Extracting switching control method, controller, storage medium and program product

Abstract

The invention relates to a cutting control method, a controller, a storage medium and a program product, relates to a material cutting control technology, and can realize cutting control without interrupting production. The chasing cutting control method comprises the steps that motion data of synchronous machining of a main shaft mechanism and a slave shaft mechanism in a chasing cutting system in a first machining period are obtained, and the motion data comprise phase data of the main shaft mechanism and displacement data of the slave shaft mechanism; and according to the motion data, the chasing cutting operation of the chasing cutting system in a second machining period is controlled, so that the main shaft mechanism and the auxiliary shaft mechanism move relatively in a static mode, the first machining period is adjacent to the second machining period, and the first machining period is before the second machining period.

Description

Technical Field

[0001] The present disclosure relates to material cutting control technology, and in particular, to a cutting control method, a controller, a storage medium and a program product. Background Art

[0002] At present, the tracking cutting control in the processing mainly relies on manual interruption of production to adjust the tracking cutting control parameters. It is unable to self-adjust the tracking cutting control parameters in harsh environments and is subject to human intervention, and the reliability of the processing results cannot be guaranteed. Summary of the invention

[0003] In order to solve the deficiencies of the prior art, the present disclosure provides a switching control method, a controller, a memory and a program product.

[0004] In order to achieve the above objectives, in a first aspect, the present disclosure provides a tracking control method, the method comprising: Acquire motion data of synchronous processing of a main axis mechanism and a slave axis mechanism in a tracking cutting system in a first processing cycle, wherein the motion data includes phase data of the main axis mechanism and displacement data of the slave axis mechanism; According to the motion data, the tracking operation of the tracking system in the second processing cycle is controlled to make the main axis mechanism and the slave axis mechanism move relatively still, and the first processing cycle is adjacent to the second processing cycle and the first processing cycle is before the second processing cycle.

[0005] In a second aspect, the present disclosure provides a controller, comprising: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the method described in the first aspect.

[0006] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the method described in the first aspect when the computer program is executed by a processor.

[0007] In a fourth aspect, the present disclosure provides a computer program product, including a computer program, which implements the method described in the first aspect when executed by a processor.

[0008] Through the above technical solution, the motion data of the synchronous processing of the main axis mechanism and the slave axis mechanism in the tracking cutting system in the first processing cycle is obtained, and the tracking cutting operation of the tracking cutting system in the second processing cycle is controlled according to the motion data, so that the main axis mechanism and the slave axis mechanism are relatively stationary. The whole control process can realize the tracking cutting control without interrupting production, and the manual intervention in the whole control process is reduced, thereby improving the tracking cutting processing accuracy.

[0009] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 It is a schematic diagram of the processing of the dynamic shearing system.

[0011] Figure 2 is a flowchart of a chase cutting control method according to an exemplary embodiment of the present disclosure.

[0012] Figure 3 It is a structural schematic diagram of a cutting control system according to an exemplary embodiment of the present disclosure.

[0013] Figure 4 is a schematic diagram of a chase cutting position of a chase cutting control system according to an exemplary embodiment of the present disclosure.

[0014] Figure 5 is a schematic diagram of a normality test of a displacement difference set according to an exemplary embodiment of the present disclosure.

[0015] Figure 6 is a schematic diagram of process capability indicators of a chase cutting system according to an exemplary embodiment of the present disclosure.

[0016] Figure 7 is a flowchart of a chase cutting process according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0017] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0018] It is worth noting that the shearing control technology is a control technology that continuously shears the material during the continuous movement of the material. Figure 1 As shown in the figure, during the chasing cutting process, the slave axis mechanism accelerates from rest (synchronous start); when the linear speed of the slave axis mechanism is synchronized with the linear speed of the main axis mechanism, the processed material and the cutter on the slave axis mechanism move relative to each other (synchronous interval), and the cutter on the slave axis mechanism cuts the material (sawing action), wherein the area between the synchronous start and the synchronous interval is the chasing area; after the cutting is completed, the slave axis mechanism quickly returns to the starting position in the reverse direction (return interval) to wait for the next chasing cutting action (synchronous end).

[0019] The invention patent with application number "CN201720024679.7" discloses a dynamic shearing system for an industrial pipe making machine, including a PLC, a screw guide structure, a measuring roller, an encoder, a motor and an original limit sensor. The motor is connected to the screw guide structure, and the cutting table is installed on the slider of the screw guide structure. The motor drives the cutting table to move linearly through the screw; the measuring roller obtains the displacement value of the steel pipe, the encoder is installed on the motor shaft, and measures the rotation value of the motor. The original limit sensor obtains the position information of the cutting table, and the displacement value, rotation value and cutting table position information are transmitted to the PLC. The PLC controls the rotation of the motor, and the cutting table moves and completes the cutting.

[0020] The inventors found that the tracking cutting control technology relies on manual interruption of production to adjust the tracking cutting control parameters during the processing. It is unable to self-adjust the tracking cutting control parameters in harsh environments and is subject to human intervention, and the reliability of the processing results cannot be guaranteed.

[0021] In view of this, the present disclosure provides a tracking cutting control method, a controller, a storage medium and a program product, which can realize tracking cutting control without interrupting production, thereby improving the tracking cutting processing accuracy.

[0022] Figure 2 FIG. 1 is a flow chart of a method for controlling a tracking operation according to an exemplary embodiment of the present disclosure. The method for controlling a tracking operation can be applied to smart devices such as computers, notebooks, and mobile phones. Figure 2 As shown, the tracking control method may include: In step S21, motion data of synchronous processing of the main axis mechanism and the slave axis mechanism in the tracking cutting system in the first processing cycle is obtained, and the motion data includes phase data of the main axis mechanism and displacement data of the slave axis mechanism.

[0023] It is worth noting that see Figure 3The tracking cutting system includes a main axis mechanism 1, a slave axis mechanism 2, an auxiliary mechanism 3, a processing mechanism 4 and a processing material 5. The processing material 5 is the front-end material of the equipment to be processed into a finished product in the tracking cutting process; the main axis mechanism 1 is used to obtain the real-time position, moving speed and moving acceleration of the processing material in the tracking cutting process, and can transmit measurement data with the whole machine equipment where the tracking cutting system is located. The main axis mechanism 1 is a communication measurement mechanism; the slave axis mechanism 2 tracks the motion of the main axis mechanism 1 through an electronic cam, and intends to use a high-order motion curve to imitate the effect of a mechanical cam, so as to achieve a continuous left-right back-and-forth tracking cutting motion; the auxiliary mechanism 3 is used to connect the slave axis mechanism 2 and the processing mechanism 4, and is used to assist the processing mechanism to complete the processing operation, and under specific instructions, helps the processing mechanism axis to directly operate the tracking cutting material (not limited to tracking cutting); the processing mechanism 4 is a mechanism used to perform actual operations on the processing material, such as dynamic operations of platforms such as cutting tools, welding equipment and gluing equipment.

[0024] like Figure 4 As shown, in each processing cycle, the processing material 5 is constantly moving to the right at a constant speed of V1 for feeding, where V1 is a fixed value; the processing mechanism 4 follows the axis mechanism 2 and moves to the right at a speed of V2, where V2 is a variable value. Figure 1 As shown, in the catch-up interval, V2 is greater than V1, and in the synchronization interval, V2 is equal to V1. For example, in the synchronization start to catch-up interval, the slave axis mechanism 2 starts to accelerate from a stationary state and moves to the right at a speed of V2 until the linear speed of the slave axis mechanism 2 is synchronized with that of the main axis mechanism 1 and enters the synchronization interval. At this time, the displacement L of the slave axis mechanism 2 is the same as the phase S of the main axis mechanism 1, that is, S=L, and the processing material 5 and the processing mechanism 4 are relatively stationary.

[0025] In step S22, according to the motion data, the tracking operation of the tracking system in the second processing cycle is controlled so that the main axis mechanism and the slave axis mechanism move relatively still, and the first processing cycle is adjacent to the second processing cycle and the first processing cycle is before the second processing cycle.

[0026] In the disclosed embodiment, motion data of synchronous processing of the main axis mechanism and the slave axis mechanism in the tracking cutting system in the first processing cycle is obtained, and the motion data directly reflects the actual motion state of the main axis mechanism and the slave axis mechanism in the first processing cycle; the tracking cutting operation of the tracking cutting system in the second processing cycle is controlled according to the motion data, so that the main axis mechanism and the slave axis mechanism move relatively still, and accurate control of the second processing cycle is achieved, thereby greatly improving the processing accuracy, realizing automatic control of the tracking cutting system, and enabling the tracking cutting system to respond and adjust faster, reducing downtime caused by manual adjustment, and reducing manual intervention, thereby reducing labor costs; due to the improvement of processing accuracy, material waste caused by processing errors is reduced; and different types of tracking cutting systems and processing tasks can be used, with wide applicability.

[0027] In order to facilitate those skilled in the art to better understand the tracking control method provided by the present disclosure, the steps of the method are described in detail below.

[0028] It should be understood that during the follow-up cutting process, if the slave axis mechanism and the main axis mechanism are not in a relatively static state before processing, there will be a certain deviation angle between the processing mechanism and the processed material, resulting in the processed surface on the processed material after processing not meeting the processing accuracy requirements.

[0029] In a feasible implementation manner, in step S22, according to the motion data, controlling the tracking operation of the tracking system in the second processing cycle so that the main axis mechanism and the slave axis mechanism move relatively still may include: According to the motion data, the displacement of the processed material in the slave axis mechanism and / or the follow-up cutting system in the second processing cycle is controlled to make the main axis mechanism and the slave axis mechanism relatively stationary.

[0030] In the embodiment of the present disclosure, by precisely controlling the displacement of the slave axis mechanism or the processed material, it is possible to ensure that the main axis mechanism and the slave axis mechanism are relatively stationary in the second processing cycle, thereby achieving more precise synchronous processing, reducing processing errors caused by mechanical vibration, wear or inaccurate control, and improving the overall processing accuracy of the product.

[0031] In a feasible implementation, controlling the displacement of the processed material in the second processing cycle in the slave axis mechanism and / or the follow-up cutting system according to the motion data may include: For each moment in the synchronous machining process, the displacement difference between the machining material and the slave axis mechanism in the synchronous machining process in the first machining cycle is determined according to the phase data and displacement data at the moment, and a displacement difference set is obtained; Based on the displacement difference set, the displacement of the processed material in the slave axis mechanism and / or the follow-up cutting system in the second processing cycle is controlled.

[0032] In the disclosed embodiments, by calculating the displacement difference between the processed material and the central mechanism at each moment in the synchronous processing process, the displacement deviation between the processed material and the slave axis mechanism in the first processing cycle can be accurately understood; according to the displacement difference mechanism, the displacement of the slave axis mechanism and / or the processed material in the second processing cycle is controlled, so as to ensure that in the second processing cycle, the movement of the processed material and the slave axis mechanism is more synchronized, thereby improving the overall processing efficiency and stability; and it can ensure that the product quality of each processing cycle remains consistent, thereby improving the overall product quality; at the same time, through real-time monitoring and adjustment, potential quality problems in the processing process can be discovered and resolved in time; secondly, by recording the phase and displacement data at each moment, the processing process can be fully traced, providing strong support for quality control and problem troubleshooting.

[0033] In a feasible implementation manner, determining the displacement difference between the processed material and the slave axis mechanism during synchronous processing in the first processing cycle according to the phase data and the displacement data at the time may include: Determine the absolute value of the difference between the phase at the current moment and the phase at the previous moment to obtain the phase value corresponding to the current moment, and determine the absolute value of the difference between the displacement at the current moment and the displacement at the previous moment to obtain the displacement value corresponding to the current moment; The absolute value of the difference between the phase value and the displacement value corresponding to the same moment is determined to obtain the displacement difference.

[0034] For example, when the phase of the main axis mechanism at this moment is S2 and the phase at the previous moment is S1, and the displacement of the slave axis mechanism at this moment is L2 and the displacement at the previous moment is L1, the phase value S0 of the main axis mechanism is S2-S1, and the displacement value L0 of the slave axis mechanism is L2-L1. Then the displacement difference ΔS at the same moment is S0-L0.

[0035] It is worth noting that after obtaining the displacement difference set, it is necessary to perform a normality test on the displacement difference set to determine whether there is a problem with the hardware structure of the tracking system; if the normality test fails, it means that there is a problem with the hardware structure of the tracking system. In this case, tracking control cannot improve the synchronization between the main axis mechanism and the slave axis mechanism, so there is no need to perform tracking control; if the normality test passes, it means that there is no problem with the hardware structure of the tracking system, and the synchronization between the main axis mechanism and the slave axis mechanism can be improved by performing tracking control.

[0036] In a feasible implementation, controlling the displacement of the processed material in the second processing cycle in the slave axis mechanism and / or the follow-up cutting system according to the displacement difference set may include: Determine the deviation probability value corresponding to the displacement difference set, the deviation probability value represents the degree of deviation of the displacement difference set from the normal distribution; When the deviation probability value is greater than a preset probability threshold, the displacement of the processed material in the slave axis mechanism and / or the follow-up cutting system in the second processing cycle is controlled.

[0037] It is worth noting that the preset probability threshold can be preset according to the accuracy of the normality test, and can also be preset according to the actual follow-up cutting process, and the embodiments of the present disclosure are not limited to this.

[0038] It is worth noting that the normality test method for the displacement difference set in the embodiments of the present disclosure may be a histogram, a QQ plot (Quantile-Quantile Plot), a PP plot (Probability-Probability Plot), and a normality statistical test, etc., and the present disclosure does not limit this.

[0039] For example, Figure 5 As shown, there are N displacement differences in the displacement difference set ΔS, N=178, and the displacement difference set ΔS is substituted into the standard normal distribution density function ø(): ø(ΔS)=(1 / √2Π)e^(-ΔS^2 / 2), ΔS∈R.

[0040] like Figure 5 As shown, the mean difference of ΔS is 0.549, the standard deviation is 0.04886, the AD value (statistic of Anderson-Darling test) is 0.167, and the P value (deviation probability value) is 0.937.

[0041] Since the P value of 0.937 is greater than the preset probability threshold of 0.5, it can be seen that ΔS follows the standard normal distribution, which is recorded as ΔS~J(0,1). At this time, ø(0)=1 / 2, ø(-ΔS)=1-ø(ΔS).

[0042] It is worth noting that after obtaining the displacement difference set, the abnormal displacement differences in the displacement difference set can be eliminated, thereby improving the reliability of subsequent tracking control.

[0043] In a feasible implementation, controlling the displacement of the processed material in the second processing cycle in the slave axis mechanism and / or the follow-up cutting system according to the displacement difference set may include: determining the standard deviation of all displacement differences in the displacement difference set; When the standard deviation is greater than the standard deviation threshold, the abnormal displacement differences in the displacement difference set are identified and eliminated to obtain the target displacement difference set; According to the target displacement difference set, the displacement of the processed material in the slave axis mechanism and / or the follow-up cutting system in the second processing cycle is controlled.

[0044] It is worth noting that the standard deviation threshold can be preset according to the accuracy of the tracking cutting control, or according to the operating parameters in the actual tracking cutting process, and the present disclosure does not limit this. Secondly, when the process capability index Cpk is subsequently calculated, the standard deviation can also be called the overall standard deviation, and the standard deviation threshold can also be called the standard deviation within the group.

[0045] For example, Figure 5 As shown, the standard deviation of all displacement differences in the displacement difference set is 0.04886, and the standard deviation threshold is 0.04740. Because the standard deviation 0.04886>the standard deviation threshold 0.04740, the abnormal displacement differences in the displacement difference set are identified and eliminated to obtain the target displacement difference set. The displacement of the processed material in the second processing cycle in the slave axis mechanism and / or the tracking cutting system is controlled according to the target displacement difference set.

[0046] It is worth noting that the default self-regulation coefficient of the tracking cutting system is determined based on the main axis mechanism coefficient and the slave axis mechanism coefficient, which can be calculated by the following formula: CamCoe=CamCoe[0] / CamCoe[1], where CamCoe[0] represents the main axis mechanism coefficient and CamCoe[1] represents the slave axis mechanism coefficient. However, this calculation method does not combine the actual operating status of the main axis mechanism and the slave axis mechanism. The tracking cutting control based on the self-regulation coefficient obtained by this calculation method cannot guarantee the synchronization of the movement of the processed material and the slave axis mechanism in each processing cycle.

[0047] In a feasible implementation, controlling the displacement of the processed material in the second processing cycle in the slave axis mechanism and / or the follow-up cutting system according to the displacement difference set may include: When at least one displacement difference in the displacement difference set does not exist in the preset difference value set, determining a self-adjustment coefficient according to the displacement difference set; According to the self-regulating coefficient, the displacement of the processed material in the slave axis mechanism and / or the follow-up cutting system in the second processing cycle is controlled.

[0048] In the embodiment of the present disclosure, a self-adjustment coefficient is determined based on a set of displacement differences, and the displacement of the processed material in the slave axis mechanism and / or the tracking cutting system in the second processing cycle is adjusted based on the self-adjustment coefficient, so as to reduce the error caused by the mismatch between the preset difference and the actual displacement difference; and in the continuous processing process, the error may gradually accumulate, resulting in a decrease in the accuracy of the final product. In the embodiment of the present disclosure, the displacement is adjusted in real time, thereby reducing the accumulation of errors and improving the processing accuracy.

[0049] In a feasible implementation manner, determining the self-adjustment coefficient according to the displacement difference set may include: According to the displacement difference set, the process capability index of the tracking cutting system is determined; Calculate the upper and lower specification limits of the process capability index based on the process capability index and the average and standard deviation of each displacement difference in the displacement difference set; Determine the displacement adjustment range based on the upper and lower specification limits; The self-adjustment coefficient is determined according to the displacement adjustment range.

[0050] It is worth mentioning that the process capability index can be calculated based on the upper specification limit, the lower specification limit, the average value and the standard deviation of each displacement difference. Therefore, after obtaining the process capability index, the upper specification limit and the lower specification limit can be reversely calculated based on the process capability index and the average value and the standard deviation of each displacement difference in the displacement difference set.

[0051] Specifically, Figure 6As shown in the figure, when the upper specification limit, lower specification limit LSL, average value X and standard deviation (within group) δ of each displacement difference are known, the corresponding process capability index Cpk can be obtained by the following calculation formula: Cpu=(USL-X) / 3δ; Cpl = (X-LSL) / 3δ; Cpk=min{Cpl,Cpu}; Among them, Cpu (Upper Process Capability Index) represents the degree to which the processing process deviates from the upper specification limit, and Cpl (Lower Process Capability Index) represents the degree to which the processing process deviates from the lower specification limit.

[0052] For example, Figure 6 As shown, the specification center value M, average value X, specification width T and standard deviation (overall) δ of all displacement differences in the displacement difference set are determined, and the process capability index Cpk is obtained by the following calculation formula: Ca=(MX) / (T / 2), Cp=T / 6δ, Cpk=(1-|Ca|)·Cp.

[0053] Among them, Ca represents the process accuracy (Capability of Accuracy), and Cp represents the process precision (Capability of Precision).

[0054] According to the process capability index Cpk, the average value X and standard deviation δ of each displacement difference in the displacement difference set, the upper specification limit USL and lower specification limit LSL of the process capability index Cpk are calculated by the following calculation formula: USL = Cpk·3δ+X; LSL=X-Cpk·3δ.

[0055] The self-regulation coefficient CamCoe of the tracking system ΔS in the set when it is self-operating is: CamCoe=f(ΔS),ΔS(USL,LSL).

[0056] like Figure 6 The Cpk analysis chart shown includes the process data specification lower limit LSL=3.4, specification upper limit USL=3.7, specification target=3.549, sample mean X=3.54871, standard deviation (overall) δ=0.0488576 and standard deviation (within group) δ=0.0473965. Figure 6As shown in the figure, the overall capability includes the Process Performance Ratio (Pp), which is used to reflect the degree to which the long-term total fluctuation of the process meets the quality requirements, and is usually used to evaluate the actual performance of the process in a certain observation period in the past; the lower limit of the process performance index (PPL) and the upper limit of the process performance index (PPU), which are used to evaluate the performance of the process near the specification limit; the process performance K ratio (Ppk), which is calculated based on the overall data (including the variation caused by special reasons), and is used to evaluate the overall performance of the process in actual operation, regardless of whether the process is in a state of statistical control; and the critical path method (Cpm), which is used in project management to determine which tasks in the project are most critical to the overall progress, and to formulate project plans and control progress accordingly. And Pp=1.02, PPL=1.01, PPU=1.03, Ppk=1.01 and Cpm=1.02.

[0057] In a feasible implementation, controlling the displacement of the processed material in the second processing cycle in the follow-up cutting system according to the self-regulation coefficient may include: The displacement of the slave axis mechanism in the second processing cycle is controlled to remain unchanged, and the displacement of the processed material in the tracking cutting system in the second processing cycle is increased or decreased according to the self-adjustment coefficient until the displacement difference between the adjusted processed material and the slave axis mechanism exists in the preset difference set.

[0058] In the disclosed embodiment, the slave axis mechanism is used as a reference object, and its displacement remains unchanged. According to the self-adjusting coefficient, the displacement of the processed material in the tracking cutting system in the second processing cycle is increased or decreased, which can significantly reduce the error in the processing process, thereby improving the processing accuracy of the product and helping the tracking cutting system to maintain a stable processing state; and the introduction of the self-adjusting coefficient enables the tracking cutting system to be dynamically adjusted according to the actual processing situation, further enhancing the adaptability and stability of the tracking cutting system; and only adjusting the displacement of the processed material can reduce the adjustment and waiting time in the processing process, and precise displacement control helps to reduce the scrap rate and rework rate, thereby further reducing production costs and improving production efficiency.

[0059] In a feasible implementation manner, controlling the displacement of the slave axis mechanism in the second machining cycle according to the self-adjustment coefficient may include: The displacement of the processed material in the tracking cutting system in the second processing cycle remains unchanged, and the displacement of the slave axis mechanism in the second processing cycle is increased or decreased according to the self-adjustment coefficient until the displacement difference between the adjusted processed material and the slave axis mechanism exists in the preset difference set.

[0060] In the embodiment of the present disclosure, the processing material is used as a reference object, and the displacement of the processing material in the second processing cycle is fixed, which can ensure the consistency of the position of the material in multiple processing, thereby improving the repeatability and stability of the processing results; and dynamically adjust the displacement of the slave axis mechanism according to the self-adjustment coefficient, so that the tracking cutting system can adapt to different processing requirements and conditions, thereby improving the flexibility and adaptability of processing.

[0061] In a feasible implementation, controlling the displacement of the processed material in the second processing cycle in the slave axis mechanism and the follow-up cutting system according to the self-regulation coefficient may include: According to the self-adjustment coefficient, the displacement of the processed material in the tracking cutting system in the second processing cycle is increased and the displacement of the slave axis mechanism in the second processing cycle is reduced, or the displacement of the processed material in the tracking cutting system in the second processing cycle is reduced and the displacement of the slave axis mechanism in the second processing cycle is increased, until the displacement difference between the adjusted processed material and the slave axis mechanism exists in the preset difference set.

[0062] In the real-time method disclosed in the present invention, the displacement of the processed material and the slave axis mechanism in the second processing cycle is adjusted simultaneously according to the self-adjustment coefficient, which can shorten the time for adjusting the displacement, thereby increasing the processing speed and improving production efficiency.

[0063] like Figure 7 As shown, the switching control method provided by the present disclosure may include the following steps: In step S71, a trigger signal of the tracking motion is detected.

[0064] In step S72, after the trigger signal is detected, the processing material and the slave axis mechanism are controlled to start synchronous movement, the slave axis mechanism starts from the zero point and catches up with the position of the processing material from a static state, and the main axis mechanism moves in a circular motion with the processing material.

[0065] In step S73, when the processing material and the slave axis mechanism reach the synchronization interval, the displacement and speed of the processing material and the slave axis mechanism are relatively static, and the slave axis mechanism drives the tool to saw the processing material.

[0066] In step S74, the relative static state between the processed material and the slave axis mechanism ends, and the slave axis mechanism starts to return to the zero point.

[0067] In step S75, the slave-axis mechanism reaches the zero point, the slave-axis mechanism ends the synchronous motion, and remains stationary.

[0068] In step S76, the motion data of the main axis mechanism and the slave axis mechanism in the next cycle are self-adjusted according to the motion data of the main axis mechanism and the slave axis mechanism in the synchronization section in the previous cycle.

[0069] In the disclosed embodiment, the tracking cutting system is controlled in the next cycle according to the motion data of the main axis mechanism and the slave axis mechanism of the tracking cutting system synchronously processed in the previous processing cycle. The tracking cutting control can be realized without interrupting production, and the entire control process reduces manual intervention and improves the tracking cutting processing accuracy.

[0070] Based on the same inventive concept, the present disclosure also provides a controller, including: a memory having a computer program stored thereon; The processor is used to execute the computer program in the memory to implement the above-mentioned switching control method.

[0071] In the disclosed embodiment, motion data of synchronous processing of the main axis mechanism and the slave axis mechanism in the tracking cutting system in the first processing cycle is obtained, and the motion data directly reflects the actual motion state of the main axis mechanism and the slave axis mechanism in the first processing cycle; the tracking cutting operation of the tracking cutting system in the second processing cycle is controlled according to the motion data, so that the main axis mechanism and the slave axis mechanism move relatively still, and accurate control of the second processing cycle is achieved, thereby greatly improving the processing accuracy, realizing automatic control of the tracking cutting system, and enabling the tracking cutting system to respond and adjust faster, reducing downtime caused by manual adjustment, and reducing manual intervention, thereby reducing labor costs; due to the improvement of processing accuracy, material waste caused by processing errors is reduced; and different types of tracking cutting systems and processing tasks can be used, with wide applicability.

[0072] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided, and when the program instructions are executed by a processor, the steps of the above-mentioned switching control method are implemented.

[0073] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program executable by a processor. When the computer program is executed by the processor, the steps of the above-mentioned switching control method are implemented.

[0074] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0075] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0076] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A tracking control method, characterized in that: The method comprises: Acquire motion data of synchronous processing of a main axis mechanism and a slave axis mechanism in a tracking cutting system in a first processing cycle, wherein the motion data includes phase data of the main axis mechanism and displacement data of the slave axis mechanism; According to the motion data, the tracking operation of the tracking system in the second processing cycle is controlled to make the main axis mechanism and the slave axis mechanism move relatively still, and the first processing cycle is adjacent to the second processing cycle and the first processing cycle is before the second processing cycle.

2. The method for controlling the switching operation according to claim 1, characterized in that: The method of controlling the tracking cutting operation of the tracking cutting system in the second machining cycle according to the motion data so that the main axis mechanism and the slave axis mechanism move relatively still includes: According to the motion data, the displacement of the slave axis mechanism and / or the processing material in the follow-up cutting system in the second processing cycle is controlled so that the main axis mechanism and the slave axis mechanism move relatively still.

3. The method for controlling the switching operation according to claim 2, characterized in that: The step of controlling the displacement of the slave axis mechanism and / or the processing material in the follow-up cutting system in the second processing cycle according to the motion data includes: For each moment in the synchronous machining process, determining the displacement difference between the machining material and the slave axis mechanism in the synchronous machining process in the first machining cycle according to the phase data and the displacement data at the moment, and obtaining a displacement difference set; According to the displacement difference set, the displacement of the processing material in the second processing cycle of the slave axis mechanism and / or the follow-up cutting system is controlled.

4. The method for controlling the switching operation according to claim 3, characterized in that: The step of controlling the displacement of the slave axis mechanism and / or the processing material in the follow-up cutting system in the second processing cycle according to the displacement difference set includes: When at least one displacement difference in the displacement difference set does not exist in the preset difference value set, determining a self-adjustment coefficient according to the displacement difference set; According to the self-regulating coefficient, the displacement of the processed material in the slave axis mechanism and / or the follow-up cutting system in the second processing cycle is controlled.

5. The method for controlling the follow-up cutting according to claim 4, characterized in that: The step of controlling the displacement of the processed material in the tracking cutting system in the second processing cycle according to the self-adjusting coefficient includes: The displacement of the slave axis mechanism in the second processing cycle is controlled to remain unchanged, and the displacement of the processing material in the tracking cutting system in the second processing cycle is increased or decreased according to the self-adjustment coefficient until the displacement difference between the processing material and the slave axis mechanism after adjustment exists in the preset difference set.

6. The method for controlling the switching operation according to claim 4, characterized in that: The step of controlling the displacement of the slave axis mechanism in the second machining cycle according to the self-adjusting coefficient includes: The displacement of the processed material in the tracking cutting system in the second processing cycle is controlled to remain unchanged, and the displacement of the slave axis mechanism in the second processing cycle is increased or decreased according to the self-adjustment coefficient until the adjusted displacement difference between the processed material and the slave axis mechanism exists in the preset difference value set.

7. The method for controlling the switching operation according to claim 4, characterized in that: The step of controlling the displacement of the processed material in the slave axis mechanism and the follow-up cutting system in the second processing cycle according to the self-adjusting coefficient includes: According to the self-adjustment coefficient, the displacement of the processed material in the tracking cutting system in the second processing cycle is increased and the displacement of the slave axis mechanism in the second processing cycle is reduced, or the displacement of the processed material in the tracking cutting system in the second processing cycle is reduced and the displacement of the slave axis mechanism in the second processing cycle is increased, until the adjusted displacement difference between the processed material and the slave axis mechanism exists in the preset difference set.

8. The method for controlling the switching operation according to claim 4, characterized in that: The determining of the self-adjustment coefficient according to the displacement difference set includes: Determining a process capability index of the tracking cutting system according to the displacement difference set; Calculating the upper and lower specification limits of the process capability indicator according to the process capability indicator and the average and standard deviation of each displacement difference in the displacement difference set; Determine a displacement adjustment interval according to the upper specification limit and the lower specification limit; The self-adjustment coefficient is determined according to the displacement adjustment interval.

9. The method for controlling the follow-up switching according to claim 3, characterized in that: The determining, according to the phase data and the displacement data at the moment, the displacement difference between the processed material and the slave axis mechanism during the synchronous processing in the first processing cycle comprises: Determine the absolute value of the difference between the phase at the moment and the phase at the previous moment to obtain the phase value corresponding to the moment, and determine the absolute value of the difference between the displacement at the moment and the displacement at the previous moment to obtain the displacement value corresponding to the moment; The absolute value of the difference between the phase value and the displacement value corresponding to the same moment is determined to obtain the displacement difference.

10. The method for controlling the switching operation according to any one of claims 3 to 9, characterized in that: The step of controlling the displacement of the slave axis mechanism and / or the processing material in the follow-up cutting system in the second processing cycle according to the displacement difference set includes: Determine a deviation probability value corresponding to the displacement difference set, wherein the deviation probability value represents a degree of deviation of the displacement difference set from a normal distribution; When the deviation probability value is greater than a preset probability threshold, the displacement of the processed material in the slave axis mechanism and / or the follow-up cutting system in the second processing cycle is controlled.

11. The method for controlling the switching operation according to any one of claims 3 to 9, characterized in that: The step of controlling the displacement of the slave axis mechanism and / or the processing material in the follow-up cutting system in the second processing cycle according to the displacement difference set includes: determining a standard deviation of all displacement differences in the displacement difference set; When the standard deviation is greater than a standard deviation threshold, identifying and eliminating abnormal displacement differences in the displacement difference set to obtain a target displacement difference set; According to the target displacement difference set, the displacement of the processing material in the second processing cycle in the slave axis mechanism and / or the follow-up cutting system is controlled.

12. A controller, characterized in that: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the method according to any one of claims 1 to 11.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

14. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 11 when being executed by a processor.

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