process. The device has a simple structure, is easy to obtain experimental parameters, and is easy to operate.

[0034] 2. The force control system of the automatic glass film cutting device of the present invention adopts an improved LADRC control algorithm, which has a simple control structure, strong anti-disturbance ability, and high control accuracy, and realizes stable, rapid and high-precision control of the interaction force between the film cutting tool and the glass; the improved LADRC control algorithm reduces blade wear to a certain extent, making the glass film cutting effect better.

[0035] 3. The data of the automatic glass film cutting device of the present invention is monitored in real time, and the glass film cutting process is monitored in real time. At the same time, the total disturbance in the glass film cutting process can be observed in real time, thus realizing human-computer interaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 is a schematic diagram of the three-dimensional structure of an automatic glass film cutting device based on an improved LADRC provided in an embodiment of the present invention;

[0038] Figure 2 is a front view of an automatic glass film cutting device based on an improved LADRC provided in an embodiment of the present invention;

[0039] Figure 3 is a left view of an automatic glass film cutting device based on an improved LADRC provided in an embodiment of the present invention;

[0040] Figure 4 is a top view of an automatic glass film cutting device based on an improved LADRC provided in an embodiment of the present invention;

[0041] Figure 5 It is a structural block diagram of an improved LADRC controller of a force control system of an automatic glass film cutting device in an embodiment of the present invention;

[0042] Figure 6-11 Tracking curve diagram of the automatic glass film cutting device under different waveforms and amplitudes of the desired force in the embodiment of the present invention, and a comparison diagram of the improved LADRC control and the traditional LADRC control and PID control adopted;

[0043] Among them, 1. X-axis platform; 1-1. first base; 1-2. first servo motor; 1-3. first coupling; 1-4. first lead screw; 1-5. first slide rail; 1-6. first slide table; 2. Y-axis platform; 2-1. second base; 2-2. second servo motor; 2-3. second coupling; 2-4. second lead screw; 2-5. second slide rail; 2-6. second slide table; 3. precision rotating platform; 3-1. stepper motor; 3-2. hollow rotating table; 4. film cutting tool; 4-1. tool base; 4-2. pressure sensor; 4-3. tool head; 4-4. electric push rod. DETAILED DESCRIPTION

[0044] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatus.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "several" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0047] The present invention is further described in detail below with reference to the accompanying drawings and embodiments:

[0048] like Figure 1-4As shown, an automatic glass film cutting device based on improved LADRC includes an X-axis platform 1, a Y-axis platform 2 vertically arranged on the X-axis platform 1, a precision rotating platform 3 vertically arranged on the Y-axis platform 2, and a film cutting tool 4 arranged on the precision rotating platform 3; the Y-axis platform 2 can move forward and backward on the X-axis platform 1; the precision rotating platform 3 can move left and right and rotate on the Y-axis platform 2; and a telescopic mechanism is arranged in the film cutting tool 4. The film cutting tool 4 in the automatic glass film cutting device can move forward and backward, move left and right, rotate, and telescope up and down.

[0049] Furthermore, the X-axis platform 1 includes a first base 1-1, a first servo motor 1-2 is fixedly arranged at one end of the first base 1-1, and the first servo motor 1-2 is connected to the first lead screw 1-4 through a first coupling 1-3; first slide rails 1-5 are arranged in parallel on both sides of the first base 1-1, and a first slide table 1-6 is arranged on the first slide rails 1-5; the first lead screw 1-4 passes through the first slide table 1-6, and the other end is connected to the first base 1-1 away from the first servo motor 1-2 side;

[0050] The Y-axis platform 2 includes a second base 2-1, a second servo motor 2-2 is fixedly arranged at one end of the second base 2-1, and the second servo motor 2-2 is connected to the second lead screw 2-4 through a second coupling 2-3; second slide rails 2-5 are arranged in parallel on both sides of the second base 2-1, and a second slide table 2-6 is arranged on the second slide rails 2-5; the second lead screw 2-4 passes through the second slide table 2-6, and the other end is connected to the second base 2-1 away from the second servo motor 2-2;

[0051] The first base 1-1 and the second base 2-1 are perpendicular to each other, and the first lead screw 1-4 and the second lead screw 2-4 are perpendicular to each other; the second base 2-1 is fixed on the first slide 1-6, and the precision rotating platform 3 is fixed on the second slide 2-6.

[0052] Furthermore, the precision rotating platform 3 includes a stepper motor 3-1 and a hollow rotating table 3-2; the stepper motor 3-1 and the table surface of the hollow rotating table 3-2 are on the same horizontal plane; a turbine and a worm are provided inside the hollow rotating table 3-2 to drive the hollow rotating table 3-2 to rotate, and the rotation of the turbine is driven by the stepper motor 3-1 through the worm.

[0053] Furthermore, the film cutting tool 4 includes a tool base 4-1 fixedly mounted on the precision rotating platform 3, a cylindrical hole is opened on the side wall of the tool base 4-1, a pressure sensor 4-2 is arranged in the cylindrical hole, and a telescopic mechanism is arranged at the upper end of the tool base 4-1, the telescopic mechanism includes an electric push rod 4-4 and a tool head clamp, the electric push rod 4-4 is embedded in the tool base 4-1 and contacts with the side wall of the tool base 4-1, and the tool head clamp is fixed to the top of the electric push rod 4-4; a tool head 4-3 for film cutting is installed on the tool head clamp; the electric push rod 4-4 is composed of an electric push rod motor, a reducer and a push rod; a screw rod is arranged inside the push rod, and the rotation of the screw rod drives the push rod to retract and retract.

[0054] Furthermore, the device also includes a drive system controlled by PLC, and the drive system includes a servo driver, a stepper driver, an L298N module and a power module. The servo driver controls the first servo motor 1-2 on the X-axis platform 1 and the second servo motor 2-2 on the Y-axis platform 2 through the ENTHERCAT bus, the stepper driver controls the stepper motor 3-1 on the precision rotating platform 3 through pulses, and the L298N module controls the forward and reverse rotation of the electric push rod motor.

[0055] A control method for an automatic glass film cutting device based on improved LADRC includes automatic glass film cutting, adjustment of the running trajectory of the film cutting tool, control of the rotation of a precision rotating platform, control of the film cutting device using an improved LADRC control algorithm, film cutting using different desired force waveforms, and real-time display of the running status of the film cutting tool and the contact force between the film cutting tool and the glass using film cutting data.

[0056] The specific steps include:

[0057] Step 1, the PC collects the pressure signal of the pressure sensor 4-2 through the PLC, processes the collected pressure signal, and then obtains the error signal by subtracting it from the given expected contact force; the output signal generated by the improved LADRC control algorithm acts on the servo driver through the PLC, and the servo driver drives the first servo motor 1-2 and the second servo motor 2-2 to operate after receiving the instruction, and the first servo motor 1-2 and the second servo motor 2-2 convert the rotational motion into a linear motion in the vertical direction through the first lead screw 1-4 and the second lead screw 2-4 respectively, so as to realize the automatic cutting of the thin film between the glasses by the film cutting tool 4;

[0058] Step 2, PLC sends high and low level signals to the L298N motor drive module of the electric push rod motor to control the extension and retraction of the electric push rod 4-4; PLC sends digital signals to the servo driver to control the speed and direction of the first servo motor 1-2 and the second servo motor 2-2; the second lead screw 2-4 drives the second slide 2-6 to move in the Y-axis direction, the first lead screw 1-4 drives the first slide 1-6 to move in the X-axis direction, and then drives the second base 2-1 to move, the second base 2-1 moves with the second slide 2-6, and the film cutting tool 4 moves with the second slide 2-6, so that the running trajectory of the film cutting tool 4 can be adjusted;

[0059] Step 3, the PC uses the PLC to send a pulse signal to the stepper driver, and controls the speed and direction of the stepper motor 3-1 on the precision rotating platform 3 through the relative positioning instruction. The stepper motor 3-1 drives the hollow rotating platform 3-2 to rotate through the turbine and the worm;

[0060] Step 4, using the improved LADRC control algorithm to control the automatic glass film cutting device, by controlling the position of the film cutting tool 4, indirectly controlling the contact force between the film cutting tool 4 and the glass; the position loop adopts PD control, and the improved LADRC control algorithm is applied to the force control of the outer loop; the control block diagram is as follows Figure 5 shown.

[0061] 4.1 Position Controller Design

[0062] According to the impedance control rule, the force is indirectly controlled by controlling the position. Let the correction amount of the platform position and velocity be u p 、u v , with τ f As the output of the force controller:

[0063]

[0064] In the formula, f p 、f v Indicates an adjustable parameter.

[0065] The mathematical model of the force between the environment and the platform is as follows:

[0066] F = g e (XX c )

[0067] Where, X is the position of the platform movement, X c is the environmental reference position, g e is the environmental equivalent stiffness.

[0068] The control law of the inner control loop is PD control, and the formula is as follows:

[0069]

[0070] In the formula, ΔX=X d -X+u p , τ p is the input of the position controller, K p is the proportionality coefficient, K v is the differential coefficient, X d is the desired position of the platform.

[0071] 4.2 Design of force controller based on improved LADRC control algorithm

[0072] Since the tracking differentiator can not only filter the input signal, but also extract the differential signal of the filtered signal at the same time, a two-step iterative "prediction" method is considered to overcome the phase delay. The idea is to use the signal of the previous step of filtering plus the product of the differential signal and the prediction step length as the approximation of the input signal of the current tracking differentiator, and then use the differential signal to predict forward to approximate the current filter output signal.

[0073]

[0074] Where x1(t) represents the filtered signal, x2(t) represents the differential signal of the filtered signal, r represents the convergence speed, v represents the input signal, y represents the approximation value of the filter output signal, and k1 and k2 represent the prediction step size. Phase delay can be compensated by optimizing k1 and k2.

[0075] The linear extended state observer, the core of linear active disturbance rejection control, observes the disturbance of the system in real time:

[0076]

[0077] Where z1 is the tracking value of the actual contact force between the special tool and the glass; z2 is the observed value of x2; z3 is the estimated value of the total disturbance; b is the control gain of the controller; u is the control input of the force controller; β1, β2, and β3 are adjustable gain parameters.

[0078] The improved LADRC control algorithm is used to control the automatic glass film cutting system, and compared with the traditional LADRC control and PD control. Figure 6-11 It can be seen that the improved LADRC control has smaller overshoot, faster response speed, higher control accuracy and stronger anti-interference ability.

[0079] Step 5, planning the running trajectory of the film cutting tool 4, the film cutting tool 4 moves forward a certain distance under the film, the electric push rod 4-4 pushes the cutter head 4-3 upward to pierce the film, the precision rotating platform 3 rotates, so that the blade of the cutter head 4-3 tilts toward the glass side, and the film cutting tool 4 moves rapidly along the edge of the glass to cut the film. When the film in front of the film cutting tool 4 is cut, the precision rotating platform 3 rotates, so that the blade turns to the rear, and the film cutting tool 4 moves rapidly along the edge of the glass to cut the remaining film; when the film cutting tool 4 moves rapidly, the contact force between the film cutting tool 4 and the glass is controlled by improving the LADRC control algorithm;

[0080] Step 6, using different desired force waveforms to perform automatic glass film cutting;

[0081] The desired force waveform can be selected as one of a constant value and a sine wave, and the amplitude and period of the desired force waveform can be freely set.

[0082] Step 7, the automatic glass film cutting data is transmitted from the PLC to the HMI and displayed and controlled in real time through the interface;

[0083] The collected automatic glass film cutting data includes the speed and position of the first servo motor 1-2 and the second servo motor 2-2 and the contact force between the film cutting tool 4 and the glass. The collected data is transmitted to the HMI; the HMI displays the data and the corresponding waveform in real time; the operator can set the desired force and other parameters through the HMI according to needs.

[0084] Step 8, observation of total disturbance during automatic glass film cutting process.

[0085] By improving the output value z3 of the extended state observer in the LADRC control algorithm, the total disturbance of the automatic glass film cutting system is observed in real time, z3 is transmitted to the HMI through the PLC, and z3 and the corresponding waveform are displayed on the HMI interface.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic glass film cutting device based on improved LADRC, characterized in that: The invention comprises an X-axis platform (1), a Y-axis platform (2) vertically arranged on the X-axis platform (1), a precision rotating platform (3) vertically arranged on the Y-axis platform (2), and a film cutting tool (4) arranged on the precision rotating platform (3); the Y-axis platform (2) can move forward and backward on the X-axis platform (1); the precision rotating platform (3) can move left and right and rotate on the Y-axis platform (2); and a telescopic mechanism is arranged inside the film cutting tool (4).

2. The automatic glass film cutting device based on improved LADRC according to claim 1, characterized in that: The X-axis platform (1) comprises a first base (1-1), a first servo motor (1-2) is fixedly arranged at one end of the first base (1-1), and the first servo motor (1-2) is connected to a first lead screw (1-4) via a first coupling (1-3); first slide rails (1-5) are arranged in parallel on both sides of the first base (1-1), and a first slide table (1-6) is arranged on the first slide rails (1-5); after the first lead screw (1-4) passes through the first slide table (1-6), the other end is connected to the first base (1-1) away from the first servo motor (1-2); The Y-axis platform (2) comprises a second base (2-1), a second servo motor (2-2) is fixedly arranged at one end of the second base (2-1), and the second servo motor (2-2) is connected to a second lead screw (2-4) via a second coupling (2-3); second slide rails (2-5) are arranged in parallel on both sides of the second base (2-1), and a second slide table (2-6) is arranged on the second slide rails (2-5); after the second lead screw (2-4) passes through the second slide table (2-6), the other end is connected to the second base (2-1) away from the second servo motor (2-2); The first base (1-1) and the second base (2-1) are perpendicular to each other, and the first lead screw (1-4) and the second lead screw (2-4) are perpendicular to each other; the second base (2-1) is fixed on the first slide (1-6), and the precision rotating platform (3) is fixed on the second slide (2-6).

3. The automatic glass film cutting device based on improved LADRC according to claim 1, characterized in that: The precision rotating platform (3) comprises a stepping motor (3-1) and a hollow rotating table (3-2); the stepping motor (3-1) and the table surface of the hollow rotating table (3-2) are on the same horizontal plane; a turbine and a worm are provided inside the hollow rotating table (3-2) for driving the hollow rotating table (3-2) to rotate; the rotation of the turbine is driven by the stepping motor (3-1) through the worm.

4. The automatic glass film cutting device based on improved LADRC according to claim 1, characterized in that: The film cutting tool (4) comprises a tool base (4-1) fixedly mounted on a precision rotating platform (3); a cylindrical hole is opened on the side wall of the tool base (4-1); a pressure sensor (4-2) is arranged in the cylindrical hole; a telescopic mechanism is arranged at the upper end of the tool base (4-1); the telescopic mechanism comprises an electric push rod (4-4) and a tool head clamp; the electric push rod (4-4) is embedded in the tool base (4-1) and contacts the side wall of the tool base (4-1); the tool head clamp is fixed to the top of the electric push rod (4-4); a tool head (4-3) for film cutting is installed on the tool head clamp; the electric push rod (4-4) is composed of an electric push rod motor, a reducer and a push rod; a screw rod is arranged inside the push rod, and the rotation of the screw rod drives the push rod to extend and retract.

5. The automatic glass film cutting device based on improved LADRC according to claim 1, characterized in that: The device also includes a drive system controlled by a PLC, the drive system including a servo driver, a stepper driver, an L298N module and a power module, the servo driver controls a first servo motor (1-2) on an X-axis platform (1) and a second servo motor (2-2) on a Y-axis platform (2) via an ENTHERCAT bus, the stepper driver controls a stepper motor (3-1) on a precision rotating platform (3) via pulses, and the L298N module controls the forward and reverse rotation of an electric push rod motor.

6. A control method for an automatic glass film cutting device based on improved LADRC according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1, the PC collects the pressure signal of the pressure sensor (4-2) through the PLC, processes the collected pressure signal, and then obtains the error signal by subtracting it from the given expected contact force; the output signal generated by the improved LADRC control algorithm acts on the servo driver through the PLC, and the servo driver drives the first servo motor (1-2) and the second servo motor (2-2) to operate after receiving the instruction, and the first servo motor (1-2) and the second servo motor (2-2) respectively convert the rotational motion into a linear motion in the vertical direction through the first lead screw (1-4) and the second lead screw (2-4), thereby realizing the automatic cutting of the film between the glasses by the film cutting tool (4); Step 2, the PLC sends high and low level signals to the L298N motor drive module of the electric push rod motor to control the extension and retraction of the electric push rod (4-4); the PLC sends digital signals to the servo driver to control the speed and direction of the first servo motor (1-2) and the second servo motor (2-2); the second lead screw (2-4) drives the second slide (2-6) to move in the Y-axis direction, the first lead screw (1-4) drives the first slide (1-6) to move in the X-axis direction, and then drives the second base (2-1) to move, the second base (2-1) moves with the second slide (2-6), and the film cutting tool (4) moves with the second slide (2-6), so that the running trajectory of the film cutting tool (4) can be adjusted; Step 3, the PC uses the PLC to send a pulse signal to the stepper driver, and controls the speed and direction of the stepper motor (3-1) on the precision rotating platform (3) through the relative positioning instruction. The stepper motor (3-1) drives the hollow rotating platform (3-2) to rotate through the turbine and the worm. Step 4, using an improved LADRC control algorithm to control the automatic glass film cutting device, and indirectly controlling the contact force between the film cutting tool (4) and the glass by controlling the position of the film cutting tool (4); The position loop adopts PD control, and the improved LADRC control algorithm is applied to the force control of the outer loop; Step 5, planning the running trajectory of the film cutting tool (4), the film cutting tool (4) moves forward a certain distance under the film, the electric push rod (4-4) pushes the cutter head (4-3) upward to pierce the film, the precision rotating platform (3) rotates, so that the blade of the cutter head (4-3) tilts toward the glass side, the film cutting tool (4) moves rapidly along the edge of the glass to cut the film, when the film in front of the film cutting tool (4) is cut, the precision rotating platform (3) rotates, so that the blade turns to the rear, the film cutting tool (4) moves rapidly along the edge of the glass to cut the remaining film; when the film cutting tool (4) moves rapidly, the contact force between the film cutting tool (4) and the glass is controlled by an improved LADRC control algorithm; Step 6, using different desired force waveforms to perform automatic glass film cutting; Step 7, the automatic glass film cutting data is transmitted from the PLC to the HMI and displayed and controlled in real time through the interface; Step 8, observation of total disturbance during automatic glass film cutting process.

7. The control method of the automatic glass film cutting device based on the improved LADRC according to claim 6 is characterized in that: In step 4, the improved LADRC control algorithm is used to control the automatic glass film cutting device. The two-step iterative "prediction" method is used to overcome the phase delay. The signal of the previous step of filtering plus the product of the differential signal and the prediction step length is used as the approximation of the current step tracking differentiator input signal, and then the differential signal is used to predict forward to approximate the current filter output signal: Where x1(t) represents the filtered signal, x2(t) represents the differential signal of the filtered signal, r represents the convergence speed, v represents the input signal, y represents the predicted value of the filter output signal, k1 and k2 represent the prediction step size; the phase delay is compensated by optimizing k1 and k2; The linear extended state observer, the core of linear active disturbance rejection control, observes the disturbance of the system in real time: Where z1 is the tracking value of the actual contact force between the special tool and the glass; z2 is the observed value of x2; z3 is the estimated value of the total disturbance; β1, β2, β3 are adjustable gain parameters; b is the control gain of the force controller; and u is the control input of the force controller.

8. The control method of the automatic glass film cutting device based on the improved LADRC according to claim 6 is characterized in that: In step 6, the desired force waveform selects one of a constant value and a sine wave, and the amplitude and period of the desired force waveform are freely set.

9. The control method of the automatic glass film cutting device based on the improved LADRC according to claim 6, characterized in that: In step 7, the collected automatic glass film cutting data includes the speed and position of the first servo motor (1-2) and the second servo motor (2-2) and the contact force between the film cutting tool (4) and the glass, and the collected data is transmitted to the HMI; the HMI displays the data and the corresponding waveform in real time; the operator can set the desired force parameters through the HMI according to needs.

10. The control method of the automatic glass film cutting device based on improved LADRC according to claim 6, characterized in that: In step 8, the total disturbance of the automatic glass film cutting system is observed in real time by improving the output value z3 of the extended state observer in the LADRC control algorithm, z3 is transmitted to the HMI through the PLC, and z3 and the corresponding waveform are displayed on the HMI interface.

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