Multi-axis machine tool control method and device, computer equipment and storage medium

Abstract

The invention relates to a multi-axis machine tool control method and device, computer equipment, a storage medium and a computer program product. The method comprises the steps that in response to an operation control instruction for the multi-axis machine tool, expected operation track information, a track information conversion model and a machine tool mechanical model of the multi-axis machine tool are obtained; performing information conversion on the expected moving trajectory information by using a trajectory information conversion model to obtain respective single-axis operation control information of each control axis in the multi-axis machine tool; based on the single-axis operation control information, simulating the operation process of the multi-axis machine tool in the machine tool mechanical model to obtain simulated operation track information of the multi-axis machine tool; and controlling the multi-axis machine tool to operate according to the single-axis operation control information under the condition that the single-axis operation control information meets the information output condition according to the track information error between the simulated operation track information and the expected operation track information. By adopting the method, the operation precision and the operation efficiency of the multi-axis machine tool can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of machine tool automation control, and particularly to a multi-axis machine tool control method, device, computer device, storage medium, and computer program product. Background Art

[0002] With the rapid development of the manufacturing industry, the requirements for the machining accuracy, machining quality, and production efficiency of various machined products are becoming increasingly stringent. Multi-axis machine tools, with their multi-degree-of-freedom collaborative machining capabilities, have been widely used in the manufacturing industry and have become the core equipment in the manufacturing industry.

[0003] Currently, when controlling the operation of a multi-axis machine tool, single-axis independent control is adopted. During the machining operation, vibrations, interferences, and other mutual influences inevitably occur among the multiple axes. Therefore, how to plan and control the operation of each control axis of the multi-axis machine tool to avoid the mutual coupling of the multiple axes and affect the machining accuracy has become the core technical challenge in automated manufacturing.

[0004] Traditional multi-axis machine tool control is planned and controlled through each subsystem, such as the servo drive systems of each control axis. The control methods and parameters of each subsystem are generally different. To ensure the operation efficiency and accuracy of the multi-axis machine tool, professional personnel need to debug the system parameters of each subsystem, which has the problems of long debugging cycles and high debugging difficulties, seriously affecting the operation accuracy and operation efficiency of the multi-axis machine tool. Summary of the Invention

[0005] Based on this, it is necessary to provide a multi-axis machine tool control method, device, computer device, computer-readable storage medium, and computer program product that can improve the operation accuracy and operation efficiency of the multi-axis machine tool for the above technical problems.

[0006] In a first aspect, the present application provides a multi-axis machine tool control method, and the method includes:

[0007] In response to a running control instruction for a multi-axis machine tool, obtain the expected running trajectory information, trajectory information conversion model, and machine tool mechanical model of the multi-axis machine tool;

[0008] Use the trajectory information conversion model to perform information conversion on the expected running trajectory information to obtain the single-axis running control information of each control axis in the multi-axis machine tool;

[0009] Based on each single-axis running control information, simulate the running process of the multi-axis machine tool in the machine tool mechanical model to obtain the simulated running trajectory information of the multi-axis machine tool;

[0010] When it is determined that the trajectory information errors between the simulated operation trajectory information and the desired operation trajectory information satisfy the information output conditions for each of the single-axis operation control information, the multi-axis machine tool is controlled according to each of the single-axis operation control information.

[0011] In one embodiment, the method further includes:

[0012] When it is determined that each of the single-axis operation control information does not satisfy the information output conditions, determine model correction information that matches the trajectory information error;

[0013] Based on the model correction information, perform model correction on the trajectory information conversion model to obtain a corrected trajectory information conversion model;

[0014] Use the corrected trajectory information conversion model, and return to execute the step of using the trajectory information conversion model to perform information conversion on the desired operation trajectory information to obtain the single-axis operation control information of each control axis of the multi-axis machine tool.

[0015] In one embodiment, the trajectory information conversion model includes a trajectory decomposition model and each single-axis motor model that matches each control axis of the multi-axis machine tool;

[0016] The step of using the trajectory information conversion model to perform information conversion on the desired operation trajectory information to obtain the single-axis operation control information of each control axis of the multi-axis machine tool includes:

[0017] Use the trajectory decomposition model to perform trajectory decomposition on the desired operation trajectory information to obtain the single-axis operation trajectory information of each control axis of the multi-axis machine tool;

[0018] For each single-axis motor model, use the single-axis motor model to perform information conversion on the single-axis operation trajectory information corresponding to the control axis to which the single-axis motor model belongs to obtain the single-axis operation control information of the control axis to which it belongs.

[0019] In one embodiment, the determining the model correction information that matches the trajectory information error includes:

[0020] Obtain each pre-set error interval for the multi-axis machine tool, and determine the target error interval to which the trajectory information error belongs from each of the error intervals;

[0021] Determine a target correction model, model structure parameters, and the model gain coefficient that match the target error interval; the target correction model includes at least one of the trajectory decomposition model and each single-axis motor model;

[0022] Determine the target correction model, model structure parameters, and the model gain coefficient that match the target error interval as the model correction information that matches the trajectory information error.

[0023] In one embodiment, the method further includes:

[0024] Obtain the application requirements of the multi-axis machine tool during the current production cycle;

[0025] Determine the error type that matches the application requirements;

[0026] Based on the difference between the expected operation trajectory information and the simulated operation trajectory information, determine the trajectory information error corresponding to the error type.

[0027] In one embodiment, the method further includes:

[0028] Determine the type error threshold that matches the error type;

[0029] In the case where the trajectory information error is less than the type error threshold, determine that each of the single-axis operation control information meets the information output condition.

[0030] In a second aspect, the present application further provides a multi-axis machine tool control device, and the device includes:

[0031] An instruction response module, configured to respond to an operation control instruction for a multi-axis machine tool, and obtain the expected operation trajectory information, a trajectory information conversion model, and a machine tool mechanical model of the multi-axis machine tool;

[0032] An information conversion module, configured to use the trajectory information conversion model to perform information conversion on the expected operation trajectory information to obtain the single-axis operation control information of each control axis in the multi-axis machine tool;

[0033] A machine tool operation simulation module, configured to simulate the operation process of the multi-axis machine tool in the machine tool mechanical model based on each of the single-axis operation control information to obtain the simulated operation trajectory information of the multi-axis machine tool;

[0034] A machine tool operation control module, configured to control the operation of the multi-axis machine tool according to each of the single-axis operation control information when it is determined that each of the single-axis operation control information meets the information output condition according to the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information.

[0035] In a third aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0036] Fourthly, the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned method are implemented.

[0037] Fifthly, the present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method are implemented.

[0038] In the above multi-axis machine tool control method, device, computer device, storage medium and computer program product, when it is necessary to control the operation of a multi-axis machine tool, the expected operation trajectory, trajectory information conversion model and machine tool mechanical model of the multi-axis machine tool are obtained, the expected operation trajectory is information-converted using the trajectory information conversion model, the expected operation trajectory is decomposed onto each control axis, and the single-axis operation control information of each control axis in the multi-axis machine tool is obtained. Based on the single-axis operation control information, the actual operation process of the multi-axis machine tool is simulated in the machine tool mechanical model to obtain the simulated operation trajectory information of the multi-axis machine tool. When it is determined that the single-axis operation control information meets the information output condition according to the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information, the multi-axis machine tool is controlled to operate according to the single-axis operation information. By determining the trajectory information error between the expected operation trajectory information and the simulated operation trajectory, it is possible to accurately understand whether each control axis will be coupled with each other and affect the machining accuracy and machining efficiency of the machining process when actually operating based on its own single-axis operation control information. When it is determined that the single-axis operation control information meets the information output condition according to the trajectory information error, and then the multi-axis machine tool is controlled to operate, it can effectively improve the operation accuracy and operation efficiency of the multi-axis machine tool when actually operating based on the single-axis operation control information, and achieve the high-speed and high-precision requirements of the overall machining of the multi-axis machine tool. Description of the Drawings

[0039] Figure 1 It is an application environment diagram of the multi-axis machine tool control method in an embodiment;

[0040] Figure 2 It is a flowchart of the multi-axis machine tool control method in an embodiment;

[0041] Figure 3 It is a flowchart of the multi-axis machine tool control method in another embodiment;

[0042] Figure 4 It is a flowchart of determining model correction information matching the trajectory information error in an embodiment;

[0043] Figure 5 It is a flowchart of the multi-axis machine tool control method in another embodiment;

[0044] Figure 6Schematic diagram of the overall architecture framework of a traditional multi-axis machine tool control system in an embodiment;

[0045] Figure 7 Block diagram of the structure of a three-axis machine tool control system in an embodiment;

[0046] Figure 8 Flow diagram of a multi-axis machine tool control method in another embodiment;

[0047] Figure 9 Block diagram of the structure of a multi-axis machine tool control device in an embodiment;

[0048] Figure 10 Internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0049] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] The multi-axis machine tool control method provided by the embodiments of the present application can be applied to an application environment as shown in Figure 1 In the figure. Among them, the multi-axis machine tool control platform 102 communicates with the user terminal 104 of the staff through the network. The data storage system can store the data that the multi-axis machine tool control platform 102 needs to process. The data storage system can be integrated on the multi-axis machine tool control platform 102, or can be placed in the cloud or other network servers. When it is necessary to perform operation control on the multi-axis machine tool, the staff can trigger an operation control instruction for the multi-axis machine tool through the user terminal 104. The multi-axis machine tool control platform 102 responds to the operation control instruction for the multi-axis machine tool, obtains the expected operation trajectory information, trajectory information conversion model and machine tool mechanical model of the multi-axis machine tool, and then uses the trajectory information conversion model to perform information conversion on the expected operation trajectory information to obtain the single-axis operation control information of each control axis in the multi-axis machine tool. Based on the single-axis operation control information, simulate the operation process of the multi-axis machine tool in the machine tool mechanical model to obtain the simulated operation trajectory information of the multi-axis machine tool. When it is determined that the single-axis operation control information meets the information output condition according to the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information, control the operation of the multi-axis machine tool according to the single-axis operation information.

[0051] Among them, the multi-axis machine tool control platform 102 is a comprehensive software control system used to coordinate and manage the coordinated movement between the control axes of the multi-axis machine tool to achieve high-precision and high-efficiency machining of complex workpieces. The multi-axis machine tool control platform 102 can be integrated on the user terminal 104, or can be implemented by an independent server or a server cluster composed of multiple servers.

[0052] The user terminal 104 of the staff is a software and hardware integration platform for the staff to interact with various production equipment and control systems in the manufacturing and processing scenario. Its core function is to assist the staff in realizing functions such as equipment monitoring, task scheduling, and data analysis through a visual interface and operation instructions. The user terminal 104 can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things devices can be various production control devices in the manufacturing and processing scenario, etc. The portable wearable devices can be smart watches, smart bracelets, etc.

[0053] In one embodiment, as Figure 2 shown, a multi-axis machine tool control method is provided. Taking the multi-axis machine tool control platform 102 in Figure 1 as an example for illustration, the method includes the following steps:

[0054] S202, in response to a running control instruction for the multi-axis machine tool, obtain the expected running trajectory information, trajectory information conversion model, and machine tool mechanical model of the multi-axis machine tool.

[0055] Among them, the running control instruction for the multi-axis machine tool is an instruction signal used to instruct the multi-axis machine tool control platform to perform running control on the target multi-axis machine tool in the manufacturing scenario. The running control instruction for the multi-axis machine tool can be generated by the staff based on the user terminal for the multi-axis machine tool.

[0056] Among them, the expected running trajectory information of the multi-axis machine tool refers to the motion path information that the multi-axis machine tool should follow set according to the expected operation requirements and processing objectives before the multi-axis machine tool processes and runs. Before the multi-axis machine tool processes and runs, the expected running trajectory of the multi-axis machine tool is generated in advance through trajectory planning and other methods, which can provide a trajectory reference for the subsequent actual processing and running, effectively reduce the processing error in the actual processing process, and improve the processing efficiency. It can be understood that the expected running trajectory information of the multi-axis machine tool can include the expected running trajectory of the multi-axis machine tool, or can also include the attitude and angle information used to characterize the expected running trajectory.

[0057] Among them, the trajectory information conversion model matching the multi-axis machine tool is a preset model used to decompose and transform the expected running trajectory information to obtain the single-axis running control information of each control axis in the multi-axis machine tool. By inputting the expected running trajectory information into the trajectory information conversion model, the single-axis running control information of each control axis of the multi-axis machine tool can be obtained.

[0058] In one embodiment, according to the number of control axes of the multi-axis machine tool, as well as the relative positions and running directions between the control axes, each single-axis information conversion model or each single-axis information conversion function corresponding to the multi-axis machine tool can be determined, and each single-axis information conversion model or each single-axis information conversion function is determined as the trajectory information conversion model matching the multi-axis machine tool. It can be understood that different machine tool structures of the multi-axis machine tool, such as different numbers of control axes, will result in different corresponding trajectory information conversion models.

[0059] Among them, the machine tool mechanical model matching the multi-axis machine tool is a simulation model obtained by virtually modeling the physical equipment of the multi-axis machine tool. Designers can perform virtual simulation on the actual equipment components constituting the multi-axis machine tool, such as various components of the machine tool, the transmission system, the support structure, and physical behaviors, etc., to obtain the machine tool mechanical model corresponding to the multi-axis machine tool. Therefore, the machine tool mechanical model can reflect the actual operating characteristics of the multi-axis machine tool.

[0060] Specifically, the multi-axis machine tool control platform can respond to the operation control instruction for the multi-axis machine tool to obtain the expected operation trajectory information, the trajectory information conversion model, and the machine tool mechanical model of the multi-axis machine tool.

[0061] In one embodiment, the expected operation trajectory information, the trajectory information conversion model, and the machine tool mechanical model of the multi-axis machine tool can be directly carried in the operation control instruction. The multi-axis machine tool control platform can obtain the expected operation trajectory information, the trajectory information conversion model, and the machine tool mechanical model of the multi-axis machine tool by parsing the operation control instruction.

[0062] In one embodiment, the operation control instruction carries the expected operation trajectory and the machine tool identifier of the multi-axis machine tool. The multi-axis machine tool control platform can directly parse the operation control instruction to obtain the expected operation trajectory and the machine tool identifier of the multi-axis machine tool, and then obtain the trajectory information conversion model and the machine tool mechanical model matching the machine tool identifier from the internal storage. It can be understood that the multi-axis machine tool control platform internally stores the machine tool mechanical models and trajectory information conversion models respectively matching all machine tools in the manufacturing scenario.

[0063] S204, use the trajectory information conversion model to perform information conversion on the expected operation trajectory information to obtain the single-axis operation control information of each control axis in the multi-axis machine tool.

[0064] Among them, the single-axis operation control information is the control parameter information obtained after converting the expected operation trajectory information using the trajectory information conversion model. Through each single-axis operation control information, the multi-axis machine tool control platform can perform operation control on a single control axis in the multi-axis machine tool. It can be understood that the single-axis operation control information may include various control parameters required for single-axis operation control, such as position information, speed information, torque information, etc.

[0065] Among them, the trajectory information conversion model converts the expected operation trajectory information, which means decomposing the expected operation trajectory information onto each control axis of the multi-axis machine tool to obtain the single-axis operation trajectory information, and then performing inverse kinematics based on the single-axis operation trajectory information to obtain the information conversion operation of each single-axis operation control information.

[0066] Specifically, the multi-axis machine tool control platform can use the trajectory information conversion model to convert the expected operation trajectory information to obtain the single-axis operation control information of each control axis in the multi-axis machine tool.

[0067] S206, based on each single-axis operation control information, simulate the operation process of the multi-axis machine tool in the machine tool mechanical model to obtain the simulated operation trajectory information of the multi-axis machine tool.

[0068] Specifically, after obtaining each single-axis operation control information, the multi-axis machine tool control platform can input each single-axis control information into the machine tool mechanical model matching the multi-axis machine tool, simulate the operation process of the multi-axis machine tool in the machine tool mechanical model, and obtain the simulated operation trajectory information of the multi-axis machine tool. Since the machine tool mechanical model is a simulation model obtained by virtual modeling of the physical equipment of the multi-axis machine tool and can reflect the actual operation characteristics of the multi-axis machine tool, the simulated operation trajectory information output by the machine tool mechanical model can be considered as the operation trajectory information that is the same as or approximately the same as the actual operation trajectory information obtained during the actual operation of the multi-axis machine tool.

[0069] It can be understood that the simulated operation trajectory information, like the expected operation trajectory information, may include the simulated operation trajectory of the multi-axis machine tool, and may also include the simulated posture and simulated angle information used to characterize the simulated operation trajectory.

[0070] S208, when it is determined that each single-axis operation control information meets the information output condition according to the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information, control the operation of the multi-axis machine tool according to the single-axis operation information.

[0071] Among them, the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information is information data used to quantitatively characterize the degree of trajectory deviation between the simulated operation trajectory reflected by the simulated operation trajectory information and the expected operation trajectory reflected by the expected operation trajectory information. It can be understood that the trajectory information error can be a specific error value or the degree of trajectory deviation, such as severe deviation, slight deviation, or no deviation, etc.

[0072] Among them, the information output condition is a preset judgment condition used to determine whether the single-axis operation control information has met the current manufacturing and processing standard. If each single-axis operation control information meets the information output condition, it can be considered that when the multi-axis machine tool control platform performs operation control on each control axis of the actual multi-axis machine tool based on each single-axis operation control information, it can generate actual operation trajectory information that is the same as or close to the expected operation trajectory information, and can meet the processing requirements of the multi-axis machine tool. It can be understood that the information output condition is related to the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information.

[0073] In one embodiment, the information output condition can make the trajectory information error less than a preset information error threshold. Among them, the information error threshold can be determined by the designer according to the actual manufacturing and processing standard of the multi-axis machine tool.

[0074] Specifically, after obtaining the simulated operation trajectory information, the multi-axis machine tool control platform can determine the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information, and judge whether each single-axis operation control information meets the preset information output condition according to the trajectory information error. When it is determined that each single-axis operation control information meets the information output condition, it means that at this time, when the multi-axis machine tool control platform controls the actual operation of the multi-axis machine tool according to each single-axis operation control information, the trajectory difference between the generated actual operation trajectory and the expected operation trajectory can meet the actual manufacturing and production requirements of the user, and the multi-axis machine tool control platform can control the operation of the multi-axis machine tool according to each single-axis operation control information.

[0075] In one embodiment, a trained trajectory information error analysis model is pre-configured in the multi-axis machine tool control platform. After obtaining the simulated operation trajectory information, the multi-axis machine tool control platform can directly input the simulated operation trajectory information into the trajectory information error analysis model to obtain the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information.

[0076] In one embodiment, for each piece of single-axis operation control information, the multi-axis machine tool control platform may generate an operation control instruction for the control axis to which the single-axis operation control information belongs based on the respective single-axis operation control information, and send the operation control instruction to the servo driver corresponding to the control axis to which the single-axis operation control information belongs, instructing the servo driver to control the corresponding control axis to operate according to the single-axis operation control information.

[0077] In the above multi-axis machine tool control method, when it is necessary to control the operation of the multi-axis machine tool, obtain the desired operation trajectory of the multi-axis machine tool, the trajectory information conversion model, and the machine tool mechanical model, use the trajectory information conversion model to perform information conversion on the desired operation trajectory, decompose the desired operation trajectory onto each control axis, obtain the respective single-axis operation control information of each control axis in the multi-axis machine tool, based on the respective single-axis operation control information, simulate the actual operation process of the multi-axis machine tool in the machine tool mechanical model, obtain the simulated operation trajectory information of the multi-axis machine tool, and when determining that the single-axis operation control information meets the information output condition according to the trajectory information error between the simulated operation trajectory information and the desired operation trajectory information, control the multi-axis machine tool to operate according to the single-axis operation information. By determining the trajectory information error between the desired operation trajectory information and the simulated operation trajectory, it is possible to accurately understand whether each control axis will be coupled with each other and affect the machining accuracy and machining efficiency of the machining process when actually operating based on its respective single-axis operation control information. When it is determined that the single-axis operation control information meets the information output condition according to the trajectory information error, and then controlling the multi-axis machine tool to operate can effectively improve the operation accuracy and operation efficiency of the multi-axis machine tool when actually operating based on the respective single-axis operation control information, and achieve the high-speed and high-precision requirements of the overall machining of the multi-axis machine tool.

[0078] In another embodiment, as Figure 3 shown, the multi-axis machine tool control method further includes the following steps:

[0079] S302, when determining that the respective single-axis operation control information does not meet the information output condition, determine the model correction information matching the trajectory information error.

[0080] Among them, the model correction information is information data used to correct the structural parameters of the trajectory information conversion model to improve the information conversion accuracy of the trajectory information conversion model. If the single-axis operation control information does not meet the information output conditions, it can be considered that the trajectory information error between the simulated operation trajectory information obtained after the multi-axis machine tool is simulated based on the current single-axis operation control information and the expected operation trajectory information is relatively large. If the actual operation is controlled with the current single-axis operation control information, the processing requirements of the user for the multi-axis machine tool cannot be met. Therefore, it is necessary to correct the model structure parameters of the trajectory information conversion model to improve the accuracy of the single-axis operation control information. It can be understood that the model correction information can include the model structure parameters to be corrected, the model gain coefficient, etc. Different trajectory information errors may result in different model structure parameters and model gain coefficients to be corrected.

[0081] Specifically, when the multi-axis machine tool control platform determines that the single-axis operation control information does not meet the information output conditions, it can determine the model correction information matching the trajectory information error based on the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information.

[0082] In one embodiment, a mapping relationship between each trajectory information error and each model correction information is pre-set in the multi-axis machine tool control platform. The multi-axis machine tool control platform can determine the model correction information matching the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information from the mapping relationship between each trajectory information error and each model correction information.

[0083] S304, based on the model correction information, correct the trajectory information conversion model to obtain a corrected trajectory information conversion model.

[0084] Specifically, after the multi-axis machine tool control platform obtains the model correction information matching the trajectory information error, it can correct the trajectory information conversion model based on the model correction information to obtain a corrected trajectory information conversion model.

[0085] In one embodiment, the model correction information can include the model structure parameters and the model gain coefficient. The multi-axis machine tool control platform can use the model structure parameters and the model gain coefficient to replace the model structure parameters and the model gain coefficient in the original trajectory information conversion model to obtain a corrected trajectory information conversion model.

[0086] S306, use the corrected trajectory information conversion model, and return to execute the step of using the trajectory information conversion model to convert the expected operation trajectory information to obtain the single-axis operation control information of each control axis of the multi-axis machine tool.

[0087] Specifically, after obtaining the corrected trajectory information conversion model, the multi-axis machine tool control platform can use the corrected trajectory information conversion model to return and execute the steps of using the trajectory information conversion model to perform information conversion on the expected operation trajectory information to obtain the single-axis operation control information of each control axis of the multi-axis machine tool until it is determined that the single-axis operation control information meets the information output conditions. It can be understood that since the used trajectory information conversion model is the corrected trajectory information conversion model, the single-axis operation control information obtained by returning and performing information conversion on the expected operation trajectory information is different from the single-axis operation control information output by the trajectory information conversion model before correction.

[0088] In the above embodiment, when it is determined that the single-axis operation control information does not meet the information output conditions, the multi-axis machine tool control platform can use the model correction information matching the trajectory information error to correct the trajectory information conversion model that performs the information conversion operation, so that the single-axis operation control information output by the corrected trajectory information conversion model can better meet the processing requirements of the user for the multi-axis machine tool. By using the trajectory information error to iteratively adjust and correct the trajectory information conversion model, the accuracy and determination efficiency of the single-axis operation control information can be effectively improved, and thus the operation accuracy and operation efficiency of the multi-axis machine tool can be improved.

[0089] Further, in one embodiment, the trajectory information conversion model includes a trajectory decomposition model and single-axis motor models respectively matching each control axis of the multi-axis machine tool. S204. Using the trajectory information conversion model to perform information conversion on the expected operation trajectory information to obtain the single-axis operation control information of each control axis of the multi-axis machine tool includes: using the trajectory decomposition model to decompose the expected operation trajectory information to obtain the single-axis operation trajectory information of each control axis of the multi-axis machine tool. For each single-axis motor model, using the single-axis motor model to perform information conversion on the single-axis operation trajectory information corresponding to the control axis to which the single-axis motor model belongs to obtain the single-axis operation control information of the control axis to which it belongs.

[0090] Among them, the trajectory decomposition model is a preset model for decomposing the expected operation trajectory information on each control axis to obtain the single-axis operation trajectory information, and its function is to convert the overall operation trajectory of the multi-axis machine tool into the single-axis motion trajectories of each control axis in the joint space.

[0091] In one embodiment, the trajectory decomposition model is composed of the relative positions of the control axes in the multi-axis machine tool in space, the respective functions of the control axes, such as whether they are linear axes or rotary axes, and the inverse kinematics algorithm. After obtaining the input desired operating trajectory information, the inverse kinematics algorithm can be used to decompose the desired operating trajectory on each control axis according to the relative positions of the control axes in space and the respective functions of the control axes, so as to obtain the single-axis operating trajectory information of each control axis.

[0092] It can be understood that the single-axis operating trajectory information, like the desired trajectory operating information, can include the desired single-axis operating trajectory of the control axis to which it belongs, or can also include the single-axis attitude and single-axis angle information used to characterize the desired single-axis operating trajectory.

[0093] Among them, the single-axis motor model is a virtual model obtained by mathematically or physically simulating the actual single-axis motor of the multi-axis machine tool, and is mainly used to describe the structural characteristics, electrical characteristics, dynamic characteristics, etc. of the actual single-axis motor. Through the single-axis motor model, the corresponding single-axis operating trajectory information can be converted to obtain the single-axis operating control information of the control axis to which the single-axis operating trajectory information belongs. It can be understood that the number of single-axis motor models is the same as the number of control axes included in the multi-axis machine tool, and each control axis corresponds to its own single-axis motor model.

[0094] Specifically, after the multi-axis machine tool control platform obtains the desired operating trajectory information, it can first use the trajectory decomposition model to decompose the desired operating trajectory information to obtain the single-axis operating trajectory information of each control axis of the multi-axis machine tool. Subsequently, for each single-axis motor model, the single-axis motor model is used to convert the single-axis operating trajectory information corresponding to the control axis to which the single-axis motor model belongs to obtain the single-axis operating control information of the control axis to which it belongs.

[0095] In one embodiment, since the single-axis operating trajectory information needs to be input into the single-axis motor model for information conversion subsequently, therefore, in order to meet the input requirements of the actual single-axis motor, after the multi-axis machine tool control platform obtains the single-axis operating trajectory information output by the trajectory decomposition model, it can generate corresponding single-axis motor control commands based on the single-axis operating trajectory information, input the single-axis motor control commands into the corresponding single-axis motor model, and the single-axis motor control commands carry the single-axis operating trajectory information.

[0096] In the above embodiments, after using the trajectory decomposition model to decompose the expected operating trajectory information to obtain the single-axis operating trajectory information of each control axis, the single-axis operating trajectory information of each control axis is respectively subjected to information conversion through the single-axis motor model corresponding to each control axis to obtain the single-axis operating control information of each control axis, which can make the information conversion process of the single-axis operating control information match the motor characteristics of the actual single-axis motor, thereby improving the control accuracy when the multi-axis machine tool is operated by using the single-axis operating control information that meets the information output conditions subsequently.

[0097] In the process of multi-axis machine tool operation control, how to correct the model used to convert the expected operating trajectory information into single-axis operating control information is a key step to improve the determination efficiency and accuracy of each single-axis operating control information that meets the information output conditions.

[0098] In one embodiment, as Figure 4 shown, determining the model correction information matching the trajectory information error in S302 includes:

[0099] S402, obtaining each error interval preset for the multi-axis machine tool, and determining the target error interval to which the trajectory information error belongs.

[0100] Among them, the error interval is an interval parameter obtained by dividing the error intervals according to the differences in the model correction methods corresponding to each trajectory information error. Each error interval corresponds to a different model correction method that needs to be used. It can be understood that each different process condition segment corresponding to the multi-axis machine tool has its own in-segment error interval, and the error intervals of the multi-axis machine tool can be determined by the designer through operation experiments according to the process requirements for the actual processed workpiece of the multi-axis machine tool. For example, the designer determines in the experiment that using the first model correction method in the error interval [0, 3) has the best single-axis operating control information output effect, and using the second model correction method in the error interval [3, 5) has the best single-axis operating control information output effect, then the error intervals [0, 3) and [3, 5) can be divided for the multi-axis machine tool.

[0101] Specifically, the multi-axis machine tool control platform can obtain each error interval preset for the multi-axis machine tool according to the machine tool identifier of the multi-axis machine tool. Subsequently, the trajectory information error is matched with each error interval to determine the target error interval to which the trajectory information error belongs.

[0102] S404, determining the target correction model, model structure parameters, and model gain coefficients matching the target error interval.

[0103] Among them, the model correction method corresponding to the error interval can be represented by the target correction model, the model structure parameters, and the model gain coefficient. Specifically, during the process of dividing the error interval, the designer can bind each obtained error interval to its respective optimal model correction method to obtain the preset correspondence between each error interval and each model correction method, and the model correction method includes the target correction model, the model structure parameters, and the model gain coefficient.

[0104] The target correction model is the model that needs to be corrected. Since in the process of converting the expected operating trajectory information into the operating control information of each single axis, the models used include the trajectory decomposition model and each single axis motor model matching each control axis of the multi-axis machine tool, and for different error intervals, the models that need to be corrected may also be different. Therefore, it is necessary to determine the target correction model to be corrected. It can be understood that the target correction model includes at least one of the trajectory decomposition model and each single axis motor model.

[0105] The model structure parameters refer to the structural parameters that actually need to be corrected and adjusted in the target correction model. For example, the model structure parameters can include structural parameters such as mechanical friction, material damping coefficient, elastic coefficient, mechanical inertia, inductance, and resistance in the trajectory information conversion model.

[0106] The model gain coefficient is the model-related gain coefficient that needs to be coefficient-substituted for the target correction model within the target error interval. For example, the model gain coefficient can include loop gain, feedforward coefficient, filter delay coefficient, compensation delay coefficient, model adaptation coefficient, etc. of the three-loop control.

[0107] Specifically, after the multi-axis machine tool control platform determines the target error interval to which the trajectory information error belongs, it can determine the model correction method matching the target error interval based on the preset correspondence between each error interval and each model correction method, that is, the target correction model, the model structure parameters, and the model gain coefficient.

[0108] S406, determine the target correction model, the model structure parameters, and the model gain coefficient matching the target error interval as the model correction information matching the trajectory information error.

[0109] Specifically, the multi-axis machine tool control platform can determine the target correction model, the model structure parameters, and the model gain coefficient matching the target error interval as the model correction information matching the trajectory information error.

[0110] In the above embodiments, by presetting corresponding error ranges for the multi-axis machine tool, the corresponding target error range can be quickly determined according to the trajectory information error, and the target correction model, model structure parameters, and the model gain coefficient matching therewith can be quickly determined based on the target error range, effectively improving the determination efficiency and accuracy of the model correction information and providing an accurate data basis for subsequent model correction.

[0111] In addition to the determination of the model correction information, in the operation control process of the multi-axis machine tool, the determination of the trajectory information error is also a key step in judging whether the single-axis operation control information can be output.

[0112] Based on this, as Figure 5 shown, in one embodiment, the multi-axis machine tool control method may further include the following steps:

[0113] S502, obtain the application requirements of the multi-axis machine tool in the current production cycle.

[0114] Among them, the application requirements of the multi-axis machine tool in the current production cycle are the key operation requirements considered during the operation of the multi-axis machine tool in the current production cycle. For example, the application requirements may include high-precision requirements and / or high-efficiency requirements. It can be understood that the application requirements of the multi-axis machine tool in the current production cycle can be determined by the production user according to their actual needs. For example, when the user needs high-speed production, the application requirements in the current production cycle can be determined as high-efficiency requirements. Another example is that when the user needs to manufacture complex and precise workpieces, the application requirements in the current production cycle can be determined as high-precision requirements.

[0115] Specifically, the multi-axis machine tool control platform can obtain the application requirements of the multi-axis machine tool in the current production cycle according to the machine tool identifier of the multi-axis machine tool.

[0116] S504, determine the error type matching the application requirements.

[0117] Among them, the error type is a type parameter for classifying errors according to the application requirements. Different application requirements correspond to different error types. For example, when the application requirement is a high-precision requirement, the corresponding error type can be the precision error type. In this case, when considering the trajectory information error, the precision error of the trajectory needs to be focused on. Another example is that when the application requirement is a high-efficiency requirement, the corresponding error type can be the efficiency error type. In this case, when considering the trajectory information error, not only the precision error of the trajectory needs to be considered, but also the efficiency error of generating the trajectory needs to be considered.

[0118] Specifically, after determining the application requirements of the multi-axis machine tool, the multi-axis machine tool control platform can determine the error type matching the application requirements according to the application requirements.

[0119] S506. Determine the trajectory information error corresponding to the error type based on the difference between the expected operating trajectory information and the simulated operating trajectory information.

[0120] Among them, different error types correspond to different error determination methods. For example, when the error type is the precision error type, the corresponding error determination method can be to determine the simulated enclosed area of the simulated operating trajectory and the expected enclosed area of the expected operating trajectory, and determine the absolute value of the area between the simulated enclosed area and the expected enclosed area as the trajectory information error between the simulated operating trajectory information and the expected operating trajectory information. Another example is when the error type is the efficiency precision error type, the corresponding error determination method can be to determine the simulated enclosed area of the simulated operating trajectory and the expected enclosed area of the expected operating trajectory, calculate the absolute value of the area between the simulated enclosed area and the expected enclosed area, obtain the simulated operating time for generating the simulated operating trajectory information, and determine the product of the absolute value of the area and the simulated operating time as the trajectory information error between the simulated operating trajectory information and the expected operating trajectory information.

[0121] Specifically, after the multi-axis machine tool control platform determines the error type that matches the application requirements, it can use the error determination method corresponding to the error type to calculate the difference between the expected operating trajectory information and the simulated operating trajectory information, and obtain the trajectory information error corresponding to the error type.

[0122] In the above embodiments, by setting different error types for different application requirements and using different error determination methods for different error types, the matching degree between the determined trajectory information error and the user's application requirements can be effectively improved, meeting the actual usage requirements of the user.

[0123] In one embodiment, the multi-axis machine tool control method further includes: determining a type error threshold that matches the error type, and when the trajectory information error is less than the type error threshold, determining that the single-axis operation control information meets the information output condition.

[0124] Among them, the type error threshold is a preset threshold parameter used to determine whether the trajectory information error meets the application requirements, which can be determined in advance by the designer according to the application requirements. Different error types correspond to different type error thresholds. For example, when the error type is the precision error type, the corresponding type error threshold includes the precision error threshold. When the error type is the efficiency error type, the corresponding type error threshold can include the efficiency error threshold.

[0125] Specifically, the multi-axis machine tool control platform can determine a type error threshold that matches the error type according to the error type, compare the trajectory information error with the type error threshold. When the trajectory information error is less than the type error threshold, it indicates that the trajectory information error already meets the application requirements. At this time, when performing operation control on each control axis in the actual multi-axis machine tool based on the operation control information of each single axis, the actual operation trajectory information that is the same as or nearly the same as the expected operation trajectory information can be generated, and the multi-axis machine tool control platform can determine that the operation control information of each single axis meets the information output conditions. On the contrary, when the trajectory information error is greater than or equal to the type error threshold, it indicates that the trajectory information error does not meet the application requirements. At this time, when performing operation control on each control axis in the actual multi-axis machine tool based on the operation control information of each single axis, the generated actual operation trajectory deviates greatly from the expected operation trajectory, and the multi-axis machine tool control platform can determine that the operation control information of each single axis does not meet the information output conditions.

[0126] In the above embodiments, by setting respective type error thresholds for each error type, the judgment threshold parameters used in the judgment of information output conditions can be more matched with the application requirements, improving the accuracy of the judgment of information output conditions, and further improving the control accuracy of the multi-axis machine tool operation control.

[0127] In the traditional multi-axis machine tool control scenario, the traditional control architecture is that the workpiece, control, and servo models are all separately controlled. Data passes through functions such as the motion planning model from the trajectory planning module and finally outputs to the drive control & machining module. Its overall architecture block diagram is as Figure 6 shown. The trajectory planning module unidirectionally transmits the output to the motion planning module through the imported workpiece model and machining parameters. The motion planning module then outputs commands to the drive control & machining module according to parameters such as the set motion planning and controller. The servo system in the drive control & machining module receives the commands and completes driving and machining according to its own fixed parameters.

[0128] In order to ensure high-speed and high-precision machining, traditional machine tools often require professional personnel to adjust the parameters of each subsystem to ensure the mutual matching between subsystems. The debugging difficulty is high and the efficiency is low. Moreover, during the machining process of traditional machine tools, the inertia of the workpiece table and the workpiece changes frequently, and the generated trajectory, servo instructions, and corresponding control parameters cannot perfectly match the corresponding mechanical parameters and drive parameters, resulting in uncoordinated gain matching, which is likely to cause motor and mechanical vibrations, leading to the servo being unable to track the instructions and resulting in a decrease in machining accuracy.

[0129] Regarding the errors of the mechanical model and the impacts caused by mechanical resonance and machining disturbances, although code compensation can achieve optimization at the command end, it still cannot meet the real-time requirements of changes in different actual mechanical motion conditions. Moreover, a single servo drive cannot clearly understand the overall motion state and working state of the mechanical system. Therefore, without the overall system planning and correction capabilities, there may be a problem that even if a single drive has good matching and following performance, the final machined workpiece still does not meet the expectations.

[0130] To address the above-mentioned problems that are prone to occur in traditional machine tool control, in order to reduce the overall commissioning difficulty of the machine tool system, improve usability, achieve optimal high-speed and high-precision control, and at the same time enable the system to adapt to different requirements in different motion scenarios, in one embodiment, a multi-axis machine tool control method is provided. Taking the application of this method to a three-axis machine tool control system as shown in Figure 7 as an example for illustration, the three-axis machine tool control system may include a model simulation part and an equipment body part. Among them, the model simulation part can be divided into an instruction generator module, a trajectory decomposition model module, an X-axis motor model module, a Y-axis motor model module, a Z-axis motor model module, and a machine tool mechanical model module through functional modularization. The equipment body part includes an X-axis servo drive, a Y-axis servo drive, a Z-axis servo drive, the motors corresponding to each servo drive, and the machine tool mechanical body.

[0131] As Figure 8 shown, the specific steps of the multi-axis machine tool control method are as follows:

[0132] The instruction generator module responds to the operation control instruction for the multi-axis machine tool, obtains the expected operation trajectory S1 of the multi-axis machine tool, inputs the attitude angle of the expected operation trajectory S1 into the trajectory decomposition model module. The trajectory decomposition model module can decompose the attitude angle of the expected operation trajectory S1 to obtain the trajectories of each single-axis motor, and generate the single-axis motor instructions based on the trajectories of each single-axis motor. The single-axis motor instructions can include the single-axis motor instruction Nx of the X-axis, the single-axis motor instruction Ny of the Y-axis, and the single-axis motor instruction Nz of the Z-axis. The single-axis motor instructions are respectively input into the corresponding single-axis motor model modules for information conversion to obtain the single-axis feedback signals. The single-axis feedback signals can include position information P, speed information V, and torque information T. Each single-axis motor model module conveys the single-axis feedback signals to the machine tool mechanical model module respectively, and at the same time feeds them back to the trajectory decomposition model module to perform closed-loop control of the single-axis position adjustment for the trajectory decomposition model.

[0133] Based on the feedback signals of each single axis, the machine tool mechanical model module simulates the operation process of a multi-axis machine tool in the machine tool mechanical model, obtains the simulated operation trajectory S2 of the multi-axis machine tool, and the attitude angle Angle of the model operation trajectory S2, and feeds back the simulated operation trajectory S2 and the attitude angle Angle to the trajectory decomposition model module.

[0134] After receiving the feedback signals of each single axis, as well as the simulated operation trajectory S2 and the attitude angle Angle, the trajectory decomposition model module can obtain the application requirements of the multi-axis machine tool in the current production cycle, determine the error type matching the application requirements and the type error threshold matching the error type, and determine the trajectory information error corresponding to the error type based on the difference between the expected operation trajectory S1 and the simulated operation trajectory S2. Compare the trajectory information error with the type error threshold. When the trajectory information error is greater than or equal to the type error threshold, obtain each error interval preset for the multi-axis machine tool, determine the model correction information of the target error interval to which the trajectory information error belongs, and use the model correction information to correct the trajectory decomposition model or each single-axis motor model to obtain the corrected model. Based on the corrected model, return to execute the step of decomposing the attitude angle of the expected operation trajectory S1 to obtain the trajectories of each single-axis motor. Since each iterative correction adjustment passes through the machine tool mechanical model, the output signals of the single-axis motor model have the characteristics of the actual machine tool mechanics, including but not limited to quadrant marks, backlash, mechanical modes, etc.

[0135] When the trajectory information error is less than the type error threshold, input the feedback signals of each single axis to the corresponding single-axis servo driver, and each single-axis servo driver controls the motor to run, thereby driving the multi-axis machine tool to move. For example, input the feedback signal of the X axis, that is, the torque feedforward Tx, the speed feedforward Vx, and the position command Px, to the X-axis servo driver, and the X-axis servo driver drives the X-axis motor to run based on the feedback signal of the X axis. Input the feedback signal of the Y axis, that is, the torque feedforward Ty, the speed feedforward Vy, and the position command Py, to the Y-axis servo driver, and the Y-axis servo driver drives the Y-axis motor to run based on the feedback signal of the Y axis. Input the feedback signal of the Z axis, that is, the torque feedforward Tz, the speed feedforward Vz, and the position command Pz, to the Z-axis servo driver, and the Z-axis servo driver drives the Z-axis motor to run based on the feedback signal of the Z axis.

[0136] The above multi-axis machine tool control method can connect the data links of the scattered systems in the multi-axis machine tool control system, and integrate a unified system driver model and mechanical model based on the models of each subsystem according to the overall processing requirements. The independent single-axis controller and single-axis machinery are organically combined, complement each other, plan as a whole, and make real-time corrections to form a closed-loop management of the overall effective data, which can ultimately achieve the high-speed and high-precision requirements of the overall machine tool processing, while reducing the difficulty of debugging, and improving the debugging efficiency and processing quality.

[0137] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0138] Based on the same inventive concept, the embodiment of the present application also provides a multi-axis machine tool control device for implementing the multi-axis machine tool control method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more multi-axis machine tool control device embodiments provided below can refer to the limitations of the multi-axis machine tool control method above, and will not be repeated here.

[0139] In one embodiment, Figure 9 As shown, a multi-axis machine tool control device 900 is provided, including: an instruction response module 901, an information conversion module 902, a machine tool operation simulation module 903 and a machine tool operation control module 904, wherein:

[0140] The instruction response module 901 is used to respond to the operation control instruction for the multi-axis machine tool and obtain the expected operation trajectory information, trajectory information conversion model and machine tool mechanical model of the multi-axis machine tool.

[0141] The information conversion module 902 is used to use the trajectory information conversion model to perform information conversion on the expected operation trajectory information to obtain the single-axis operation control information of each control axis in the multi-axis machine tool.

[0142] The machine tool operation simulation module 903 is used to simulate the operation process of the multi-axis machine tool in the machine tool mechanical model based on the operation control information of each single axis, and obtain the simulated operation trajectory information of the multi-axis machine tool.

[0143] The machine tool operation control module 904 is configured to control the operation of a multi-axis machine tool according to each single-axis operation control information when it is determined that each single-axis operation control information meets the information output condition based on the trajectory information error between the simulated operation trajectory information and the desired operation trajectory information.

[0144] In one embodiment, the multi-axis machine tool control device further includes:

[0145] The model correction information determination module is configured to determine model correction information matching the trajectory information error when it is determined that each single-axis operation control information does not meet the information output condition.

[0146] The model correction module is configured to perform model correction on the trajectory information conversion model based on the model correction information to obtain a corrected trajectory information conversion model.

[0147] The information iterative adjustment module is configured to use the corrected trajectory information conversion model and return to the information conversion module 902 to perform the step of using the trajectory information conversion model to convert the desired operation trajectory information to obtain the single-axis operation control information of each control axis of the multi-axis machine tool.

[0148] In one embodiment, the trajectory information conversion model includes a trajectory decomposition model and each single-axis motor model matching each control axis of the multi-axis machine tool. The information conversion module 902 is configured to: use the trajectory decomposition model to decompose the desired operation trajectory information to obtain the single-axis operation trajectory information of each control axis of the multi-axis machine tool; for each single-axis motor model, use the single-axis motor model to convert the single-axis operation trajectory information corresponding to the control axis to which the single-axis motor model belongs to obtain the single-axis operation control information of the control axis to which it belongs.

[0149] In one embodiment, the model correction information determination module is configured to: obtain each pre-set error range for the multi-axis machine tool, and determine the target error range to which the trajectory information error belongs from each error range; determine the target correction model, model structure parameters, and model gain coefficient matching the target error range; the target correction model includes at least one of the trajectory decomposition model and each single-axis motor model; and determine the target correction model, model structure parameters, and model gain coefficient matching the target error range as the model correction information matching the trajectory information error.

[0150] In one embodiment, the multi-axis machine tool control device further includes:

[0151] The application requirement acquisition module is configured to acquire the application requirements of the multi-axis machine tool during the current production cycle.

[0152] The error type determination module is configured to determine the error type matching the application requirements.

[0153] A trajectory information error determination module, configured to determine the trajectory information error corresponding to the error type based on the difference between the expected operating trajectory information and the simulated operating trajectory information.

[0154] In one embodiment, the multi-axis machine tool control device further includes:

[0155] A type error threshold determination module, configured to determine the type error threshold matching the error type.

[0156] A condition judgment module, configured to determine that each single-axis operation control information meets the information output condition when the trajectory information error is less than the type error threshold.

[0157] Each module in the above multi-axis machine tool control device can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0158] In one embodiment, a computer device is provided. The computer device can be a server integrated with a multi-axis machine tool control platform, and its internal structure diagram can be as Figure 10 shown. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the expected operating trajectory information of the multi-axis machine tool, the trajectory information conversion model, the machine tool mechanical model, the single-axis operation control information, the simulated operating trajectory information, and the trajectory information error. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a multi-axis machine tool control method.

[0159] Those skilled in the art can understand that Figure 10 the structure shown in

[0160] In one embodiment, a computer device is provided, which includes a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the specific steps of the above-mentioned multi-axis machine tool control method embodiment are implemented.

[0161] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the specific steps of the above-mentioned multi-axis machine tool control method embodiment are implemented.

[0162] In one embodiment, a computer program product is provided, which includes a computer program. When the computer program is executed by a processor, the specific steps of the above-mentioned multi-axis machine tool control method embodiment are implemented.

[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the acquisition, storage, processing, transmission, etc. of the data all comply with the relevant regulations of laws and regulations.

[0164] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0165] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0166] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A multi-axis machine tool control method, characterized in that: The method comprises: In response to an operation control instruction for a multi-axis machine tool, obtaining expected operation trajectory information, a trajectory information conversion model, and a machine tool mechanical model of the multi-axis machine tool; Using the trajectory information conversion model, converting the expected operation trajectory information to obtain the single-axis operation control information of each control axis in the multi-axis machine tool; Based on the single-axis operation control information, simulating the operation process of the multi-axis machine tool in the machine tool mechanical model to obtain simulated operation trajectory information of the multi-axis machine tool; When it is determined that each of the single-axis operation control information meets an information output condition based on a trajectory information error between the simulated operation trajectory information and the expected operation trajectory information, the multi-axis machine tool is controlled to operate according to each of the single-axis operation control information.

2. The method according to claim 1, characterized in that The method further comprises: In the case where it is determined that each of the single-axis operation control information does not satisfy the information output condition, determining model correction information that matches the trajectory information error; Based on the model correction information, the trajectory information conversion model is corrected to obtain a corrected trajectory information conversion model; Using the modified trajectory information conversion model, returning to the step of using the trajectory information conversion model to convert the expected operation trajectory information to obtain the single-axis operation control information of each control axis of the multi-axis machine tool.

3. The method according to claim 2, characterized in that The trajectory information conversion model includes a trajectory disassembly model and each single-axis motor model matched with each control axis of the multi-axis machine tool; The using the trajectory information conversion model to convert the expected operation trajectory information to obtain the single-axis operation control information of each control axis of the multi-axis machine tool includes: Using the trajectory disassembly model, the expected operation trajectory information is disassembled to obtain the single-axis operation trajectory information of each control axis of the multi-axis machine tool; For each of the single-axis motor models, the single-axis motor model is used to convert the single-axis operation trajectory information corresponding to the control axis to which the single-axis motor model belongs, so as to obtain the single-axis operation control information of the control axis.

4. The method according to claim 3, characterized in that The determining of model correction information that matches the trajectory information error includes: Acquire each error interval preset for the multi-axis machine tool, and determine a target error interval to which the trajectory information error belongs from each error interval; Determine a target correction model, model structure parameters and model gain coefficients that match the target error interval; the target correction model includes a trajectory disassembly model and at least one of the single-axis motor models; The target correction model, the model structure parameters, and the model gain coefficient that match the target error interval are determined as model correction information that matches the trajectory information error.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Obtaining application requirements of the multi-axis machine tool in a current production cycle; Determining an error type that matches the application requirements; Based on the difference between the expected running trajectory information and the simulated running trajectory information, a trajectory information error corresponding to the error type is determined.

6. The method according to claim 5, characterized in that The method further comprises: Determining a type error threshold matching the error type; When the trajectory information error is less than the type error threshold, it is determined that each of the single-axis operation control information meets the information output condition.

7. A multi-axis machine tool control device, characterized in that: The device comprises: An instruction response module, for obtaining expected operation trajectory information, a trajectory information conversion model and a machine tool mechanical model of the multi-axis machine tool in response to an operation control instruction for the multi-axis machine tool; An information conversion module, used to use the trajectory information conversion model to perform information conversion on the expected operation trajectory information to obtain the single-axis operation control information of each control axis in the multi-axis machine tool; A machine tool operation simulation module, used to simulate the operation process of the multi-axis machine tool in the machine tool mechanical model based on the single-axis operation control information, and obtain simulated operation trajectory information of the multi-axis machine tool; The machine tool operation control module is used to control the operation of the multi-axis machine tool according to each single-axis operation control information when it is determined that each single-axis operation control information meets the information output condition based on the trajectory information error between the simulated operation trajectory information and the expected operation trajectory information.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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