Furniture plate processing equipment control method and system

Abstract

The present application relates to the technical field of woodworking machinery, and discloses a furniture plate processing equipment control method and system, the method comprising: establishing a linkage control relationship between equipment spindle drive and feed drive according to furniture plate processing path planning information to obtain an initial control parameter set, and monitoring the running states of the two, if the spindle current phase lags and the feed position deviation continuously accumulates to generate a damping compensation instruction; adjusting the integral parameter of the feed control loop with the instruction to obtain an adjusted response characteristic and generate a speed feedforward signal; superimposing the signal and the feed position control signal to obtain a composite control signal; using the composite control signal to activate the contour following mode in the processing boundary area, correcting the motion axis acceleration characteristic according to the difference between the theoretical path and the actual motion direction vector; monitoring the interaction state between the tool and the boundary, and determining that the processing equipment is in a stable running state when the interaction state is lower than a preset safety threshold; the present application can improve the efficiency of plate processing.

Description

Technical Field

[0001] This invention relates to the field of woodworking machinery technology, and in particular to a control method and system for furniture board processing equipment. Background Technology

[0002] In traditional furniture board processing equipment, the linkage control between the spindle drive and the feed drive lacks a precise correlation mechanism, making it impossible to establish a suitable collaborative operation relationship based on processing path planning information. During equipment operation, it is difficult to monitor and handle the problems of spindle current phase lag and feed position deviation accumulation in real time, which easily leads to an imbalance in the control loop response characteristics and insufficient equipment operation stability. This not only reduces processing accuracy but also increases ineffective processing time, affecting the continuity of the overall processing flow.

[0003] In the boundary area of ​​furniture board processing, existing equipment lacks dynamic contour following and acceleration correction capabilities. It cannot adjust the motion axis characteristics based on the vector difference between the theoretical processing path and the actual motion direction, resulting in inconsistent boundary processing quality and even abnormal interaction between the tool and the board boundary. This further aggravates processing errors, increases the risk of board scrapping, and prolongs the single processing cycle, thus restricting the improvement of processing efficiency. Therefore, how to improve the efficiency of furniture board processing equipment has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a control method and system for furniture board processing equipment to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides a control method for furniture board processing equipment, comprising:

[0006] S1. Based on the processing path planning information of furniture boards, establish the linkage control relationship between the spindle drive and the feed drive in the processing equipment to obtain the initial control parameter set of the processing equipment;

[0007] S2. Based on the initial control parameter set, monitor the operating status of the spindle drive and the feed drive. When the current phase of the spindle drive lags behind and the position deviation of the feed drive continues to accumulate, generate a damping compensation command for the feed drive.

[0008] S3. Apply the damping compensation command to adjust the integral parameters of the control loop of the feed drive to obtain the adjusted response characteristics of the feed drive, and generate the speed feedforward signal of the feed drive based on the adjusted response characteristics.

[0009] S4. The speed feedforward signal is superimposed with the position control signal of the feed drive to obtain the composite control signal of the feed drive;

[0010] S5. In the processing boundary area of ​​the furniture board, the composite control signal is used to activate the contour following mode of the processing equipment, and the acceleration characteristics of the motion axis in the feed drive are dynamically corrected according to the vector difference between the theoretical processing path in the processing path planning information and the actual motion direction of the feed drive, so as to obtain the corrected acceleration characteristics of the feed drive.

[0011] S6. Based on the corrected acceleration characteristics, monitor the interaction state between the cutting tool in the processing equipment and the boundary of the furniture board. When the interaction state is lower than a preset safety threshold, determine that the processing equipment is in a stable operating state.

[0012] In a preferred embodiment, the step of establishing a linkage control relationship between the spindle drive and the feed drive in the processing equipment based on the processing path planning information of the furniture board, to obtain the initial control parameter set of the processing equipment, includes:

[0013] The processing path planning information of the furniture board is analyzed, the outline geometric features of the furniture board are extracted, and the material properties and processing accuracy requirements of the furniture board are identified.

[0014] Based on the contour geometry features, the displacement values ​​of the motion axis in the feed drive are generated, and the displacement values ​​are serialized into a path to obtain the reference position command sequence of the motion axis.

[0015] The material properties and the machining accuracy requirements are mapped to a pre-stored process parameter database to obtain the basic spindle speed value and the basic feed rate value of the feed drive.

[0016] The reference position command sequence is time-aligned with the basic rotational speed value and the basic feed rate value, and a synchronization relationship is established between the start and stop times of the spindle drive and the critical path points of the motion axis in the feed drive.

[0017] The synchronization relationship is compiled to generate the initial control parameter set of the processing equipment.

[0018] In a preferred embodiment, the step of monitoring the operating status of the spindle drive and the feed drive according to the initial control parameter set, and generating a damping compensation command for the feed drive when the current phase of the spindle drive lags behind and the position deviation of the feed drive continues to accumulate, includes:

[0019] Based on the spindle speed parameters in the initial control parameter set, the three-phase current waveform of the spindle drive is monitored in real time, and the delay angle of the fundamental phase of the current in the three-phase current waveform relative to the preset voltage reference is identified.

[0020] Based on the feed rate parameters in the initial control parameter set, the difference between the position command value and the actual position feedback value of the feed drive is continuously obtained;

[0021] When the delay angle exceeds the preset phase tolerance and the difference continues to increase over time, it is determined that the spindle drive and the feed drive are in an unstable associated state.

[0022] Based on the severity of the instability-related state, the historical damping parameter mapping table in the processing equipment is queried to obtain the adjustment amount of the integral time constant of the feed drive;

[0023] The integral time constant adjustment is encapsulated into instructions to obtain the damping compensation instruction for the feed drive.

[0024] In a preferred embodiment, the step of applying the damping compensation command to adjust the integral parameters of the control loop of the feed drive to obtain the adjusted response characteristics of the feed drive, and generating the speed feedforward signal of the feed drive based on the adjusted response characteristics, includes:

[0025] The damping enhancement level in the damping compensation command is mapped to the historical integral parameter adjustment mapping table in the processing equipment to obtain the integral time constant adjustment amount of the feed drive;

[0026] The integral time constant adjustment is filled into the integral parameter register of the feed drive to complete the update of the integral parameters of the control loop of the feed drive, and the adjusted control loop of the feed drive is obtained.

[0027] A test speed command with gradually increasing amplitude is injected into the adjusted control loop, while the actual speed response data of the feed drive is collected.

[0028] Extract the maximum overshoot and the settling time required to reach steady state from the actual speed response data to obtain the adjusted response characteristics of the feed drive;

[0029] Establish the correlation between the overshoot and settling time in the adjusted response characteristics and the historical feedforward gain mapping table in the processing equipment to obtain the feedforward gain coefficient of the feed drive;

[0030] The feedforward gain coefficient is weighted and fused with the real-time speed command of the feed drive to obtain the speed feedforward signal of the feed drive.

[0031] In a preferred embodiment, the formula for calculating the feedforward gain coefficient is as follows:

[0032] ;

[0033] In the formula, The feedforward gain coefficient is... The reference feedforward gain value is in the historical feedforward gain mapping table. Adjust the weighting coefficients for the preset overshoot. The overshoot in the adjusted response characteristics. The preset baseline overshoot threshold, This is the preset maximum allowable overshoot. Adjust the weighting coefficients for the preset adjustment time. It is an exponential function. The settling time in the adjusted response characteristics. The preset baseline adjustment time threshold, The preset adjustment time decay constant, It is the hyperbolic tangent function. The actual natural frequency of the adjusted control loop. This is the preset reference natural frequency.

[0034] In a preferred embodiment, the step of superimposing the velocity feedforward signal with the position control signal of the feed drive to obtain the composite control signal of the feed drive includes:

[0035] Align the timestamps of the velocity feedforward signal and the position control signal to the same control cycle to obtain the time-domain alignment result of the velocity feedforward signal and the position control signal;

[0036] The time-domain alignment result is processed by signal synthesis to obtain the weighted fusion signal of the feed drive;

[0037] The instantaneous amplitude of the weighted fused signal is limited to a preset upper and lower amplitude limit to obtain the composite control signal for the feed drive.

[0038] In a preferred embodiment, in the processing boundary area of ​​the furniture board, the composite control signal is used to activate the contour following mode of the processing equipment, and the acceleration characteristics of the motion axis in the feed drive are dynamically corrected based on the vector difference between the theoretical processing path in the processing path planning information and the actual motion direction of the feed drive, to obtain the corrected acceleration characteristics of the feed drive, including:

[0039] In the processing boundary area of ​​the furniture board, the composite control signal is used to activate the contour following function of the processing equipment to obtain a special control state of the processing equipment;

[0040] Under the special control state, based on the theoretical processing path in the processing path planning information, the tangent direction of the current processing point in the theoretical processing path is taken as the theoretical processing path vector;

[0041] Based on the real-time position feedback data of the feed drive, the instantaneous movement direction of the tool in the processing equipment is taken as the actual movement direction vector, and the angle deviation value between the theoretical processing path vector and the actual movement direction vector is obtained.

[0042] The positive and negative characteristics and magnitude of the angular deviation value are evaluated to obtain the acceleration correction parameters of the motion axis in the feed drive;

[0043] The slope of the acceleration curve of the motion axis is adjusted according to the acceleration correction parameters to obtain the corrected acceleration characteristics of the feed drive.

[0044] In a preferred embodiment, the acceleration correction parameter is calculated using the following formula:

[0045]

[0046] In the formula, For the acceleration correction parameters, The base acceleration values ​​in the initial control parameter set. The preset angle deviation gain coefficient, It is a sine function. The angle deviation value is... The preset angular deviation saturation threshold, Pi It is an exponential function. The preset differential gain coefficient, For symbolic functions, The rate of change of the angle deviation value. The actual speed of the feed drive. The reference speed in the initial control parameters, The preset speed scaling factor, This is the modulo operator.

[0047] In a preferred embodiment, the step of monitoring the interaction state between the cutting tool in the processing equipment and the boundary of the furniture board according to the corrected acceleration characteristics, and determining that the processing equipment is in a stable operating state when the interaction state is lower than a preset safety threshold, includes:

[0048] Based on the corrected acceleration characteristics, the vibration spectrum characteristics of the processing equipment are collected.

[0049] Extract the characteristic frequency components from the vibration spectrum features to construct a quantitative index of the interaction state between the cutting tool and the boundary of the furniture board;

[0050] By comparing the quantitative index with a preset safety threshold, when the quantitative index is continuously lower than the safety threshold, a stable state signal of the processing equipment is obtained.

[0051] Based on the stable state signal, it is determined that the processing equipment is in a stable operating state.

[0052] To address the above problems, the present invention also provides a control system based on furniture board processing equipment, the system comprising:

[0053] The linkage control relationship establishment module is used to establish the linkage control relationship between the spindle drive and the feed drive in the processing equipment based on the processing path planning information of the furniture board, so as to obtain the initial control parameter set of the processing equipment;

[0054] The operation status monitoring and compensation module is used to monitor the operation status of the spindle drive and the feed drive according to the initial control parameter set. When the current phase of the spindle drive lags and the position deviation of the feed drive continues to accumulate, the module generates a damping compensation command for the feed drive.

[0055] The control loop optimization module is used to apply the damping compensation command to adjust the integral parameters of the control loop of the feed drive, obtain the adjusted response characteristics of the feed drive, and generate the speed feedforward signal of the feed drive based on the adjusted response characteristics.

[0056] A composite control signal generation module is used to superimpose the speed feedforward signal with the position control signal of the feed drive to obtain the composite control signal of the feed drive.

[0057] The contour following control module is used to activate the contour following mode of the processing equipment in the processing boundary area of ​​the furniture board using the composite control signal, and dynamically correct the acceleration characteristics of the motion axis in the feed drive according to the vector difference between the theoretical processing path in the processing path planning information and the actual motion direction of the feed drive, so as to obtain the corrected acceleration characteristics of the feed drive.

[0058] The stability determination module is used to monitor the interaction state between the cutting tool and the boundary of the furniture board in the processing equipment based on the corrected acceleration characteristics. When the interaction state is lower than a preset safety threshold, the processing equipment is determined to be in a stable operating state.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] 1. This invention establishes a linkage control relationship between the spindle drive and the feed drive based on the furniture board processing path planning information and generates an initial control parameter set. Simultaneously, it monitors the operating status of both and generates damping compensation commands, enabling precise adjustment of the integral parameters of the feed drive control loop and optimization of the control loop response characteristics. Furthermore, by generating a speed feedforward signal and superimposing it with the position control signal to form a composite control signal, the control accuracy and response speed of the feed drive can be improved, ensuring stable operation of the equipment during routine processing, reducing parameter deviations during processing, ensuring that processing accuracy meets requirements, and laying the foundation for efficient processing.

[0061] 2. This invention effectively improves the machining accuracy in the boundary area by activating the contour following mode using composite control signals in the machining boundary area and dynamically correcting the acceleration characteristics of the motion axis by combining the vector difference between the theoretical machining path and the actual motion direction. At the same time, by monitoring the interaction state between the tool and the board boundary, it ensures that the equipment remains stable during the boundary machining stage, avoids machining errors caused by abnormal interaction states, reduces board wear, shortens the single machining cycle, and further improves the overall machining efficiency, providing reliable technical support for furniture board processing. Attached Figure Description

[0062] Figure 1 This is a flowchart illustrating a control method for furniture board processing equipment according to an embodiment of the present invention.

[0063] Figure 2 This is a functional block diagram of a control system for furniture board processing equipment provided in an embodiment of the present invention;

[0064] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0065] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0066] This application provides a control method for furniture board processing equipment. The execution entity of the control method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the control method for furniture board processing equipment can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0067] Reference Figure 1 The diagram shown is a flowchart illustrating a control method for furniture board processing equipment according to an embodiment of the present invention. In this embodiment, the control method for furniture board processing equipment includes:

[0068] S1. Based on the processing path planning information of furniture boards, establish the linkage control relationship between the spindle drive and the feed drive in the processing equipment to obtain the initial control parameter set of the processing equipment;

[0069] In this embodiment of the invention, the step of establishing a linkage control relationship between the spindle drive and the feed drive in the processing equipment based on the processing path planning information of the furniture board, so as to obtain the initial control parameter set of the processing equipment, includes:

[0070] The processing path planning information of the furniture board is analyzed, the outline geometric features of the furniture board are extracted, and the material properties and processing accuracy requirements of the furniture board are identified.

[0071] Based on the contour geometry features, the displacement values ​​of the motion axis in the feed drive are generated, and the displacement values ​​are serialized into a path to obtain the reference position command sequence of the motion axis.

[0072] The material properties and the machining accuracy requirements are mapped to a pre-stored process parameter database to obtain the basic spindle speed value and the basic feed rate value of the feed drive.

[0073] The reference position command sequence is time-aligned with the basic rotational speed value and the basic feed rate value, and a synchronization relationship is established between the start and stop times of the spindle drive and the critical path points of the motion axis in the feed drive.

[0074] The synchronization relationship is compiled to generate the initial control parameter set of the processing equipment.

[0075] First, technicians import the design files containing furniture board processing path planning information into a dedicated data processing module. This module analyzes the graphic elements in the file, such as lines, arcs, and closed areas, one by one through preset geometric feature recognition rules, extracting the outline shape, edge and corner types, hole distribution, and other outline geometric features of the furniture board. At the same time, it determines the material properties by recognizing the material code, density parameters, and other information noted in the file, and clarifies the processing accuracy requirements through tolerance markings, surface roughness requirements, and other content.

[0076] Based on the extracted contour geometric features, the data processing module converts the coordinates of key points on the contour into corresponding displacement values ​​according to the motion range and resolution of the motion axis. For example, the difference between the X and Y coordinates of the contour vertex is calculated as the straight-line distance that the motion axis needs to move, and the central angle and radius of the arc are converted into the rotational displacement of the motion axis. Then, according to the order of the processing path, these displacement values ​​are arranged in time sequence to form the reference position command sequence of the motion axis.

[0077] The process parameter database pre-stores spindle speed and feed rate data corresponding to different material properties and processing accuracy requirements. When the material properties and processing accuracy requirements of the furniture board are obtained, the data processing module searches for the corresponding record in the database through precise keyword matching. For example, if the material is solid wood and the processing accuracy requirement is high precision, the corresponding high speed and low feed rate combination is matched to obtain the basic speed value of the spindle drive and the basic feed rate value of the feed drive.

[0078] The data processing module associates each position command in the reference position command sequence with its corresponding timestamp, and assigns the same time axis to the base speed value and base feed rate value to ensure that the position of the motion axis, the spindle speed, and the feed rate are consistent at the same time point. Based on this, by analyzing the motion state of the motion axis at the critical path point, it determines that the start time of the spindle drive should be earlier than the start time of the motion axis and the stop time should be later than the finish time of the motion axis, thereby establishing a synchronization relationship.

[0079] The established synchronization relationship is input into the control program generation module. This module converts the position, speed, feed rate and other information in the synchronization relationship into machine-recognizable binary code according to the instruction format of the machining equipment control system. At the same time, it adds the necessary control instruction header and check code, and finally generates an initial control parameter set containing all machining control information. This parameter set can be directly transmitted to the machining equipment control system.

[0080] The beneficial effects are that by generating an initial set of control parameters through systematic and precise steps, the processing equipment can strictly follow the preset path and process requirements during operation, effectively avoiding processing errors caused by inaccurate parameters, improving the processing quality and consistency of furniture boards, while reducing the time and cost of manual parameter adjustment and improving processing efficiency.

[0081] S2. Based on the initial control parameter set, monitor the operating status of the spindle drive and the feed drive. When the current phase of the spindle drive lags behind and the position deviation of the feed drive continues to accumulate, generate a damping compensation command for the feed drive.

[0082] In this embodiment of the invention, the step of monitoring the operating status of the spindle drive and the feed drive according to the initial control parameter set, and generating a damping compensation command for the feed drive when the current phase of the spindle drive lags behind and the position deviation of the feed drive continues to accumulate, includes:

[0083] Based on the spindle speed parameters in the initial control parameter set, the three-phase current waveform of the spindle drive is monitored in real time, and the delay angle of the fundamental phase of the current in the three-phase current waveform relative to the preset voltage reference is identified.

[0084] Based on the feed rate parameters in the initial control parameter set, the difference between the position command value and the actual position feedback value of the feed drive is continuously obtained;

[0085] When the delay angle exceeds the preset phase tolerance and the difference continues to increase over time, it is determined that the spindle drive and the feed drive are in an unstable associated state.

[0086] Based on the severity of the instability-related state, the historical damping parameter mapping table in the processing equipment is queried to obtain the adjustment amount of the integral time constant of the feed drive;

[0087] The integral time constant adjustment is encapsulated into instructions to obtain the damping compensation instruction for the feed drive.

[0088] The control system of the machining equipment retrieves the spindle speed parameters from the initial control parameter set as the monitoring reference. Through the three-phase current sensor installed in the spindle drive circuit, the current signal in each phase circuit is collected in real time. The collected current signal is converted into the corresponding electrical signal and transmitted to the signal processing unit. The signal processing unit filters the electrical signal to remove interference signals and then restores the processed signal to the three-phase current waveform. At the same time, the waveform data corresponding to the preset voltage reference is retrieved. The fundamental current wave in the three-phase current waveform is synchronously compared with the preset voltage reference waveform to determine the lag degree of the current fundamental wave phase relative to the preset voltage reference waveform phase, and then the corresponding delay angle is identified.

[0089] The control system extracts the feed rate parameter from the initial control parameter set as a reference. The control unit of the feed drive continuously generates position command values ​​according to the feed rate parameter. At the same time, the actual position information of the motion axis is collected in real time by the position detection element installed on the feed drive motion axis and converted into actual position feedback value. The control unit compares the generated position command value with the collected actual position feedback value in real time, and obtains the difference between the two values ​​through subtraction to ensure that the difference can reflect the position deviation in real time.

[0090] The control system directly compares the identified delay angle with the preset phase tolerance, and continuously records the position difference at different time points. By continuously tracking the changes in these differences, it determines whether the difference shows a progressively increasing trend. When the delay angle is greater than the preset phase tolerance, and the recorded position difference is greater than the difference at the previous time point in subsequent time points, that is, when the difference continues to increase over time, it is directly determined that the spindle drive and feed drive are in an unstable correlation state.

[0091] The control system comprehensively determines the severity of the instability-related state based on the magnitude of the delay angle exceeding the preset phase tolerance and the rate at which the position difference continues to increase. The greater the magnitude of the delay angle exceeding the preset phase tolerance and the faster the rate at which the position difference increases, the higher the severity of the instability-related state. The historical damping parameter mapping table pre-stored in the processing equipment has stored the appropriate feed drive integral time constant adjustment amount according to the different severity of the instability-related state. The control system accurately searches in the historical damping parameter mapping table according to the determined severity to obtain the corresponding integral time constant adjustment amount.

[0092] The control system uses the obtained integral time constant adjustment as core data. According to the instruction structure specification preset by the processing equipment control system, it adds a unique instruction identifier, execution priority code and data verification information to the adjustment. This information is then combined with the integral time constant adjustment in an orderly manner to form a standardized instruction format that conforms to the equipment control protocol. Finally, the instruction encapsulation of the integral time constant adjustment is completed, resulting in the damping compensation instruction for the feed drive.

[0093] The beneficial effects are that by monitoring the current phase state of the spindle drive and the position deviation of the feed drive in real time, the instability correlation between the two can be determined in a timely and accurate manner. Based on the severity of instability, the integral time constant adjustment can be accurately obtained and a damping compensation command can be generated. This provides a precise basis for subsequent adjustment of the feed drive control parameters, effectively avoids the aggravation of instability, ensures the stability of the processing equipment, and improves the continuity and reliability of furniture board processing.

[0094] S3. Apply the damping compensation command to adjust the integral parameters of the control loop of the feed drive to obtain the adjusted response characteristics of the feed drive, and generate the speed feedforward signal of the feed drive based on the adjusted response characteristics.

[0095] In this embodiment of the invention, the step of applying the damping compensation command to adjust the integral parameters of the control loop of the feed drive to obtain the adjusted response characteristics of the feed drive, and generating the speed feedforward signal of the feed drive based on the adjusted response characteristics, includes:

[0096] The damping enhancement level in the damping compensation command is mapped to the historical integral parameter adjustment mapping table in the processing equipment to obtain the integral time constant adjustment amount of the feed drive;

[0097] The integral time constant adjustment is filled into the integral parameter register of the feed drive to complete the update of the integral parameters of the control loop of the feed drive, and the adjusted control loop of the feed drive is obtained.

[0098] A test speed command with gradually increasing amplitude is injected into the adjusted control loop, while the actual speed response data of the feed drive is collected.

[0099] Extract the maximum overshoot and the settling time required to reach steady state from the actual speed response data to obtain the adjusted response characteristics of the feed drive;

[0100] Establish the correlation between the overshoot and settling time in the adjusted response characteristics and the historical feedforward gain mapping table in the processing equipment to obtain the feedforward gain coefficient of the feed drive;

[0101] The feedforward gain coefficient is weighted and fused with the real-time speed command of the feed drive to obtain the speed feedforward signal of the feed drive.

[0102] The formula for calculating the feedforward gain coefficient is as follows:

[0103] ;

[0104] In the formula, The feedforward gain coefficient is... The reference feedforward gain value is in the historical feedforward gain mapping table. Adjust the weighting coefficients for the preset overshoot. The overshoot in the adjusted response characteristics. The preset baseline overshoot threshold, This is the preset maximum allowable overshoot. Adjust the weighting coefficients for the preset adjustment time. It is an exponential function. The settling time in the adjusted response characteristics. The preset baseline adjustment time threshold, The preset adjustment time decay constant, It is the hyperbolic tangent function. The actual natural frequency of the adjusted control loop. This is the preset reference natural frequency.

[0105] The damping compensation command contains explicit information on the damping enhancement level. The control system of the processing equipment extracts the specific value of the damping enhancement level from the command. The control system has a pre-stored historical integral parameter adjustment mapping table. This mapping table was established through a large amount of experimental data and records the fixed correspondence between different damping enhancement levels and the corresponding feed drive integral time constant adjustment. The control system uses the extracted damping enhancement level value as an index to perform a precise search in the historical integral parameter adjustment mapping table. After finding a completely matching entry, it extracts the integral time constant adjustment recorded under that entry.

[0106] After the control system obtains the integral time constant adjustment, it sends the adjustment to the feed drive control module through the internal data transmission channel. The feed drive control module has a dedicated integral parameter register to store the current value of the integral parameter of the control loop. After receiving the new integral time constant adjustment, the control module performs a write operation to update the original value in the register with the new adjustment, thus completing the integral parameter update process. At this time, the feed drive control loop forms an adjusted control loop due to the change in integral parameter.

[0107] After the adjusted control loop is constructed, the control system generates a test speed command with gradually increasing amplitude. The amplitude of this command starts from the initial value and gradually increases according to a preset fixed increase until it reaches the preset maximum amplitude. The control system continuously injects the test speed command into the adjusted control loop through the signal output interface. At the same time, the speed detection device installed on the feed drive collects the actual rotation speed of the motion axis in real time, converts the collected speed data into electrical signals and transmits them to the control system. The control system records these signals in real time to form actual speed response data.

[0108] The control system analyzes and processes the collected actual speed response data. First, it determines the target speed value in the test speed command. Then, it finds the maximum value exceeding the target speed value in the actual speed response data and calculates the difference between the maximum value and the target speed value, which is the maximum overshoot. Next, it identifies the moment when the actual speed first reaches and stabilizes within the allowable error range of the target speed value from the actual speed response data and records the time interval from the start of the test to that moment, which is the adjustment time required to reach steady state. These two parameters together constitute the adjusted response characteristics of the feed drive.

[0109] The reference feedforward gain value comes from a pre-stored historical feedforward gain mapping table in the processing equipment. This mapping table was established through multiple experiments and data statistics, storing the reference feedforward gain information corresponding to different operating conditions, which can be directly extracted and used. The overshoot adjustment weight coefficient is a fixed value preset by the processing equipment before leaving the factory or during the commissioning stage. It is used to adjust the degree of influence of overshoot on the feedforward gain coefficient, and is stored in the parameter storage unit of the equipment control system after being set.

[0110] Overshoot is a parameter extracted from the adjusted response characteristics of the feed drive. It is obtained by injecting test speed commands with gradually increasing amplitude into the adjusted control loop, collecting actual speed response data, and comparing the maximum difference between the target speed value and the actual speed. The baseline overshoot threshold is a pre-set standard overshoot value used as a benchmark for overshoot comparison. It is stored in the control system's preset parameter library, providing a reference for overshoot-related calculations. The maximum allowable overshoot is an upper limit value for overshoot pre-set by the equipment based on machining accuracy requirements and hardware performance. It is stored in the parameter storage unit and used to limit the calculation range of overshoot. The settling time adjustment weight coefficient is a fixed value pre-set by the equipment, used to adjust the influence of the settling time on the feedforward gain coefficient. Once set, it is stored in the control system's parameter storage unit and can be directly accessed.

[0111] The settling time is a parameter extracted from the adjusted response characteristics of the feed drive. It is obtained by monitoring actual speed response data and recording the time interval from the start of the test until the actual speed stabilizes within the allowable error range of the target speed. The reference settling time threshold is a standard settling time value preset by the equipment, serving as a benchmark for settling time comparison. It is stored in a preset parameter library to provide a reference for settling time-related calculations. The settling time decay constant is a fixed value preset by the equipment, used to control the decay rate of the settling time-related calculation results. It is stored in the parameter storage unit to ensure that the impact of the settling time on the feedforward gain coefficient meets design requirements.

[0112] The actual natural frequency of the adjusted control loop is calculated after the adjusted control loop is constructed by injecting a test signal of a specific frequency into the loop, analyzing the loop's response amplitude and phase changes, and determining the value reflecting the loop's dynamic characteristics. The reference natural frequency is a standard natural frequency value preset by the equipment and stored in a preset parameter library. It serves as a benchmark for comparison with the actual natural frequency and is used to calibrate the influence of the natural frequency on the feedforward gain coefficient. The feedforward gain coefficient is calculated by first determining the difference between the overshoot and the reference overshoot threshold, and the maximum allowable overshoot, combined with an overshoot adjustment weighting coefficient, to obtain the overshoot's effect on the gain.

[0113] Then, by calculating the difference between the adjustment time and the reference adjustment time threshold, and performing an exponential operation using the adjustment time decay constant, multiplying this by the adjustment time adjustment weighting coefficient, we obtain the adjustment part of the gain based on the adjustment time. Next, we add 1 to the overshoot adjustment part and subtract the adjustment time adjustment part to obtain the comprehensive adjustment coefficient. Simultaneously, we calculate the ratio of the actual natural frequency of the adjusted control loop to the reference natural frequency, and process this ratio using hyperbolic tangent calculation to obtain the natural frequency correction coefficient. Finally, we multiply the reference feedforward gain value by the comprehensive adjustment coefficient and the natural frequency correction coefficient to obtain the final feedforward gain coefficient. This calculation process comprehensively considers the overshoot, adjustment time, and actual natural frequency of the control loop in the response characteristics after feed drive adjustment, combined with various preset reference parameters and weighting coefficients, to accurately calculate the feedforward gain coefficient adapted to the current equipment operating state.

[0114] The control system acquires the real-time speed command of the feed drive in real time. This command is generated by the machining path planning module according to the machining requirements. The control system fuses the obtained feedforward gain coefficient with the real-time speed command. The fusion process adopts a weighted processing method. According to the preset weight ratio, the corresponding values ​​of the feedforward gain coefficient and the real-time speed command are multiplied and added together to obtain the final fusion result. This fusion result is the speed feedforward signal of the feed drive.

[0115] The beneficial effects are that the integral parameters of the feed drive control loop can be precisely adjusted through the above steps, and its response characteristics can be optimized. At the same time, by comprehensively calculating the appropriate feedforward gain coefficient through multi-dimensional parameters, an effective speed feedforward signal can be generated, thereby improving the control accuracy and response speed of the feed drive, ensuring that the processing equipment maintains a stable motion state during operation, and improving the processing quality and efficiency of furniture boards.

[0116] S4. The speed feedforward signal is superimposed with the position control signal of the feed drive to obtain the composite control signal of the feed drive;

[0117] In this embodiment of the invention, the step of superimposing the velocity feedforward signal with the position control signal of the feed drive to obtain the composite control signal of the feed drive includes:

[0118] Align the timestamps of the velocity feedforward signal and the position control signal to the same control cycle to obtain the time-domain alignment result of the velocity feedforward signal and the position control signal;

[0119] The time-domain alignment result is processed by signal synthesis to obtain the weighted fusion signal of the feed drive;

[0120] The instantaneous amplitude of the weighted fused signal is limited to a preset upper and lower amplitude limit to obtain the composite control signal for the feed drive.

[0121] The control system first extracts the timestamp information carried by the speed feedforward signal and the position control signal to determine the generation time corresponding to each signal data point. At the same time, it retrieves the preset unified control cycle duration of the processing equipment. Using the start time of the control cycle as a reference, the timestamps of the two signals are matched and calibrated with the time nodes of the control cycle to ensure that the effective data segments of the speed feedforward signal and the position control signal are accurately mapped to the same control cycle. This ensures that both signals have corresponding effective data at the same time node, and finally obtains the time domain alignment result of the speed feedforward signal and the position control signal.

[0122] The control system has a fixed weight allocation rule preset, which clarifies the proportion of the velocity feedforward signal and the position control signal during synthesis. Based on this rule, the control system performs weighted processing on the velocity feedforward signal and the position control signal in the time-domain alignment result. Each data point of the velocity feedforward signal is multiplied by the corresponding weight value, and each data point of the position control signal is multiplied by its corresponding weight value. Then, the weighted data of the same time node in the two signals are superimposed and calculated. The superposition results of all time nodes are combined in sequence to form the weighted fusion signal of the feed drive.

[0123] The control system of the processing equipment has fixed values ​​for the upper and lower limits of amplitude pre-stored. These values ​​are set according to the hardware capacity of the equipment and the precision requirements of furniture board processing. The control system detects each instantaneous amplitude in the weighted fusion signal in real time. When an instantaneous amplitude is detected to exceed the preset upper limit, the instantaneous amplitude is immediately adjusted to the value of the upper limit. When an instantaneous amplitude is detected to be lower than the preset lower limit, the instantaneous amplitude is adjusted to the value of the lower limit. For instantaneous amplitudes between the upper and lower limits, the original values ​​are kept unchanged. After comprehensive amplitude adjustment, the composite control signal for feed drive is obtained.

[0124] The beneficial effects are that by aligning the speed feedforward signal and the position control signal in the time domain, the synchronization of the two signals is ensured. The weighted fusion fully combines the control advantages of both, and the amplitude limitation avoids damage to the equipment caused by abnormal signal amplitude. The final composite control signal has higher reliability and adaptability, and can accurately drive the operation of the feeding system, ensuring the stability and processing accuracy of the furniture board processing process.

[0125] S5. In the processing boundary area of ​​the furniture board, the composite control signal is used to activate the contour following mode of the processing equipment, and the acceleration characteristics of the motion axis in the feed drive are dynamically corrected according to the vector difference between the theoretical processing path in the processing path planning information and the actual motion direction of the feed drive, so as to obtain the corrected acceleration characteristics of the feed drive.

[0126] In this embodiment of the invention, in the processing boundary area of ​​the furniture board, the composite control signal is used to activate the contour following mode of the processing equipment, and the acceleration characteristics of the motion axis in the feed drive are dynamically corrected according to the vector difference between the theoretical processing path in the processing path planning information and the actual motion direction of the feed drive, to obtain the corrected acceleration characteristics of the feed drive, including:

[0127] In the processing boundary area of ​​the furniture board, the composite control signal is used to activate the contour following function of the processing equipment to obtain a special control state of the processing equipment;

[0128] Under the special control state, based on the theoretical processing path in the processing path planning information, the tangent direction of the current processing point in the theoretical processing path is taken as the theoretical processing path vector;

[0129] Based on the real-time position feedback data of the feed drive, the instantaneous movement direction of the tool in the processing equipment is taken as the actual movement direction vector, and the angle deviation value between the theoretical processing path vector and the actual movement direction vector is obtained.

[0130] The positive and negative characteristics and magnitude of the angular deviation value are evaluated to obtain the acceleration correction parameters of the motion axis in the feed drive;

[0131] The slope of the acceleration curve of the motion axis is adjusted according to the acceleration correction parameters to obtain the corrected acceleration characteristics of the feed drive.

[0132] The formula for calculating the acceleration correction parameter is as follows:

[0133]

[0134] In the formula, For the acceleration correction parameters, The base acceleration values ​​in the initial control parameter set. The preset angle deviation gain coefficient, It is a sine function. The angle deviation value is... The preset angular deviation saturation threshold, Pi It is an exponential function. The preset differential gain coefficient, For symbolic functions, The rate of change of the angle deviation value. The actual speed of the feed drive. The reference speed in the initial control parameters. The preset speed scaling factor, This is the modulo operator.

[0135] The control system of the processing equipment extracts the coordinate range of the furniture board processing boundary area from the processing path planning information in advance, and monitors the current processing position of the tool in real time. When the current processing position is detected to enter the coordinate range, the composite control signal is immediately transmitted to the contour following function module. After receiving the signal, the module starts the working mode, so that the processing equipment switches to a special control state that is specifically adapted to boundary processing.

[0136] Under special control conditions, the control system continuously retrieves theoretical machining path data from the machining path planning information. By tracking the machining progress of the tool in real time, it determines the specific position of the current machining point on the theoretical machining path, selects two path points adjacent to the current machining point, calculates the direction of the line connecting these two adjacent points, and determines this direction as the tangent direction of the current machining point. This tangent direction is the theoretical machining path vector.

[0137] The position detection element of the feed drive collects the actual position data of the motion axis in real time and transmits it to the control system to form real-time position feedback data. The control system extracts the real-time position feedback data of two consecutive time nodes to determine the direction of the tool's movement trajectory between these two time nodes. This trajectory direction is the instantaneous movement direction of the tool, which is defined as the actual movement direction vector. Then, by comparing the angle between the theoretical machining path vector and the actual movement direction vector, the angular deviation value between the two is obtained.

[0138] The base acceleration value comes from the initial control parameter set. This parameter set is generated by analyzing the furniture board processing path planning information, extracting contour geometric features, matching material properties and processing accuracy requirements, and establishing the linkage relationship between the spindle drive and feed drive. It can be directly retrieved from this parameter set. The angle deviation gain coefficient is a fixed value preset during the factory commissioning stage of the processing equipment. It is used to adjust the influence of angle deviation on acceleration correction. After being set, it is stored in the parameter storage unit of the control system for direct retrieval during calculation.

[0139] The angle deviation saturation threshold is a pre-set upper limit value for angle deviation in the equipment. It is used to limit the range of angle deviation in calculations and avoid over-correction. It is stored in the preset parameter library of the control system. The actual motion speed is collected in real time by a speed detection device installed on the feed drive. This device continuously monitors the rotation speed of the motion axis and converts the collected physical speed into corresponding electrical signal data, which is the actual motion speed.

[0140] The reference speed comes from the initial control parameter set and is obtained by matching it from a pre-stored process parameter database based on the material properties and processing precision requirements of the furniture panels. It serves as the benchmark data for speed comparison. The speed proportional factor is a fixed value preset by the equipment. It is used to adjust the influence of the difference between the actual movement speed and the reference speed on the correction parameters. It is stored in the parameter storage unit to ensure that the influence of the speed factor meets the design requirements.

[0141] The differential gain coefficient is a fixed value preset by the equipment. It is used to adjust the strength of the effect of the rate of change of angular deviation on acceleration correction. After being set, it is stored in the parameter storage unit of the control system and can be directly retrieved and used during calculation.

[0142] The rate of change of the angle deviation value is obtained by continuously recording the angle deviation values ​​at multiple adjacent time points, calculating the difference between the angle deviation values ​​at the next time point and the previous time point, and then dividing by the time interval between the two time points. This reflects how quickly the angle deviation changes. The result of the sign function is determined by the positive or negative characteristic of the angle deviation value. When the angle deviation value is positive, the sign function result is 1; when the angle deviation value is negative, the sign function result is -1; when the angle deviation value is zero, the sign function result is 0, directly determined by the positive or negative sign of the angle deviation value.

[0143] The acceleration correction parameter is calculated by first dividing the angle deviation value by the angle deviation saturation threshold, then multiplying it by half of pi, and performing a sine operation on the result to obtain the base value of the correction coefficient corresponding to the angle deviation. Next, the difference between the magnitude of the actual velocity and the reference velocity is calculated, and this difference is divided by the velocity scaling factor. The result is then subjected to an exponential operation to obtain the correction attenuation coefficient corresponding to the velocity difference.

[0144] Multiply the base value of the correction coefficient corresponding to the angle deviation by the correction attenuation coefficient corresponding to the velocity difference, then multiply by the angle deviation gain coefficient, and add 1 to obtain the comprehensive correction proportional coefficient. Multiply the comprehensive correction proportional coefficient by the base acceleration value to obtain the first part of the correction value under the combined effect of angle deviation and velocity difference. Simultaneously, multiply the rate of change of the angle deviation value by the result of the sign function, then multiply by the differential gain coefficient to obtain the second part of the correction value under the effect of the rate of change of the angle deviation. Finally, add the first part of the correction value and the second part of the correction value to obtain the final acceleration correction parameter.

[0145] The calculation process comprehensively considers the magnitude of the angular deviation, the difference between the actual speed and the reference speed, and the rate of change of the angular deviation. Through the synergistic effect of multiple factors, it accurately calculates the acceleration correction parameters that are adapted to the current processing state, ensuring that the adjustment of the acceleration characteristics of the motion axis not only conforms to the theoretical processing path requirements, but also dynamically adapts to the actual operating state.

[0146] The control system retrieves the current acceleration curve of the motion axis in the feed drive. This curve shows the trend of change with time as the horizontal axis and acceleration value as the vertical axis. The slope of the curve reflects the rate of change of acceleration. Based on the obtained acceleration correction parameters, if the correction parameters are positive, the slope of the acceleration curve is increased; if they are negative, the slope of the acceleration curve is decreased. By adjusting the slope of each time period of the curve segment by segment, a new acceleration change curve is formed. This new curve is the corrected acceleration characteristic of the feed drive.

[0147] The beneficial effects are that by enabling the contour following function in the processing boundary area and accurately obtaining the angular deviation between the theoretical and actual motion vectors, combined with multi-dimensional parameters to calculate the appropriate acceleration correction parameters, the motion axis acceleration characteristics are adjusted in a targeted manner to ensure that the motion trajectory of the tool in the boundary area is highly consistent with the theoretical processing path, thereby improving the accuracy and smoothness of furniture board boundary processing, while maintaining the stability of the motion process and reducing processing errors and board wear.

[0148] S6. Based on the corrected acceleration characteristics, monitor the interaction state between the cutting tool in the processing equipment and the boundary of the furniture board. When the interaction state is lower than a preset safety threshold, determine that the processing equipment is in a stable operating state.

[0149] In this embodiment of the invention, the step of monitoring the interaction state between the cutting tool in the processing equipment and the boundary of the furniture board according to the corrected acceleration characteristics, and determining that the processing equipment is in a stable operating state when the interaction state is lower than a preset safety threshold, includes:

[0150] Based on the corrected acceleration characteristics, the vibration spectrum characteristics of the processing equipment are collected.

[0151] Extract the characteristic frequency components from the vibration spectrum features to construct a quantitative index of the interaction state between the cutting tool and the boundary of the furniture board;

[0152] By comparing the quantitative index with a preset safety threshold, when the quantitative index is continuously lower than the safety threshold, a stable state signal of the processing equipment is obtained.

[0153] Based on the stable state signal, it is determined that the processing equipment is in a stable operating state.

[0154] High-precision vibration sensors are installed on the spindle and feed drive components of the machining equipment. After the corrected acceleration characteristics are applied to the motion axis, the sensors collect vibration signals in real time during the operation of the equipment. The vibration signals are converted into continuous electrical signals and transmitted to the control system. The control system filters the electrical signals to remove noise caused by environmental interference. Then, the vibration electrical signals in the time domain are converted into frequency domain signals through signal transformation to obtain vibration amplitude data corresponding to different frequencies. The correspondence between these frequencies and amplitudes is the vibration spectrum characteristics of the machining equipment.

[0155] The control system pre-sets a characteristic frequency range related to the interaction between the cutting tool and the furniture board boundary. Based on this range, all frequency components within this range and their corresponding amplitude values ​​are selected from the vibration spectrum characteristics. These selected amplitude values ​​are statistically analyzed to calculate the maximum and average amplitude values. The maximum and average values ​​are then integrated into a comprehensive value according to a fixed combination rule. This comprehensive value is the quantitative index of the interaction state between the cutting tool and the furniture board boundary.

[0156] The preset safety threshold is a fixed value pre-set based on the hardware load limit of the processing equipment and the processing quality standard of the furniture board. It is stored in the parameter storage unit of the control system. The control system compares the quantitative index constructed in real time with the preset safety threshold in real time and continuously records the comparison results. When the value of the quantitative index is lower than the preset safety threshold and there is no rebound exceeding it in multiple consecutive control cycles, the control system automatically generates an electrical signal with a specific identifier. This electrical signal is the stable state signal of the processing equipment.

[0157] The control system receives the transmitted stable state signal in real time, confirms the validity of the signal by identifying specific identifiers in the signal, and outputs a clear judgment result based on the stable state signal without additional verification process, determining that the processing equipment is currently in a stable operating state. This judgment result will serve as the basis for the continuous advancement of the subsequent processing process.

[0158] The beneficial effects are that by collecting vibration signals from the equipment through vibration sensors and converting them into vibration spectrum features, quantitative indicators related to the interaction between the cutting tool and the sheet metal can be accurately extracted. Combined with continuous monitoring and comparison using preset safety thresholds, the stable operating status of the equipment can be determined in a timely and accurate manner, avoiding processing failures caused by abnormal interactions, ensuring continuous and stable processing, and further improving the precision and yield of furniture sheet metal processing.

[0159] like Figure 2 The diagram shown is a functional block diagram of a furniture board processing equipment control system provided in an embodiment of the present invention.

[0160] The furniture board processing equipment control system 100 described in this invention can be installed in an electronic device. Depending on the functions implemented, the furniture board processing equipment control system 100 may include a linkage control relationship establishment module 101, an operation status monitoring and compensation module 102, a control loop optimization module 103, a composite control signal generation module 104, a contour following control module 105, and a stability determination module 106. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and are stored in the memory of the electronic device.

[0161] In this embodiment, the functions of each module / unit are as follows:

[0162] The linkage control relationship establishment module 101 is used to establish the linkage control relationship between the spindle drive and the feed drive in the processing equipment based on the processing path planning information of the furniture board, so as to obtain the initial control parameter set of the processing equipment;

[0163] The operation status monitoring and compensation module 102 is used to monitor the operation status of the spindle drive and the feed drive according to the initial control parameter set. When the current phase of the spindle drive lags and the position deviation of the feed drive continues to accumulate, the module generates a damping compensation command for the feed drive.

[0164] The control loop optimization module 103 is used to apply the damping compensation command to adjust the integral parameters of the control loop of the feed drive, obtain the adjusted response characteristics of the feed drive, and generate the speed feedforward signal of the feed drive based on the adjusted response characteristics.

[0165] The composite control signal generation module 104 is used to superimpose the speed feedforward signal with the position control signal of the feed drive to obtain the composite control signal of the feed drive.

[0166] The contour following control module 105 is used to activate the contour following mode of the processing equipment in the processing boundary area of ​​the furniture board using the composite control signal, and dynamically correct the acceleration characteristics of the motion axis in the feed drive according to the vector difference between the theoretical processing path in the processing path planning information and the actual motion direction of the feed drive, so as to obtain the corrected acceleration characteristics of the feed drive.

[0167] The stability determination module 106 is used to monitor the interaction state between the cutting tool in the processing equipment and the boundary of the furniture board according to the corrected acceleration characteristics. When the interaction state is lower than a preset safety threshold, the processing equipment is determined to be in a stable operating state.

[0168] In the several embodiments provided by this invention, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0169] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0170] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0171] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0172] This application embodiment can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A control method for furniture board processing equipment, characterized in that, The method includes: S1. Based on the processing path planning information of furniture boards, establish the linkage control relationship between the spindle drive and the feed drive in the processing equipment to obtain the initial control parameter set of the processing equipment; S2. Based on the initial control parameter set, monitor the operating status of the spindle drive and the feed drive. When the current phase of the spindle drive lags behind and the position deviation of the feed drive continues to accumulate, generate a damping compensation command for the feed drive. S3. Apply the damping compensation command to adjust the integral parameters of the control loop of the feed drive to obtain the adjusted response characteristics of the feed drive, and generate the speed feedforward signal of the feed drive based on the adjusted response characteristics. S4. The speed feedforward signal is superimposed with the position control signal of the feed drive to obtain the composite control signal of the feed drive; S5. In the processing boundary area of ​​the furniture board, the composite control signal is used to activate the contour following mode of the processing equipment, and the acceleration characteristics of the motion axis in the feed drive are dynamically corrected according to the vector difference between the theoretical processing path in the processing path planning information and the actual motion direction of the feed drive, so as to obtain the corrected acceleration characteristics of the feed drive. S6. Based on the corrected acceleration characteristics, monitor the interaction state between the cutting tool in the processing equipment and the boundary of the furniture board. When the interaction state is lower than a preset safety threshold, determine that the processing equipment is in a stable operating state.

2. The control method for furniture board processing equipment as described in claim 1, characterized in that, The step involves establishing a linkage control relationship between the spindle drive and feed drive in the processing equipment based on the processing path planning information of the furniture board, in order to obtain the initial control parameter set of the processing equipment, including: The processing path planning information of the furniture board is analyzed, the outline geometric features of the furniture board are extracted, and the material properties and processing accuracy requirements of the furniture board are identified. Based on the contour geometry features, the displacement values ​​of the motion axis in the feed drive are generated, and the displacement values ​​are serialized into a path to obtain the reference position command sequence of the motion axis. The material properties and the machining accuracy requirements are mapped to a pre-stored process parameter database to obtain the basic spindle speed value and the basic feed rate value of the feed drive. The reference position command sequence is time-aligned with the basic rotational speed value and the basic feed rate value, and a synchronization relationship is established between the start and stop times of the spindle drive and the critical path points of the motion axis in the feed drive. The synchronization relationship is compiled to generate the initial control parameter set of the processing equipment.

3. The control method for furniture board processing equipment as described in claim 1, characterized in that, The step involves monitoring the operating status of the spindle drive and the feed drive based on the initial control parameter set. When the current phase of the spindle drive lags behind and the position deviation of the feed drive continues to accumulate, a damping compensation command for the feed drive is generated, including: Based on the spindle speed parameters in the initial control parameter set, the three-phase current waveform of the spindle drive is monitored in real time, and the delay angle of the fundamental phase of the current in the three-phase current waveform relative to the preset voltage reference is identified. Based on the feed rate parameters in the initial control parameter set, the difference between the position command value and the actual position feedback value of the feed drive is continuously obtained; When the delay angle exceeds the preset phase tolerance and the difference continues to increase over time, it is determined that the spindle drive and the feed drive are in an unstable associated state. Based on the severity of the instability-related state, the historical damping parameter mapping table in the processing equipment is queried to obtain the adjustment amount of the integral time constant of the feed drive; The integral time constant adjustment is encapsulated into instructions to obtain the damping compensation instruction for the feed drive.

4. The control method for furniture board processing equipment as described in claim 1, characterized in that, The process of adjusting the integral parameters of the control loop of the feed drive using the damping compensation command to obtain the adjusted response characteristics of the feed drive, and generating the speed feedforward signal of the feed drive based on the adjusted response characteristics, includes: The damping enhancement level in the damping compensation command is mapped to the historical integral parameter adjustment mapping table in the processing equipment to obtain the integral time constant adjustment amount of the feed drive; The integral time constant adjustment is filled into the integral parameter register of the feed drive to complete the update of the integral parameters of the control loop of the feed drive, and the adjusted control loop of the feed drive is obtained. A test speed command with gradually increasing amplitude is injected into the adjusted control loop, while the actual speed response data of the feed drive is collected. Extract the maximum overshoot and the settling time required to reach steady state from the actual speed response data to obtain the adjusted response characteristics of the feed drive; Establish the correlation between the overshoot and settling time in the adjusted response characteristics and the historical feedforward gain mapping table in the processing equipment to obtain the feedforward gain coefficient of the feed drive; The feedforward gain coefficient is weighted and fused with the real-time speed command of the feed drive to obtain the speed feedforward signal of the feed drive.

5. The control method for furniture board processing equipment as described in claim 4, characterized in that, The formula for calculating the feedforward gain coefficient is as follows: ； In the formula, The feedforward gain coefficient is... The reference feedforward gain value is in the historical feedforward gain mapping table. Adjust the weighting coefficients for the preset overshoot. The overshoot in the adjusted response characteristics. The preset baseline overshoot threshold, This is the preset maximum allowable overshoot. Adjust the weighting coefficients for the preset adjustment time. It is an exponential function. The settling time in the adjusted response characteristics. The preset baseline adjustment time threshold, The preset adjustment time decay constant, It is the hyperbolic tangent function. The actual natural frequency of the adjusted control loop. This is the preset reference natural frequency.

6. The control method for furniture board processing equipment as described in claim 1, characterized in that, The step of superimposing the velocity feedforward signal with the position control signal of the feed drive to obtain the composite control signal of the feed drive includes: Align the timestamps of the velocity feedforward signal and the position control signal to the same control cycle to obtain the time-domain alignment result of the velocity feedforward signal and the position control signal; The time-domain alignment result is processed by signal synthesis to obtain the weighted fusion signal of the feed drive; The instantaneous amplitude of the weighted fused signal is limited to a preset upper and lower amplitude limit to obtain the composite control signal for the feed drive.

7. The control method for furniture board processing equipment as described in claim 1, characterized in that, In the processing boundary area of ​​the furniture board, the composite control signal is used to activate the contour following mode of the processing equipment, and the acceleration characteristics of the motion axis in the feed drive are dynamically corrected according to the vector difference between the theoretical processing path in the processing path planning information and the actual motion direction of the feed drive, to obtain the corrected acceleration characteristics of the feed drive, including: In the processing boundary area of ​​the furniture board, the composite control signal is used to activate the contour following function of the processing equipment to obtain a special control state of the processing equipment; Under the special control state, based on the theoretical processing path in the processing path planning information, the tangent direction of the current processing point in the theoretical processing path is taken as the theoretical processing path vector; Based on the real-time position feedback data of the feed drive, the instantaneous movement direction of the tool in the processing equipment is taken as the actual movement direction vector, and the angle deviation value between the theoretical processing path vector and the actual movement direction vector is obtained. The positive and negative characteristics and magnitude of the angular deviation value are evaluated to obtain the acceleration correction parameters of the motion axis in the feed drive; The slope of the acceleration curve of the motion axis is adjusted according to the acceleration correction parameters to obtain the corrected acceleration characteristics of the feed drive.

8. The control method for furniture board processing equipment as described in claim 7, characterized in that, The formula for calculating the acceleration correction parameter is as follows: ； In the formula, For the acceleration correction parameters, The base acceleration values ​​in the initial control parameter set. The preset angle deviation gain coefficient, It is a sine function. The angle deviation value is... The preset angular deviation saturation threshold, Pi It is an exponential function. The preset differential gain coefficient, For symbolic functions, The rate of change of the angle deviation value. The actual speed of the feed drive. The reference speed in the initial control parameters. The preset speed scaling factor, This is the modulo operator.

9. The control method for furniture board processing equipment as described in claim 1, characterized in that, The step of monitoring the interaction state between the cutting tool and the boundary of the furniture board in the processing equipment based on the corrected acceleration characteristics, and determining that the processing equipment is in a stable operating state when the interaction state is lower than a preset safety threshold, includes: Based on the corrected acceleration characteristics, the vibration spectrum characteristics of the processing equipment are collected. Extract the characteristic frequency components from the vibration spectrum features to construct a quantitative index of the interaction state between the cutting tool and the boundary of the furniture board; By comparing the quantitative index with a preset safety threshold, when the quantitative index is continuously lower than the safety threshold, a stable state signal of the processing equipment is obtained. Based on the stable state signal, it is determined that the processing equipment is in a stable operating state.

10. A control system for furniture board processing equipment, used to implement the control method for furniture board processing equipment as described in claim 1, the system comprising: The linkage control relationship establishment module is used to establish the linkage control relationship between the spindle drive and the feed drive in the processing equipment based on the processing path planning information of the furniture board, so as to obtain the initial control parameter set of the processing equipment; The operation status monitoring and compensation module is used to monitor the operation status of the spindle drive and the feed drive according to the initial control parameter set. When the current phase of the spindle drive lags and the position deviation of the feed drive continues to accumulate, the module generates a damping compensation command for the feed drive. The control loop optimization module is used to apply the damping compensation command to adjust the integral parameters of the control loop of the feed drive, obtain the adjusted response characteristics of the feed drive, and generate the speed feedforward signal of the feed drive based on the adjusted response characteristics. A composite control signal generation module is used to superimpose the speed feedforward signal with the position control signal of the feed drive to obtain the composite control signal of the feed drive. The contour following control module is used to activate the contour following mode of the processing equipment in the processing boundary area of ​​the furniture board using the composite control signal, and dynamically correct the acceleration characteristics of the motion axis in the feed drive according to the vector difference between the theoretical processing path in the processing path planning information and the actual motion direction of the feed drive, so as to obtain the corrected acceleration characteristics of the feed drive. The stability determination module is used to monitor the interaction state between the cutting tool and the boundary of the furniture board in the processing equipment based on the corrected acceleration characteristics. When the interaction state is lower than a preset safety threshold, the processing equipment is determined to be in a stable operating state.

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