Control method and device of feed shaft, equipment and medium

Abstract

The invention provides a control method and device for feed shafts, equipment and a medium. The method comprises the following steps: acquiring sequence data returned by each feed shaft based on a preset track; obtaining a corresponding displacement instruction curve according to each preset track; obtaining a corresponding feedback displacement curve according to the sequence data; obtaining a corresponding discrete curve according to the displacement instruction curve and the corresponding feedback displacement curve; calculating first-order inertia time corresponding to each feed shaft according to the discrete curve and a preset first-order inertia time domain algorithm; and performing error compensation on the output displacement data of the corresponding feed shaft according to the first-order inertia time. According to the embodiment of the invention, the first-order inertia time corresponding to each feed shaft can be calculated according to the discrete curve and the preset first-order inertia time domain algorithm, so that the measurement precision of the first-order inertia time is improved; according to the embodiment of the invention, error compensation can be carried out on the output displacement data of the corresponding feed shaft according to the first-order inertia time, so that multi-shaft linkage control is realized, and high-precision control on the feed shaft is completed.

Description

Technical Field

[0001] The present invention relates to the field of numerical control, and in particular to a control method, device, equipment and medium for a feed axis. Background Art

[0002] The machine tool control system usually controls the movement of multiple drivers, drive motors, screws and other mechanisms by a CNC system to achieve multi-axis linkage control. Multi-axis linkage can complete complex motion trajectories, but it is necessary to ensure that the synchronization between multiple axes is within a reasonable range to ensure that the trajectory error meets the design requirements. If there is a difference in synchronization between the axes, it will cause a large trajectory error. In the prior art, the machine tool control system will be affected by the first-order inertia of the feed transmission system, causing the actual trajectory to deviate from the predetermined trajectory.

[0003] Therefore, the existing control method of the feed axis has the problem of low control accuracy. Summary of the invention

[0004] The embodiments of the present invention provide a feed shaft control method, device, equipment and medium, aiming to solve the problem of low control accuracy in the existing feed shaft control method.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling a feed axis, the method being applied to a controller of a numerical control system, the numerical control system further comprising at least one feed axis, the controller being electrically connected to each of the feed axes, the method comprising:

[0006] Acquire sequence data returned by each feed axis based on a preset trajectory;

[0007] Obtaining a corresponding displacement command curve according to each of the preset trajectories;

[0008] Obtaining a corresponding feedback displacement curve according to each of the sequence data;

[0009] Obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve;

[0010] Calculate the first-order inertia time corresponding to each of the feed axes according to the discrete curve and a preset first-order inertia time domain algorithm;

[0011] Error compensation is performed on the output displacement data of the corresponding feed axis according to the first-order inertia time.

[0012] In a second aspect, an embodiment of the present invention further provides a control device for a feed axis, wherein the device is configured in a controller of a numerical control system, wherein the numerical control system further comprises at least one feed axis, wherein the controller is electrically connected to each of the feed axes, and wherein the device comprises:

[0013] An acquisition unit, used for acquiring sequence data returned by each feed axis based on a preset trajectory;

[0014] A first curve acquisition unit, used for obtaining a corresponding displacement command curve according to each of the preset trajectories;

[0015] A second curve acquisition unit, used for obtaining a corresponding feedback displacement curve according to each of the sequence data;

[0016] A discrete curve acquisition unit, used for obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve;

[0017] A calculation unit, used for calculating the first-order inertia time corresponding to each of the feed axes according to the discrete curve and a preset first-order inertia time domain algorithm;

[0018] The error compensation unit is used to perform error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time.

[0019] In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0020] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and wherein the program instructions, when executed by a processor, can implement the method described in the first aspect above.

[0021] The present invention provides a control method, device, equipment and medium for a feed axis. The method is applied to a controller of a numerical control system, wherein the numerical control system further comprises at least one feed axis, and the controller is electrically connected to each feed axis. The method comprises: obtaining sequence data returned by each feed axis based on a preset trajectory; obtaining a corresponding displacement command curve according to each preset trajectory; obtaining a corresponding feedback displacement curve according to each sequence data; obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve; calculating the first-order inertia time corresponding to each feed axis according to the discrete curve and a preset first-order inertia time domain algorithm; and performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time. The embodiment of the present invention can calculate the first-order inertia time corresponding to each feed axis according to the discrete curve and a preset first-order inertia time domain algorithm, thereby improving the measurement accuracy of the first-order inertia time; the embodiment of the present invention can also perform error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time, thereby realizing multi-axis linkage control and completing high-precision control of the feed axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0023] Figure 1 A schematic flow chart of a feed axis control method provided by an embodiment of the present invention;

[0024] Figure 2 A schematic block diagram of a control device for a feed shaft provided in an embodiment of the present invention;

[0025] Figure 3 A schematic block diagram of an electronic device provided by an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of the acceleration and deceleration section of the feed shaft provided in an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of a displacement command curve provided by an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of a combined curve provided by an embodiment of the present invention;

[0029] Figure 7 A schematic diagram of a discrete curve provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0032] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0033] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0034] See also Figure 1 , Figure 1 A flow chart of a feed axis control method provided by an embodiment of the present invention is provided. The feed axis control method is applied to a controller of a numerical control system, wherein the numerical control system further comprises at least one feed axis, and the controller is electrically connected to each feed axis.

[0035] Figure 1 Schematic diagram of the flow of the feed axis control method provided by the embodiment of the present invention. Figure 1 As shown, the method includes the following steps S110-S160.

[0036] S110, acquiring sequence data returned by each feed axis based on a preset trajectory.

[0037] In this embodiment, the sequence data returned by each feed axis based on a preset trajectory is obtained. The preset trajectory is also called the target displacement, and the sequence data is also called the actual displacement; wherein the preset trajectory is a gradually changing sequence displacement data.

[0038] The present invention can calculate the first-order inertia time corresponding to each feed axis according to the sequence data returned by each feed axis based on the preset trajectory, thereby improving the measurement accuracy of the first-order inertia time; the embodiment of the present invention can also perform error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time to complete high-precision control of the feed axis; the present invention can control multiple feed axes at the same time to achieve multi-axis linkage control; wherein, the method for controlling multiple feed axes is correspondingly expanded by the method for controlling a single feed axis.

[0039] S120, obtaining a corresponding displacement command curve according to each of the preset trajectories.

[0040] In this embodiment, one of the preset trajectories corresponds to one target displacement and one acceleration. According to the principle of T-type acceleration and deceleration, the feed axis usually has three stages during its movement, namely, the acceleration stage, the uniform speed stage and the deceleration stage. Since the uniform speed stage has no effect on the identification of the first-order inertia time, only the acceleration stage and the deceleration stage of the feed axis are analyzed to obtain the corresponding first-order inertia time (for details, please refer to Figure 4 ).

[0041] According to the speed formula, the acceleration and deceleration stages of the feed axis are analyzed to obtain formula (1-1);

[0042]

[0043] Where V is the speed of the feed axis, a m is the acceleration of the feed axis;

[0044] Derivation of formula (1-1) yields formula (1);

[0045]

[0046] Among them, V m is the maximum speed of the feed axis;

[0047] From formula (1), we can see that when t = t2, V = 0, t2 = 2t1;

[0048] According to the displacement formula, the acceleration and deceleration stages of the feed axis are analyzed to obtain formula (2);

[0049]

[0050] Where, S is the displacement of the feed axis;

[0051] Derivation of formula (2) yields formula (2-1);

[0052]

[0053] From formula (2-1), we can see that when t = t2, Among them, S e is the maximum displacement of the feed axis (i.e., target displacement), due to a m , S e It is known that according to formula (2-1), V m , then, V m Substituting into formula (1), t1 and t2 can be calculated.

[0054] According to formula (2), the displacement command curve is drawn (for details, please refer to Figure 5 ), where t a =t2,t a It is the target displacement time for the feed axis to reach the target position.

[0055] In one embodiment, step S120 includes: calculating the target displacement time according to a preset movement time acquisition strategy and the target displacement in the preset trajectory; and obtaining the displacement command curve according to the target displacement, the target displacement time and the displacement formula in the movement time acquisition strategy.

[0056] In this embodiment, according to the preset moving time acquisition strategy and the target displacement S in the preset trajectory e Calculate the target displacement time t a ; According to the target displacement S e , the target displacement time t a And the displacement formula in the moving time acquisition strategy obtains the displacement command curve.

[0057] Specifically, the acceleration phase and deceleration phase of the feed axis are analyzed according to the speed formula to obtain formula (1-1);

[0058]

[0059] Where V is the speed of the feed axis, a m is the acceleration of the feed axis;

[0060] Derivation of formula (1-1) yields formula (1);

[0061]

[0062] Among them, V m is the maximum speed of the feed axis;

[0063] From formula (1), we can see that when t = t2, V = 0, t2 = 2t1;

[0064] According to the displacement formula, the acceleration and deceleration stages of the feed axis are analyzed to obtain formula (2);

[0065]

[0066] Where, S is the displacement of the feed axis;

[0067] Derivation of formula (2) yields formula (2-1);

[0068]

[0069] From formula (2-1), we can see that when t = t2, Among them, S e is the maximum displacement of the feed axis (i.e., target displacement), due to a m , S e It is known that according to formula (2-1), V m , then, V m Substituting into formula (1), t1 and t2 can be calculated.

[0070] According to formula (2), the displacement command curve is drawn (for details, please refer to Figure 5 ), where t a=t2,t a It is the target displacement time for the feed axis to reach the target position.

[0071] In one embodiment, the target displacement time is obtained according to the preset movement time acquisition strategy and the target displacement calculation in the preset trajectory, including: determining a first speed equation group corresponding to the acceleration and deceleration segment in the preset trajectory according to the speed formula in the movement time acquisition strategy; determining a time function relationship between a first time and a second time according to the first speed equation group; and calculating the target displacement time according to the time function relationship and the displacement formula.

[0072] In this embodiment, the first speed equation group (i.e., formula (1-1)) corresponding to the acceleration and deceleration segments in the preset trajectory is determined according to the speed formula in the movement time acquisition strategy; the time function relationship between the first time and the second time is determined according to the first speed equation group (i.e., t2=2t1; wherein t1 is the first time and t2 is the second time); the target displacement time is calculated according to the time function relationship (i.e., t2=2t1) and the displacement formula.

[0073] S130, obtaining a corresponding feedback displacement curve according to each of the sequence data.

[0074] In this embodiment, a corresponding feedback displacement curve is obtained according to each of the sequence data. The feedback displacement curve is a “displacement-time” curve. In the feedback displacement curve, t P Feed axis to target position S e The actual displacement time.

[0075] In the prior art, the numerical control system is affected by the first-order inertia, and there will be a certain difference between the target displacement time and the actual displacement time. The present invention can eliminate the trajectory error of each feed axis caused by the first-order inertia according to the calculated first-order inertia time corresponding to each feed axis, and complete the high-precision control of the feed axis.

[0076] S140, obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve.

[0077] In this embodiment, one of the feed axes corresponds to one displacement command curve and one feedback displacement curve, and a corresponding discrete curve is obtained according to the displacement command curve and the corresponding feedback displacement curve (for details, please refer to Figure 7 ),exist Figure 7 In, S e is the maximum displacement of the feed axis (i.e., target displacement), t d is the delay time, t d =|t P -t a |,ta is the target displacement time for the feed axis to reach the target position, t P Feed axis to target position S e The actual displacement time.

[0078] In one embodiment, step S140 includes: merging the displacement command curve and the corresponding feedback displacement curve to obtain a merged curve; decomposing the merged curve to obtain a delay time corresponding to each displacement coordinate; and obtaining the corresponding discrete curve according to the delay time corresponding to each displacement coordinate.

[0079] In this embodiment, the displacement command curve Q1 and the corresponding feedback displacement curve Q2 are combined to obtain a combined curve (for details, please refer to Figure 6 ); Decompose the combined curve to obtain the delay time t corresponding to each displacement coordinate d ; According to the delay time t corresponding to each displacement coordinate d Get the corresponding discrete curve (for details, please refer to Figure 7 ).

[0080] S150, calculating the first-order inertia time corresponding to each of the feed axes according to the discrete curve and a preset first-order inertia time domain algorithm.

[0081] In this embodiment, the first-order inertia time corresponding to each of the feed axes is calculated according to the discrete curve and the preset first-order inertia time domain algorithm; wherein the expression (3) of the first-order inertia time domain algorithm is:

[0082]

[0083] Among them, Y(t) is the output variable, e is a natural constant, t is a time variable, T is the first-order inertia time, and u(t) is the displacement of the feed axis; specifically, any two different data points can be obtained from the discrete curve, and the two data points are substituted into the first-order inertia time domain algorithm to obtain the corresponding first-order inertia time T.

[0084] In one embodiment, step S150 includes: acquiring any two different data points from the discrete curve; substituting the two data points into the first-order inertia time domain algorithm to obtain the corresponding first-order inertia time.

[0085] In this embodiment, any two different data points (t d 1, S1) and (t d 2, S2); the two data points (t d 1, S1) and (t d 2, S2) Substitute into the first-order inertial time domain algorithm The following system of equations is obtained:

[0086]

[0087] Solve the equations to obtain the corresponding first-order inertia time T; where Y(t d 1) Y(t d 2) are all output variables and unknown numbers, e is a natural constant, t d 1. t d 2 are delay time, T is the first-order inertia time, u(t d 1) u(t d 2) are the displacements of the feed axis, u(t d 1)=S1,u(t d 2)=S2.

[0088] S160, performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time.

[0089] In this embodiment, the compensation value Z is calculated according to the first-order inertia time T. The output displacement data u(t) of the feed axis at time t is obtained, wherein the u(t) is also an input variable to control the corresponding feed axis. In order to achieve high-precision control of the feed axis, it is necessary to perform error compensation on the u(t). The calculation result obtained by dividing u(t) by the compensation value Z is the output displacement data after error compensation. The corresponding feed axis is controlled according to the output displacement data after error compensation.

[0090] In one embodiment, before step S160, it also includes: establishing a trajectory description formula according to a preset motion trajectory; calculating a reversal point according to the trajectory description formula; determining a segmentation parameter according to the reversal point; wherein the segmentation parameter includes a segmentation period and a segmentation number; segmenting the motion trajectory according to the segmentation parameter to obtain corresponding segmented trajectories; and obtaining the corresponding output displacement data according to each segmented trajectory.

[0091] In this embodiment, when the motion trajectory of the feed shaft is an arc, the feed shaft needs to be reversed to smoothly move to the target position; at the same time, when the feed shaft is reversed, its speed is equal to zero, therefore, it is necessary to find the reversing point of the feed shaft to control the reversal of the feed shaft according to the reversing point so that it can smoothly move to the target position; a trajectory description formula is established according to the preset motion trajectory; if the motion trajectory is a circular trajectory, the corresponding trajectory description formula is X 2 +Y 2 =R, where R is the radius of the circular trajectory.

[0092] The reversing point is obtained by calculating the trajectory description formula; specifically, the partial derivative is calculated according to the trajectory description formula, and the reversing point is obtained according to the calculated partial derivative; for example, if the motion trajectory is a circular trajectory, a trajectory coordinate point is obtained, and the trajectory coordinate point is substituted into the trajectory description formula, and the partial derivative of X is first obtained to obtain the corresponding X value, and the X value is substituted into the trajectory description formula to obtain the corresponding Y value, and the corresponding reversing point is obtained according to the X value and the Y value; then, the partial derivative of Y is obtained to obtain the corresponding Y value, and the Y value is substituted into the trajectory description formula to obtain the corresponding X value, and the corresponding reversing point is obtained according to the X value and the Y value; according to The obtained reversing point determines the segmentation parameter; wherein the segmentation parameter includes a segmentation period and a number of segmentation times; if the number of reversing points calculated according to the trajectory description formula is 4, the corresponding number of segmentation times is 4; in the motion trajectory, the target displacement time can be calculated according to the known target displacement and acceleration, and the target displacement time is segmented according to the number of segmentation times to obtain its corresponding segmentation period; the motion trajectory is segmented according to the segmentation parameters and / or the calculated reversing points to obtain corresponding segmented trajectories; the corresponding output displacement data is obtained according to each segmented trajectory.

[0093] In one embodiment, error compensation is performed on the output displacement data of the corresponding feed axis according to the first-order inertia time, including: error compensation is performed on the output displacement data of the corresponding feed axis according to the first-order inertia time to obtain error-compensated displacement data corresponding to the feed axis; and corresponding control instructions are output to the feed axis according to each of the segmentation periods and the error-compensated displacement data corresponding to each of the segmentation periods to control the feed axis.

[0094] In this embodiment, error compensation is performed on the output displacement data of the corresponding feed axis according to the first-order inertia time to obtain error-compensated displacement data corresponding to the feed axis; when the number of divisions is 4, 4 error-compensated displacement data can be obtained; every other division period, a corresponding control instruction is output to the feed axis according to the error-compensated displacement data corresponding to the current division period to control the feed axis, thereby achieving high-precision control of the feed axis.

[0095] In summary, the embodiment of the present invention can calculate the first-order inertia time corresponding to each of the feed axes according to the discrete curve and the preset first-order inertia time domain algorithm, thereby improving the measurement accuracy of the first-order inertia time; the embodiment of the present invention can also perform error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time, thereby realizing multi-axis linkage control and completing high-precision control of the feed axis.

[0096] Figure 2A schematic block diagram of a control device for a feed axis provided in an embodiment of the present invention. Figure 2 As shown, corresponding to the above feed axis control method, the present invention also provides a feed axis control device. The feed axis control device is configured in a controller of a numerical control system, the numerical control system further comprising at least one feed axis, and the controller is electrically connected to each of the feed axes. Figure 2 , the control device 700 of the feed axis includes:

[0097] An acquisition unit 701 is used to acquire sequence data returned by each feed axis based on a preset trajectory;

[0098] A first curve acquisition unit 702, used to obtain a corresponding displacement command curve according to each of the preset trajectories;

[0099] A second curve acquisition unit 703, used to obtain a corresponding feedback displacement curve according to each of the sequence data;

[0100] A discrete curve acquisition unit 704 is used to obtain a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve;

[0101] A calculation unit 705, configured to calculate the first-order inertia time corresponding to each of the feed axes according to the discrete curve and a preset first-order inertia time domain algorithm;

[0102] The error compensation unit 706 is used to perform error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time.

[0103] In some embodiments, when the first curve acquisition unit 702 executes the step of obtaining the corresponding displacement command curve according to each of the preset trajectories, it is specifically used to:

[0104] The target displacement time is calculated according to the preset movement time acquisition strategy and the target displacement in the preset trajectory; the displacement command curve is obtained according to the target displacement, the target displacement time and the displacement formula in the movement time acquisition strategy.

[0105] In some embodiments, when the first curve acquisition unit 702 calculates the target displacement time step according to the preset movement time acquisition strategy and the target displacement in the preset trajectory, it is specifically used to:

[0106] According to the speed formula in the moving time acquisition strategy, a first speed equation group corresponding to the acceleration and deceleration segment in the preset trajectory is determined; according to the first speed equation group, a time function relationship between the first time and the second time is determined; and according to the time function relationship and the displacement formula, the target displacement time is calculated.

[0107] In some embodiments, when the discrete curve acquisition unit 704 executes the step of obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve, it is specifically used to:

[0108] The displacement command curve and the corresponding feedback displacement curve are merged to obtain a merged curve; the merged curve is decomposed to obtain the delay time corresponding to each displacement coordinate; and the corresponding discrete curve is obtained according to the delay time corresponding to each displacement coordinate.

[0109] In some embodiments, when the calculation unit 705 calculates the first-order inertia time step corresponding to each feed axis according to the discrete curve and the preset first-order inertia time domain algorithm, it is specifically used to:

[0110] Obtain any two different data points from the discrete curve; substitute the two data points into the first-order inertia time domain algorithm to obtain the corresponding first-order inertia time.

[0111] In some embodiments, before executing the step of performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time, the error compensation unit 706 is further configured to:

[0112] A trajectory description formula is established according to a preset motion trajectory; a reversal point is calculated according to the trajectory description formula; a segmentation parameter is determined according to the reversal point; wherein the segmentation parameter includes a segmentation period and a segmentation number; the motion trajectory is segmented according to the segmentation parameter to obtain corresponding segmented trajectories; and the corresponding output displacement data is obtained according to each segmented trajectory.

[0113] In some embodiments, when the error compensation unit 706 performs the step of performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time, it is specifically used to:

[0114] The output displacement data of the corresponding feed axis is error compensated according to the first-order inertia time to obtain the error-compensated displacement data corresponding to the feed axis; and the corresponding control instructions are output to the feed axis according to each segmentation period and the error-compensated displacement data corresponding to each segmentation period to control the feed axis.

[0115] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the control device and each unit of the above-mentioned feed shaft can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and brevity of description, it will not be repeated here.

[0116] The control device of the feed axis can be implemented in the form of a computer program. Figure 3 The electronic device shown is running.

[0117] See also Figure 3 , Figure 3 800 is a schematic block diagram of an electronic device provided by an embodiment of the present invention. The electronic device 800 may be a controller of a smart terminal, and the smart terminal may be an electronic device such as a mobile phone, a tablet computer, a laptop computer, or a desktop computer.

[0118] See also Figure 3 The electronic device 800 includes a processor 802 , a memory and a network interface 805 connected via a system bus 801 , wherein the memory may include a non-volatile storage medium 803 and an internal memory 804 .

[0119] The non-volatile storage medium 803 can store an operating system 8031 ​​and a computer program 8032. The computer program 8032 includes program instructions, and when the program instructions are executed, the processor 802 can execute a method for controlling a feed axis.

[0120] The processor 802 is used to provide computing and control capabilities to support the operation of the entire electronic device 800 .

[0121] The internal memory 804 provides an environment for the operation of the computer program 8032 in the non-volatile storage medium 803. When the computer program 8032 is executed by the processor 802, the processor 802 can execute a method for controlling a feed axis.

[0122] The network interface 805 is used to communicate with other devices over the network. Figure 3 The structure shown in the figure is merely a block diagram of a partial structure related to the solution of the present invention, and does not constitute a limitation on the electronic device 800 to which the solution of the present invention is applied. The specific electronic device 800 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0123] The processor 802 is used to run the computer program 8032 stored in the memory to implement the following steps:

[0124] Acquire the sequence data returned by each feed axis based on the preset trajectory; obtain the corresponding displacement command curve according to each preset trajectory; obtain the corresponding feedback displacement curve according to each sequence data; obtain the corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve; calculate the first-order inertia time corresponding to each feed axis according to the discrete curve and a preset first-order inertia time domain algorithm; and perform error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time.

[0125] In some embodiments, when the processor 802 implements the step of obtaining the corresponding displacement command curve according to each of the preset trajectories, it is specifically used to:

[0126] The target displacement time is calculated according to the preset movement time acquisition strategy and the target displacement in the preset trajectory; the displacement command curve is obtained according to the target displacement, the target displacement time and the displacement formula in the movement time acquisition strategy.

[0127] In some embodiments, when the processor 802 calculates the target displacement time step according to the preset movement time acquisition strategy and the target displacement in the preset trajectory, it is specifically used to:

[0128] According to the speed formula in the moving time acquisition strategy, a first speed equation group corresponding to the acceleration and deceleration segment in the preset trajectory is determined; according to the first speed equation group, a time function relationship between the first time and the second time is determined; and according to the time function relationship and the displacement formula, the target displacement time is calculated.

[0129] In some embodiments, when the processor 802 implements the step of obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve, it is specifically configured to:

[0130] The displacement command curve and the corresponding feedback displacement curve are merged to obtain a merged curve; the merged curve is decomposed to obtain the delay time corresponding to each displacement coordinate; and the corresponding discrete curve is obtained according to the delay time corresponding to each displacement coordinate.

[0131] In some embodiments, when the processor 802 calculates the first-order inertia time step corresponding to each feed axis according to the discrete curve and the preset first-order inertia time domain algorithm, it is specifically used to:

[0132] Obtain any two different data points from the discrete curve; substitute the two data points into the first-order inertia time domain algorithm to obtain the corresponding first-order inertia time.

[0133] In some embodiments, before implementing the step of performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time, the processor 802 is further configured to:

[0134] A trajectory description formula is established according to a preset motion trajectory; a reversal point is calculated according to the trajectory description formula; a segmentation parameter is determined according to the reversal point; wherein the segmentation parameter includes a segmentation period and a segmentation number; the motion trajectory is segmented according to the segmentation parameter to obtain corresponding segmented trajectories; and the corresponding output displacement data is obtained according to each segmented trajectory.

[0135] In some embodiments, when the processor 802 implements the step of performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time, it is specifically configured to:

[0136] The output displacement data of the corresponding feed axis is error compensated according to the first-order inertia time to obtain the error-compensated displacement data corresponding to the feed axis; and the corresponding control instructions are output to the feed axis according to each segmentation period and the error-compensated displacement data corresponding to each segmentation period to control the feed axis.

[0137] It should be understood that in the embodiment of the present invention, the processor 802 may be a central processing unit (CPU), and the processor 802 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0138] It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

[0139] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the following steps:

[0140] Acquire the sequence data returned by each feed axis based on the preset trajectory; obtain the corresponding displacement command curve according to each preset trajectory; obtain the corresponding feedback displacement curve according to each sequence data; obtain the corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve; calculate the first-order inertia time corresponding to each feed axis according to the discrete curve and a preset first-order inertia time domain algorithm; and perform error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time.

[0141] In one embodiment, when the processor executes the program instructions to implement the step of obtaining the corresponding displacement command curve according to each of the preset trajectories, it is specifically used to:

[0142] The target displacement time is calculated according to the preset movement time acquisition strategy and the target displacement in the preset trajectory; the displacement command curve is obtained according to the target displacement, the target displacement time and the displacement formula in the movement time acquisition strategy.

[0143] In one embodiment, when the processor executes the program instructions to calculate the target displacement time step according to the preset movement time acquisition strategy and the target displacement in the preset trajectory, it is specifically used to:

[0144] According to the speed formula in the moving time acquisition strategy, a first speed equation group corresponding to the acceleration and deceleration segment in the preset trajectory is determined; according to the first speed equation group, a time function relationship between the first time and the second time is determined; and according to the time function relationship and the displacement formula, the target displacement time is calculated.

[0145] In one embodiment, when the processor executes the program instructions to implement the step of obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve, it is specifically used to:

[0146] The displacement command curve and the corresponding feedback displacement curve are merged to obtain a merged curve; the merged curve is decomposed to obtain the delay time corresponding to each displacement coordinate; and the corresponding discrete curve is obtained according to the delay time corresponding to each displacement coordinate.

[0147] In one embodiment, when the processor executes the program instructions to calculate the first-order inertia time step corresponding to each of the feed axes according to the discrete curve and a preset first-order inertia time domain algorithm, it is specifically used to:

[0148] Obtain any two different data points from the discrete curve; substitute the two data points into the first-order inertia time domain algorithm to obtain the corresponding first-order inertia time.

[0149] In one embodiment, before executing the program instructions to implement the step of performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time, the processor is further configured to:

[0150] A trajectory description formula is established according to a preset motion trajectory; a reversal point is calculated according to the trajectory description formula; a segmentation parameter is determined according to the reversal point; wherein the segmentation parameter includes a segmentation period and a segmentation number; the motion trajectory is segmented according to the segmentation parameter to obtain corresponding segmented trajectories; and the corresponding output displacement data is obtained according to each segmented trajectory.

[0151] In one embodiment, when the processor executes the program instructions to implement the step of performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time, it is specifically used to:

[0152] The output displacement data of the corresponding feed axis is error compensated according to the first-order inertia time to obtain the error-compensated displacement data corresponding to the feed axis; and the corresponding control instructions are output to the feed axis according to each segmentation period and the error-compensated displacement data corresponding to each segmentation period to control the feed axis.

[0153] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0154] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0155] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0156] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0157] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling an electronic device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0158] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for controlling a feed axis, characterized in that: The method is applied to a controller of a numerical control system, the numerical control system further comprising at least one feed axis, the controller being electrically connected to each of the feed axes, and the method comprising: Acquire sequence data returned by each feed axis based on a preset trajectory; Obtaining a corresponding displacement command curve according to each of the preset trajectories; Obtaining a corresponding feedback displacement curve according to each of the sequence data; Obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve; Calculate the first-order inertia time corresponding to each of the feed axes according to the discrete curve and a preset first-order inertia time domain algorithm; Error compensation is performed on the output displacement data of the corresponding feed axis according to the first-order inertia time.

2. The feed axis control method according to claim 1, characterized in that: The step of obtaining a corresponding displacement command curve according to each of the preset trajectories includes: Calculating the target displacement time according to a preset movement time acquisition strategy and the target displacement in the preset trajectory; The displacement command curve is obtained according to the target displacement, the target displacement time and the displacement formula in the moving time acquisition strategy.

3. The feed axis control method according to claim 2, characterized in that: The step of calculating the target displacement time according to the preset movement time acquisition strategy and the target displacement in the preset trajectory includes: Determine a first speed equation group corresponding to the acceleration and deceleration segment in the preset trajectory according to the speed formula in the movement time acquisition strategy; Determine a time function relationship between a first time and a second time according to the first speed equation group; The target displacement time is calculated according to the time function relationship and the displacement formula.

4. The feed axis control method according to claim 1, characterized in that: The step of obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve includes: Merging the displacement command curve and the corresponding feedback displacement curve to obtain a merged curve; Decomposing the combined curve to obtain the delay time corresponding to each displacement coordinate; The corresponding discrete curve is obtained according to the delay time corresponding to each displacement coordinate.

5. The feed axis control method according to claim 1, characterized in that: The first-order inertia time corresponding to each feed axis is calculated according to the discrete curve and a preset first-order inertia time domain algorithm, including: Obtaining any two different data points from the discrete curve; Substituting the two data points into the first-order inertia time domain algorithm obtains the corresponding first-order inertia time.

6. The feed axis control method according to claim 1, characterized in that: Before performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time, the method further includes: Establish a trajectory description formula according to the preset motion trajectory; The reversing point is calculated according to the trajectory description formula; Determine the segmentation parameters according to the reversal point; wherein the segmentation parameters include a segmentation period and a segmentation number; Segment the motion trajectory according to the segmentation parameters to obtain corresponding segmentation trajectories; The corresponding output displacement data is obtained according to each segmentation trajectory.

7. The feed axis control method according to claim 6, characterized in that: The error compensation of the output displacement data of the corresponding feed axis according to the first-order inertia time comprises: Performing error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time to obtain error-compensated displacement data corresponding to the feed axis; A corresponding control instruction is output to the feed axis according to each of the division periods and the error-compensated displacement data corresponding to each of the division periods, so as to control the feed axis.

8. A control device for a feed axis, characterized in that: The device is configured in a controller of a numerical control system, the numerical control system further comprises at least one feed axis, the controller is electrically connected to each of the feed axes, and the device comprises: An acquisition unit, used for acquiring sequence data returned by each feed axis based on a preset trajectory; A first curve acquisition unit, used for obtaining a corresponding displacement command curve according to each of the preset trajectories; A second curve acquisition unit, used for obtaining a corresponding feedback displacement curve according to each of the sequence data; A discrete curve acquisition unit, used for obtaining a corresponding discrete curve according to the displacement command curve and the corresponding feedback displacement curve; A calculation unit, used for calculating the first-order inertia time corresponding to each of the feed axes according to the discrete curve and a preset first-order inertia time domain algorithm; The error compensation unit is used to perform error compensation on the output displacement data of the corresponding feed axis according to the first-order inertia time.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the method according to any one of claims 1 to 6 can be implemented.

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