Motion control method and device, processing equipment and readable storage medium

Abstract

The invention relates to a motion control method and device, processing equipment and a readable storage medium. The method comprises the following steps: acquiring a motion parameter constraint value, a jerk change proportionality coefficient and motion parameter planning values in a plurality of motion adjustment periods in a motion process; determining a motion parameter optimization value of the motion process according to the motion parameter constraint value, the jerk change proportionality coefficient and the motion parameter planning value; and according to the motion parameter optimization value, determining a motion control instruction in the motion process so as to adjust the acceleration change in the motion process. According to the method, smooth transition adjustment is carried out on acceleration changes in the movement process, the problem that too large vibration of a machine tool is likely to occur when a linear acceleration and deceleration model carries out deceleration processing is effectively solved, the accuracy and adjustability of movement control can be guaranteed while the movement control efficiency is guaranteed, and the method is suitable for popularization and application. Therefore, the higher requirement of the laser processing effect is met.

Description

Technical Field

[0001] This application relates to the field of laser processing, and in particular to a motion control method, apparatus, processing equipment, and readable storage medium. Background Technology

[0002] With the continuous development of laser processing technology and the increasing demand for laser processing, the requirements for laser processing effects are becoming more and more stringent. When a braking alarm is triggered in a CNC system, the movement of all servo axes in the entire system must be decelerated to ensure a rapid stop.

[0003] When using the linear acceleration / deceleration model commonly employed for deceleration, excessive machine tool vibration is a common problem. Summary of the Invention

[0004] Therefore, it is necessary to provide a motion control method, device, processing equipment, and readable storage medium to address the aforementioned technical problems.

[0005] A motion control method, comprising:

[0006] Obtain the constraint values ​​of motion parameters, the proportional coefficient of jerk change, and the planned values ​​of motion parameters within multiple motion adjustment cycles during the motion process; Based on the motion parameter constraint values, the acceleration change ratio coefficient, and the motion parameter planning values, the optimized values ​​of the motion parameters for the motion process are determined. Based on the optimized values ​​of the motion parameters, motion control commands for the motion process are determined to adjust the acceleration changes during the motion process.

[0007] In one embodiment, determining the optimized motion parameter values ​​for the motion process based on the motion parameter constraint values, the jerk change ratio coefficient, and the motion parameter planning values ​​includes: Based on the motion parameter constraint values, the acceleration change ratio coefficient, and the motion parameter planning values, determine the acceleration zero-planning velocity for the motion process; Based on the zero-acceleration planning velocity, the motion parameter constraint value, the acceleration change ratio coefficient, and the motion parameter planning value, the optimized motion parameter value for the motion process is determined.

[0008] In one embodiment, the motion parameter planning values ​​include initial velocity planning values ​​and initial acceleration planning values. The step of determining the acceleration-to-zero planning velocity for the motion process based on the motion parameter constraint values, the acceleration change ratio coefficient, and the motion parameter planning values ​​includes: Based on the acceleration change ratio coefficient, the initial velocity planning value, and the initial acceleration planning value, determine the acceleration planning model and velocity planning model for any of the motion adjustment cycles; Based on the motion parameter constraint values, the acceleration planning model of the motion adjustment cycle, and the velocity planning model, the acceleration zeroing planning velocity of the motion process is determined.

[0009] In one embodiment, the motion parameter constraint values ​​include velocity constraint values, acceleration constraint values, and jerk constraint values; the motion parameter planning values ​​include initial velocity planning values ​​and initial acceleration planning values; and determining the optimized motion parameter values ​​for the motion process based on the zero-acceleration planned velocity, the motion parameter constraint values, the jerk change ratio coefficient, and the motion parameter planning values ​​includes: Based on the initial acceleration planning value and the acceleration constraint value, determine the acceleration reduction optimization process and the acceleration increase optimization process of the motion process; Using the acceleration reduction optimization process and acceleration increase optimization process of the motion process as conditions, and based on the acceleration zeroing planning speed, the initial acceleration planning value, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient, the motion adjustment cycle optimization value and the jerk optimization value of the motion process are determined.

[0010] In one embodiment, the step of determining the motion adjustment cycle optimization value and acceleration optimization value of the motion process based on the acceleration reduction optimization process and acceleration increase optimization process of the motion process, according to the acceleration zeroing planning speed, the initial acceleration planning value, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient, includes: When the acceleration reduction optimization process is underway and the acceleration zeroing planning speed is less than zero, the achievable extreme values ​​of acceleration and velocity are determined based on the initial acceleration planning value, the velocity constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient. Furthermore, the motion adjustment cycle optimization value and the jerk optimization value for the acceleration reduction optimization process are determined based on the achievable extreme values ​​of acceleration and velocity. When the acceleration reduction optimization process is underway and the acceleration zeroing planning speed is greater than or equal to zero, the uniform deceleration motion period of the motion process is determined based on the acceleration zeroing planning speed and the acceleration constraint value. The motion adjustment period optimization value and the acceleration optimization value of the acceleration reduction optimization process are then determined based on the uniform deceleration motion period, the acceleration zeroing planning speed, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient.

[0011] In one embodiment, the step of determining the motion adjustment cycle optimization value and acceleration optimization value of the motion process based on the acceleration reduction optimization process and acceleration increase optimization process of the motion process, according to the acceleration zeroing planning speed, the initial acceleration planning value, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient, further includes: When the acceleration increase optimization process is underway and the acceleration zeroing planning speed is less than zero, the achievable extreme value of acceleration and the achievable extreme value of speed are determined based on the initial acceleration planning value, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient. Based on the achievable extreme value of acceleration and the achievable extreme value of speed, the motion adjustment cycle optimization value and the jerk optimization value of the acceleration increase optimization process are determined. When the acceleration is increasing and the acceleration is zeroing planning speed is greater than or equal to zero, the uniform deceleration motion period of the motion process is determined based on the acceleration zeroing planning speed and the acceleration constraint value. The motion adjustment period optimization value and the acceleration optimization value of the acceleration increasing optimization process are then determined based on the uniform deceleration motion period, the acceleration zeroing planning speed, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient.

[0012] In one embodiment, determining the motion control command for the motion process based on the optimized motion parameter values ​​includes: Based on the optimized values ​​of the motion parameters, determine the motion control parameters for the motion process; Based on the motion control parameters, determine the motion control commands for the motion process.

[0013] A motion control device, comprising: The acquisition module is used to acquire motion parameter constraint values, jerk change ratio coefficients, and motion parameter planning values ​​within multiple motion adjustment cycles during the motion process. A parameter optimization module, connected to the acquisition module, is used to determine the optimized values ​​of the motion parameters for the motion process based on the motion parameter constraint values, the jerk change ratio coefficient, and the motion parameter planning values. A motion control module, connected to the parameter optimization module, is used to determine motion control commands for the motion process based on the optimized motion parameter values, so as to adjust the acceleration changes during the motion process.

[0014] A processing apparatus includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the method described above.

[0015] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0016] A computer program product that, when run on a terminal device, causes the terminal device to perform any of the methods described above.

[0017] The beneficial effects of the embodiments provided in this application include: This motion control method, when planning the speed of the motion process, first optimizes the motion adjustment cycle and jerk based on the motion parameter constraint values ​​(such as speed constraint values, acceleration constraint values, and jerk constraint values), the jerk change ratio coefficient, and the motion parameter planning values ​​(such as initial speed planning values ​​and initial acceleration planning values) within multiple motion adjustment cycles, in order to determine the optimized motion parameter values ​​for the motion process. Then, based on the obtained optimized motion parameter values, it determines the motion control commands that can adjust the acceleration changes during the motion process. This achieves a smooth transition adjustment of acceleration changes during the motion process, effectively improving the problem of excessive machine tool vibration that easily occurs when performing deceleration processing in linear acceleration / deceleration models. It can ensure both motion control efficiency and accuracy and adjustability, thereby meeting the higher requirements of laser processing effects. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating a motion control method in one embodiment; Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment; Figure 3 This is a schematic diagram of the specific process of step 104 in one embodiment; Figure 4 This is a schematic block diagram of the motion control device in one embodiment; Figure 5 This is a schematic block diagram of the specific structure of the parameter optimization module 40 in one embodiment; Figure 6 This is a schematic block diagram of the specific structure of the parameter optimization module 40 in one embodiment; Figure 7 This is a schematic diagram of the processing equipment in one embodiment. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] Figure 1 This is a flowchart illustrating a motion control method in one embodiment.

[0023] In this embodiment, as Figure 1 As shown, the motion control method in the CNC system involves speed adjustment of the servo axis, and the motion control method includes steps 102 to 106.

[0024] Step 102: Obtain the motion parameter constraint values, jerk change ratio coefficient, and motion parameter planning values ​​within multiple motion adjustment cycles during the motion process.

[0025] Motion parameter constraint values ​​can be the allowed values ​​of the relevant motion parameters of the servo axes in the CNC system. The jerk variation proportional coefficient can be the jerk variation parameter determined by the motion requirements. The motion adjustment cycle can be the motion cycle divided based on the acceleration variation trend during motion. The motion parameter planning values ​​can be the initial planned values ​​of the relevant motion parameters of the servo axes in the CNC system.

[0026] Motion parameter constraints include velocity constraints, acceleration constraints, and jerk constraints. Motion parameter planning values ​​include initial velocity planning values ​​and initial acceleration planning values. Among them, velocity constraints include velocity minimum values ​​and velocity maximum values. Velocity minimum values ​​are used to constrain scenarios where the velocity is at its minimum, and velocity maximum values ​​are used to constrain scenarios where the velocity is at its maximum. The same applies to acceleration constraints and jerk constraints.

[0027] Step 104: Determine the optimized values ​​of motion parameters for the motion process based on the constraint values ​​of motion parameters, the proportional coefficient of jerk change, and the planned values ​​of motion parameters.

[0028] The optimized values ​​of motion parameters can be obtained by optimizing the motion adjustment period and jerk during the motion process, based on the motion parameter constraint values, the jerk change ratio coefficient, and the motion parameter planning values. Optionally, the optimized values ​​of motion parameters include optimized values ​​of the motion adjustment period and jerk.

[0029] The scenarios for determining the optimized values ​​of motion parameters during a motion process, based on the constraint values ​​of motion parameters, the proportional coefficient of jerk change, and the planned values ​​of motion parameters, include: optimizing the motion adjustment period and jerk during the motion process based on the constraint values ​​of motion parameters, the proportional coefficient of jerk change, and the planned values ​​of motion parameters, to determine the optimized values ​​of the motion adjustment period and jerk. The motion adjustment period can be the time span of the acceleration trend change during the motion process.

[0030] Step 106: Based on the optimized values ​​of the motion parameters, determine the motion control commands for the motion process in order to adjust the acceleration changes during the motion process.

[0031] Motion control commands can be formed based on optimized values ​​of motion parameters, and can be control parameters that can adjust for changes in acceleration during motion.

[0032] The scenarios in which motion control commands for a motion process are determined based on optimized motion parameter values ​​include: determining motion control parameters for the motion process based on optimized motion parameter values; and determining motion control commands for the motion process based on motion control parameters. These motion control parameters include jerk control parameters and motion adjustment cycle control parameters.

[0033] The motion control method provided in this embodiment first optimizes the motion adjustment cycle and jerk during the motion process based on the motion parameter constraint values ​​(such as velocity constraint values, acceleration constraint values, and jerk constraint values), the jerk change ratio coefficient, and the motion parameter planning values ​​(such as initial velocity planning values ​​and initial acceleration planning values) within multiple motion adjustment cycles, in order to determine the optimized motion parameter values ​​for the motion process after optimization. Then, based on the obtained optimized motion parameter values, a motion control command is determined that can adjust the acceleration changes during the motion process. This achieves a smooth transition adjustment of acceleration changes during the motion process, effectively improving the problem of excessive machine tool vibration that easily occurs when performing deceleration processing in linear acceleration / deceleration models. It can ensure both motion control efficiency and accuracy and adjustability, thereby meeting the higher requirements for laser processing effects.

[0034] Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0035] In this embodiment, as Figure 2 As shown, step 104 includes sub-steps 202 to 204.

[0036] Step 202: Based on the motion parameter constraint values, the acceleration change ratio coefficient, and the motion parameter planning values, determine the acceleration zeroing planning velocity for the motion process.

[0037] The planned velocity when acceleration is zero can be the planned velocity value when acceleration becomes zero.

[0038] The scenarios for determining the zero-acceleration planned velocity during motion based on motion parameter constraints, acceleration change ratio coefficient, and motion parameter planning values ​​include: determining the acceleration planning model and velocity planning model for any motion adjustment cycle based on the acceleration change ratio coefficient, initial velocity planning value, and initial acceleration planning value; and determining the zero-acceleration planned velocity during motion based on the motion parameter constraints, acceleration planning model, and velocity planning model for the motion adjustment cycle.

[0039] Acceleration programming models, based on the jerk change ratio coefficient and initial acceleration planning values, are mathematical models capable of planning the acceleration change trend during motion. Similarly, velocity programming models, based on the jerk change ratio coefficient, initial velocity planning values, and initial acceleration planning values, are mathematical models capable of planning the velocity change trend during motion.

[0040] Step 204: Based on the zero-acceleration planned velocity, motion parameter constraint values, jerk change ratio coefficient, and motion parameter planned values, determine the optimized values ​​of motion parameters for the motion process.

[0041] The scenarios for determining the optimized values ​​of motion parameters during the motion process based on the zero-acceleration planning velocity, motion parameter constraint values, jerk change ratio coefficient, and motion parameter planning values ​​include: dividing the acceleration optimization process into stages based on the zero-acceleration planning velocity, acceleration constraint values, and initial acceleration planning values; and optimizing the motion adjustment cycle and jerk during the motion process by combining the initial acceleration planning values, acceleration constraint values, jerk constraint values, and jerk change ratio coefficient to determine the optimized values ​​of the motion adjustment cycle and jerk.

[0042] Based on the motion parameter constraint values, the acceleration change ratio coefficient, and the motion parameter planning values, the planned velocity value when the acceleration becomes zero is determined, i.e., the acceleration zero-planning velocity. Combining the initial acceleration planning value, acceleration constraint value, jerk constraint value, and jerk change ratio coefficient, the motion adjustment cycle and jerk during the motion process are optimized in stages to determine the optimized values ​​of the motion adjustment cycle and jerk.

[0043] Figure 3 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0044] In this embodiment, as Figure 3 As shown, step 104 includes sub-steps 302 to 304.

[0045] Step 302: Based on the initial acceleration planning value and acceleration constraint value, determine the acceleration reduction optimization process and acceleration increase optimization process of the motion process.

[0046] The acceleration reduction optimization process can be a motion phase in which the acceleration changes from large to small. The acceleration increase optimization process can be a motion phase in which the acceleration changes from small to large.

[0047] Based on the initial acceleration planning value and the acceleration constraint value, the conditions for determining the acceleration reduction optimization process and the acceleration increase optimization process of the motion process are as follows: when the initial acceleration planning value is greater than or equal to the acceleration minimum value, it is the acceleration reduction optimization process of the motion process; when the initial acceleration planning value is less than the acceleration minimum value, it is the acceleration increase optimization process of the motion process.

[0048] Step 304: Taking the acceleration reduction optimization process and acceleration increase optimization process of the motion process as conditions, and based on the initial acceleration planning value, velocity constraint value, acceleration constraint value, jerk constraint value, and jerk change ratio coefficient, determine the motion adjustment cycle optimization value and jerk optimization value of the motion process.

[0049] The following scenarios, based on the optimization processes of acceleration reduction and acceleration increase during motion, and according to the acceleration-to-zero planning velocity, initial acceleration planning value, velocity constraint value, acceleration constraint value, jerk constraint value, and jerk change ratio coefficient, determine the motion adjustment cycle optimization value and jerk optimization value during motion: When the acceleration is decreasing and the planned velocity is less than zero, the achievable extreme values ​​of acceleration and velocity are determined based on the initial planned value of acceleration, the velocity constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient. Based on the achievable extreme values ​​of acceleration and velocity, the optimized values ​​of motion adjustment cycle and jerk are determined for the acceleration decreasing optimization process.

[0050] When the acceleration is decreasing and the acceleration zeroing planning speed is greater than or equal to zero, the uniform deceleration motion period is determined based on the acceleration zeroing planning speed and the acceleration constraint value. Then, the motion adjustment period optimization value and the jerk optimization value are determined based on the uniform deceleration motion period, the acceleration zeroing planning speed, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient.

[0051] The following scenarios, which use the acceleration reduction optimization process and acceleration increase optimization process as conditions, and determine the motion adjustment cycle optimization value and acceleration optimization value based on the acceleration zeroing planning velocity, initial acceleration planning value, velocity constraint value, acceleration constraint value, jerk constraint value, and jerk change ratio coefficient, also include: When the acceleration is increasing and the planned velocity is less than zero, the achievable extreme values ​​of acceleration and velocity are determined based on the initial planned value of acceleration, the velocity constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient. Based on the achievable extreme values ​​of acceleration and velocity, the optimized values ​​of motion adjustment cycle and jerk are determined for the acceleration increasing optimization process.

[0052] When the acceleration is increasing and the acceleration is zeroing planning speed is greater than or equal to zero, the uniform deceleration motion period is determined based on the acceleration zeroing planning speed and acceleration constraint value. Then, the motion adjustment period optimization value and jerk optimization value are determined based on the uniform deceleration motion period, acceleration zeroing planning speed, speed constraint value, acceleration constraint value, jerk constraint value, and jerk change ratio coefficient.

[0053] Specifically, the initial planned speed value at the alarm time and initial planning value of acceleration Maximum acceleration accelerometer maximum value The initial planned speed value for the first motion adjustment cycle is: and initial planning value of acceleration The initial planned velocity value for the second motion adjustment cycle and initial planning value of acceleration , No. Initial planning value of speed for each motion adjustment cycle and initial planning value of acceleration The maximum jerk growth rate coefficient is That is, the proportionality coefficient of jerk change. The parameters can be adjusted according to needs, and The range of values ​​is Therefore, we can conclude that:

[0054] Based on the acceleration change ratio coefficient, the initial velocity planning value, and the initial acceleration planning value, the specific scenarios for determining the acceleration planning model and velocity planning model for any motion adjustment period include:

[0055] In the formula, An acceleration programming model representing any motion adjustment period. This represents a velocity planning model for any motion adjustment cycle. The jerk for the first motion adjustment cycle, Considering that the acceleration during deceleration cannot exceed And it may undergo uniformly decelerated motion; This represents the motion adjustment period, and the period is an integer. It is also an integer. In order to decelerate and return to zero in the shortest possible time, during the motion... The value will be retrieved first. or ,by Calculate The value of is not necessarily an integer; if For non-integers, adjustments are needed. The value of , due to Rounding Recalculate Size.

[0056] When the initial planned value of acceleration is greater than or equal to the minimum value of acceleration, it is an optimization process for reducing acceleration during motion, i.e. Based on the motion parameter constraints, the acceleration programming model of the motion adjustment period, and the velocity programming model, the following scenarios are identified where the acceleration during the motion process reaches zero and the planned velocity is determined:

[0057] In the formula, To accelerate the zeroing-planning speed, The jerk is for the second motion adjustment cycle. ,because This represents the exercise adjustment cycle, so It is also an integer. During the movement The value will be retrieved first. Similarly, it can be concluded that Calculate The value of is not necessarily an integer; if For non-integers, adjustments are needed. The value of is rounded down. Recalculate The size, finally through Calculate the size .

[0058] When in the process of accelerating reduction optimization, i.e. And the acceleration is zero, the planned velocity is less than zero, that is... At that time, the acceleration could not be reached. ,if Pick The interval, otherwise take The interval is solved using the bisection method with the following formula. Must meet .

[0059] Based on the initial acceleration planning value, velocity constraint value, acceleration constraint value, jerk constraint value, and jerk change ratio coefficient, the specific scenarios in which acceleration and velocity can reach their extreme values ​​are determined include:

[0060] At this point, based on the achievable extreme values ​​of acceleration and velocity, the specific circumstances of the motion adjustment cycle optimization value and the jerk optimization value in the acceleration reduction optimization process are determined, i.e., the following formula is used to recalculate the values ​​that meet the requirements. Optimized value of motion adjustment cycle And accelerometer optimization value The value of .

[0061]

[0062] When in the process of accelerating reduction optimization, i.e. And if the acceleration is zero and the planned velocity is less than zero, that is, if At that time, the acceleration can reach There exists uniformly decelerated motion. Based on the zero-acceleration planned velocity and acceleration constraint values, the specific cases for determining the period of uniformly decelerated motion include: the period of uniformly decelerated motion. .if If it is a non-integer, there will be a remainder. The speed value, put this speed value into Deceleration during the phase.

[0063] At this point, based on the uniform deceleration motion period, the acceleration zero-planning velocity, the velocity constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient, the specific circumstances of the motion adjustment period optimization value and the jerk optimization value in the acceleration reduction optimization process are determined. That is, the following formula is used to recalculate the values ​​that meet the requirements. Optimized value of motion adjustment cycle And accelerometer optimization value The value of .

[0064]

[0065] When the initial planned value of acceleration is less than the minimum value of acceleration, it is an optimization process of increasing acceleration during motion, i.e. Based on the motion parameter constraints, the acceleration programming model of the motion adjustment period, and the velocity programming model, the following scenarios are identified where the acceleration during the motion process reaches zero and the planned velocity is determined:

[0066] in, ,because This represents the exercise adjustment cycle, so It is also an integer. During the movement The value will be retrieved first. Similarly, it can be concluded that Calculate The value of is not necessarily an integer; if For non-integers, adjustments are needed. The value of , take Recalculate The size, finally through Calculate the size .

[0067] When in the process of accelerating optimization, that is And the acceleration is zero, the planned velocity is less than zero, that is... At that time, the acceleration could not be reached. ,exist The solution is obtained using the bisection method and the following formula. Must meet Based on the initial acceleration planning value, velocity constraint value, acceleration constraint value, jerk constraint value, and jerk change ratio coefficient, the specific scenarios in which acceleration and velocity can reach their extreme values ​​are determined include:

[0068] Based on the achievable extreme values ​​of acceleration and velocity, the specific scenarios for determining the optimized values ​​of motion adjustment period and acceleration during the acceleration increase optimization process are as follows:

[0069] When in the process of accelerating optimization, that is And the acceleration is zero, the planned velocity is greater than or equal to zero, that is... At that time, the acceleration can reach There exists uniformly decelerated motion. Based on the zero-acceleration planned velocity and acceleration constraint values, the specific cases for determining the period of uniformly decelerated motion include: the period of uniformly decelerated motion. .if If it is a non-integer, there will be a remainder. The speed value, put this speed value into Deceleration during the phase.

[0070] At this point, based on the uniform deceleration motion period, the acceleration zero-planning velocity, the velocity constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient, the specific circumstances of the motion adjustment period optimization value and the jerk optimization value in the acceleration reduction optimization process are determined. That is, the following formula is used to recalculate the values ​​that meet the requirements. of and The value of .

[0071]

[0072] Through the maximum acceleration A max , jerk maximum value J maxAnd the acceleration change ratio coefficient K, calculate the current initial velocity V0 from the initial acceleration A0 to -A max Phase and -A max The final velocity V of the axle after reaching stage 0 end If V end If the acceleration is greater than or equal to 0, then the acceleration can reach -A. max There exists uniformly decelerated motion, and the period of the uniformly decelerated motion is n3 = V. end / A max If n3 is not an integer, then there will be a remainder. The velocity value is put into the acceleration from -A max Deceleration during phase 0; if V end >=0, if A0>0 or A0<-A max In [-A max The interval is [0, 0], otherwise it is in the interval [-A]. max The minimum acceleration -A in the interval [A0] is determined using the bisection method. max Consistent with the initial acceleration A0 to A max Phase and A max The final velocity V of the axle after reaching stage 0 end =0, which finally enables the optimization and adjustment of motion adjustment cycle and jerk, so as to smoothly adjust the acceleration changes during the motion process, thereby improving the problem of excessive machine tool vibration caused by excessive acceleration changes.

[0073] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least one sub-step described above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps. It should be noted that the different embodiments described above can be combined with each other.

[0074] Figure 4 This is a schematic block diagram of the motion control device in one embodiment.

[0075] In this embodiment, as Figure 4 As shown, the motion control device is applied to machining trajectories including interpolation axes and coupling axes. The motion control device includes an acquisition module 20, a parameter optimization module 40, and a motion control module 60.

[0076] The acquisition module 20 is used to acquire motion parameter constraint values, jerk change ratio coefficients, and motion parameter planning values ​​within multiple motion adjustment cycles during the motion process.

[0077] The parameter optimization module 40, connected to the acquisition module 20, is used to determine the optimized values ​​of motion parameters during the motion process based on the motion parameter constraint values, the jerk change ratio coefficient, and the motion parameter planning values.

[0078] The motion control module 60 is connected to the parameter optimization module 40 and is used to determine the motion control command for the motion process based on the optimized values ​​of the motion parameters, so as to adjust the acceleration changes during the motion process.

[0079] In this embodiment, each module is used to execute Figure 1 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0080] The motion control device provided in this embodiment, when performing speed planning during the motion process, first optimizes the motion adjustment cycle and jerk based on the motion parameter constraint values ​​(such as velocity constraint values, acceleration constraint values, and jerk constraint values), the jerk change ratio coefficient, and the motion parameter planning values ​​(such as initial velocity planning values ​​and initial acceleration planning values) within multiple motion adjustment cycles to determine the optimized motion parameter values ​​for the motion process. Based on the obtained optimized motion parameter values, it determines motion control commands that can adjust the acceleration changes during the motion process. This achieves smooth transition adjustments to acceleration changes during the motion process, effectively improving the problem of excessive machine tool vibration that easily occurs when performing deceleration processing using linear acceleration / deceleration models. It ensures both motion control efficiency and accuracy and adjustability, thereby meeting higher requirements for laser processing effects.

[0081] Figure 5 This is a schematic block diagram of the specific structure of the parameter optimization module 40 in one embodiment.

[0082] In this embodiment, as Figure 5 As shown, the parameter optimization module 40 includes a zero-rate determination unit 420 and a parameter optimization unit 440.

[0083] The zero-velocity determination unit 420 is used to determine the zero-velocity acceleration planning velocity during the motion process based on the motion parameter constraint values, the acceleration change ratio coefficient, and the motion parameter planning values.

[0084] The parameter optimization unit 440, connected to the zero-velocity determination unit 420, is used to determine the optimized values ​​of motion parameters during the motion process based on the zero-velocity acceleration planning velocity, motion parameter constraint values, acceleration change ratio coefficient, and motion parameter planning values.

[0085] In this embodiment, each unit is used to perform Figure 2 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 2 as well as Figure 2 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0086] Figure 6 This is a schematic block diagram of the specific structure of the parameter optimization module 40 in one embodiment.

[0087] In this embodiment, as Figure 6 As shown, the parameter optimization module 40 includes a motion process division unit 430 and a parameter optimization unit 440.

[0088] The motion process division unit 430 is used to determine the acceleration reduction optimization process and acceleration increase optimization process of the motion process based on the initial acceleration planning value and acceleration constraint value.

[0089] The parameter optimization unit 440 is connected to the motion process division unit 430. It is used to determine the motion adjustment cycle optimization value and jerk optimization value of the motion process based on the initial acceleration planning value, velocity constraint value, acceleration constraint value, jerk constraint value, and jerk change ratio coefficient, with the acceleration reduction optimization process and acceleration increase optimization process of the motion process as conditions.

[0090] In this embodiment, each unit is used to perform Figure 3 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 3 as well as Figure 3 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0091] The units in this embodiment are used to perform the steps in the corresponding embodiments described above. For details, please refer to the relevant descriptions in the corresponding embodiments described above, which will not be repeated here.

[0092] The division of the various modules in the above motion control device is only for illustrative purposes. In other embodiments, the motion control device can be divided into different modules as needed to complete all or part of the functions of the above motion control device.

[0093] For specific limitations regarding the motion control device, please refer to the limitations of the motion control method above, which will not be repeated here. Each module in the aforementioned motion control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the processing equipment, or stored in software in the memory of the processing equipment, so that the processor can call and execute the operations corresponding to each module.

[0094] Figure 7 This is a schematic diagram of the processing equipment in one embodiment.

[0095] In this embodiment, as Figure 7 As shown, the processing equipment includes a memory A1 and a processor A2; it may also include a display screen A3, a communication interface, and a bus. Optionally, the processing equipment may be a laser processing equipment.

[0096] The memory A1, processor A2, display screen A3, and communication interface can communicate with each other via a bus; the display screen A3 is configured to display the user operation interface preset in the initial setting mode, and the display screen A3 can also display the process control window; the communication interface can transmit information; the memory A1 stores computer programs, and the processor A2 can call the logical instructions in the memory A1 to execute the methods in the above embodiments.

[0097] Furthermore, the logic instructions in the aforementioned memory A1 can be implemented as software functional units and, when sold or used as independent workpieces, can be stored in a computer-readable storage medium.

[0098] Memory A1, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of this application. Processor A2 executes functional applications and data processing by running the software programs, instructions, or modules stored in memory A1, thereby implementing the methods in the above embodiments.

[0099] Memory A1 includes a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, memory A1 may include high-speed random access memory and may also include non-volatile memory.

[0100] Processor A2 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), or field-programmable gate arrays (FPGAs). Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0101] This application also provides a computer-readable storage medium. One or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, cause the processors to perform the methods described above.

[0102] This application also provides a computer program product that, when run on a terminal device, causes the terminal device to execute the methods described in the above embodiments.

[0103] The motion control method, device, processing equipment, and readable storage medium provided in the above embodiments, when performing speed planning during the motion process, firstly optimize the motion adjustment cycle and jerk based on the motion parameter constraint values ​​(such as velocity constraint values, acceleration constraint values, and jerk constraint values), the jerk change ratio coefficient, and the motion parameter planning values ​​(such as initial velocity planning values ​​and initial acceleration planning values) within multiple motion adjustment cycles, to determine the optimized motion parameter values ​​for the motion process after optimization. Then, based on the obtained optimized motion parameter values, motion control commands that can adjust the acceleration changes during the motion process are determined. This achieves smooth transition adjustment of acceleration changes during the motion process, effectively improving the problem of excessive machine tool vibration that easily occurs when performing deceleration processing using linear acceleration / deceleration models. It can ensure both motion control efficiency and accuracy and adjustability, thereby meeting higher requirements for laser processing effects and possessing significant economic and practical value.

[0104] Any references to memory, storage, databases, or other media used in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0106] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A motion control method, characterized in that, include: Obtain the constraint values ​​of motion parameters, the proportional coefficient of jerk change, and the planned values ​​of motion parameters within multiple motion adjustment cycles during the motion process; Based on the motion parameter constraint values, the acceleration change ratio coefficient, and the motion parameter planning values, the optimized values ​​of the motion parameters for the motion process are determined. Based on the optimized values ​​of the motion parameters, motion control commands for the motion process are determined to adjust the acceleration changes during the motion process.

2. The motion control method according to claim 1, characterized in that, The step of determining the optimized motion parameter values ​​for the motion process based on the motion parameter constraint values, the jerk change ratio coefficient, and the motion parameter planning values ​​includes: Based on the motion parameter constraint values, the acceleration change ratio coefficient, and the motion parameter planning values, determine the acceleration zero-planning velocity for the motion process; Based on the zero-acceleration planning velocity, the motion parameter constraint value, the acceleration change ratio coefficient, and the motion parameter planning value, the optimized motion parameter value for the motion process is determined.

3. The motion control method according to claim 2, characterized in that, The motion parameter planning values ​​include initial velocity planning values ​​and initial acceleration planning values. The step of determining the acceleration-to-zero planning velocity for the motion process based on the motion parameter constraint values, the acceleration variation ratio coefficient, and the motion parameter planning values ​​includes: Based on the acceleration change ratio coefficient, the initial velocity planning value, and the initial acceleration planning value, determine the acceleration planning model and velocity planning model for any of the motion adjustment cycles; Based on the motion parameter constraint values, the acceleration planning model of the motion adjustment cycle, and the velocity planning model, the acceleration zeroing planning velocity of the motion process is determined.

4. The motion control method according to claim 2, characterized in that, The motion parameter constraint values ​​include velocity constraint values, acceleration constraint values, and jerk constraint values. The motion parameter planning values ​​include initial velocity planning values ​​and initial acceleration planning values. Determining the optimized motion parameter values ​​for the motion process based on the zero-acceleration planned velocity, the motion parameter constraint values, the jerk change ratio coefficient, and the motion parameter planning values ​​includes: Based on the initial acceleration planning value and the acceleration constraint value, determine the acceleration reduction optimization process and the acceleration increase optimization process of the motion process; Using the acceleration reduction optimization process and acceleration increase optimization process of the motion process as conditions, and based on the acceleration zeroing planning speed, the initial acceleration planning value, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient, the motion adjustment cycle optimization value and the jerk optimization value of the motion process are determined.

5. The motion control method according to claim 4, characterized in that, The step of determining the motion adjustment cycle optimization value and acceleration optimization value of the motion process, based on the acceleration reduction optimization process and acceleration increase optimization process of the motion process, and according to the acceleration zeroing planning speed, the initial acceleration planning value, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient, includes: When the acceleration reduction optimization process is underway and the acceleration zeroing planning speed is less than zero, the achievable extreme values ​​of acceleration and velocity are determined based on the initial acceleration planning value, the velocity constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient. Furthermore, the motion adjustment cycle optimization value and the jerk optimization value for the acceleration reduction optimization process are determined based on the achievable extreme values ​​of acceleration and velocity. When the acceleration reduction optimization process is underway and the acceleration zeroing planning speed is greater than or equal to zero, the uniform deceleration motion period of the motion process is determined based on the acceleration zeroing planning speed and the acceleration constraint value. The motion adjustment period optimization value and the acceleration optimization value of the acceleration reduction optimization process are then determined based on the uniform deceleration motion period, the acceleration zeroing planning speed, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient.

6. The motion control method according to claim 4, characterized in that, The step of determining the motion adjustment cycle optimization value and acceleration optimization value of the motion process, based on the acceleration reduction optimization process and acceleration increase optimization process of the motion process, and according to the acceleration zeroing planning speed, the initial acceleration planning value, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient, further includes: When the acceleration increase optimization process is underway and the acceleration zeroing planning speed is less than zero, the achievable extreme value of acceleration and the achievable extreme value of speed are determined based on the initial acceleration planning value, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient. Based on the achievable extreme value of acceleration and the achievable extreme value of speed, the motion adjustment cycle optimization value and the jerk optimization value of the acceleration increase optimization process are determined. When the acceleration is increasing and the acceleration is zeroing planning speed is greater than or equal to zero, the uniform deceleration motion period of the motion process is determined based on the acceleration zeroing planning speed and the acceleration constraint value. The motion adjustment period optimization value and the acceleration optimization value of the acceleration increasing optimization process are then determined based on the uniform deceleration motion period, the acceleration zeroing planning speed, the speed constraint value, the acceleration constraint value, the jerk constraint value, and the jerk change ratio coefficient.

7. The motion control method according to claim 1, characterized in that, The step of determining the motion control command for the motion process based on the optimized values ​​of the motion parameters includes: Based on the optimized values ​​of the motion parameters, determine the motion control parameters for the motion process; Based on the motion control parameters, determine the motion control commands for the motion process.

8. A motion control device, characterized in that, include: The acquisition module is used to acquire motion parameter constraint values, jerk change ratio coefficients, and motion parameter planning values ​​within multiple motion adjustment cycles during the motion process. A parameter optimization module, connected to the acquisition module, is used to determine the optimized values ​​of the motion parameters for the motion process based on the motion parameter constraint values, the jerk change ratio coefficient, and the motion parameter planning values. A motion control module, connected to the parameter optimization module, is used to determine motion control commands for the motion process based on the optimized motion parameter values, so as to adjust the acceleration changes during the motion process.

9. A processing equipment, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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