A method, system, and medium for implementing five-axis laser follow-up control

Abstract

The application provides a five-axis laser follow-up control method, system and medium. The method comprises the following steps: acquiring workpiece characteristic parameters of a pre-machining workpiece, including workpiece geometric parameters, workpiece physical attribute parameters and workpiece machining characteristic parameters, performing parameter setting and calibration of a laser follow-up device according to the workpiece characteristic parameters, collecting a capacitance value, calculating an actual height interval, calculating a control increment according to the actual height interval and the follow-up system parameters, obtaining a real-time interval error value control quantity according to the control increment, and correcting a height deviation in real time. The system comprises a sensor detection module, a capacitance height adjuster module, an analog input module, a control system module, a height execution mechanism and a man-machine interface, so that the five-axis laser follow-up control technology is realized.

Description

Technical Field

[0001] This application relates to the field of laser cutting control technology, and more specifically, to a method, system, and medium for realizing five-axis laser servo control. Background Technology

[0002] In laser cutting, the distance between the laser head nozzle and the workpiece directly determines the cutting quality, efficiency, and equipment safety. Existing height adjustment follow-up systems mostly use contact or optical detection, which generally suffer from response lag in the five-axis linkage machining of metal sheets and tubes, making it difficult to adapt to conditions such as sheet warping, curved surface trajectories, and sudden height changes. The detection accuracy is low, and it is susceptible to signal distortion and misjudgment due to molten slag splashes and high-temperature interference. The control algorithm is prone to integral saturation, leading to overshoot and oscillation, and insufficient stability.

[0003] Meanwhile, traditional systems do not incorporate adaptive parameter settings and calibration based on workpiece geometric parameters, physical properties, and processing characteristics, making it impossible to match the servo control requirements of different workpieces. This results in poor height adjustment accuracy and weak five-axis linkage coordination, making it difficult to meet the requirements of high-precision and complex laser cutting conditions. To overcome these shortcomings, this application proposes a five-axis laser servo control method, system, and medium. Based on workpiece characteristic parameters, the system calibration and parameter configuration are completed. Through capacitance detection and adaptive PID control, real-time closed-loop height correction is achieved, improving detection accuracy, response speed, and adaptability to working conditions, thus solving the problems of insufficient accuracy, response, and stability in traditional servo systems. Summary of the Invention

[0004] The purpose of this application is to provide a method, system, and medium for realizing five-axis laser servo control. This method involves acquiring the workpiece characteristic parameters of a pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece processing characteristic parameters; setting and calibrating the parameters of the laser servo device based on the workpiece characteristic parameters; collecting capacitance values; calculating the actual height distance; calculating the control increment based on the actual height distance and servo system parameters; obtaining the real-time distance error control value based on the control increment; and correcting the height deviation in real time, thereby realizing five-axis laser servo control technology.

[0005] This application also provides a method for implementing five-axis laser servo control, including the following steps: Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters; The parameters of the laser servo device are set and calibrated according to the workpiece's characteristic parameters; Collect capacitance values ​​and calculate the actual height spacing; The control increment is calculated based on the actual height spacing and the parameters of the servo system. The real-time spacing error value is obtained based on the control increment, and the height deviation is corrected in real time.

[0006] Optionally, in the five-axis laser servo control method described in this application, the step of obtaining the workpiece characteristic parameters of the pre-processed workpiece includes workpiece geometric parameters, workpiece physical property parameters, and workpiece processing characteristic parameters, including: Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters; The workpiece geometric parameters include surface flatness, workpiece thickness, and external profile. The physical property parameters of the workpiece include the workpiece material and the workpiece material hardness; The workpiece machining characteristic parameters include machining accuracy and machining trajectory complexity.

[0007] Optionally, in the five-axis laser servo control method described in this application, the step of setting and calibrating the parameters of the laser servo device according to the workpiece characteristic parameters includes: Set the PID parameters according to the surface flatness, workpiece thickness, and outer contour. Adjust the PID parameters according to the machining accuracy and the complexity of the machining trajectory; Set the target height spacing and height adjustment limit threshold according to the workpiece thickness; Set the operating mode according to the external shape; Perform 16-point calibration and orientation compensation calibration based on surface flatness, workpiece thickness, shape contour, workpiece material, and workpiece material hardness.

[0008] Optionally, in the five-axis laser servo control method described in this application, the step of acquiring capacitance values ​​and calculating the actual height spacing includes: Real-time detection and acquisition of the capacitance value between the laser head nozzle and the pre-processed workpiece; The standard linear voltage is obtained based on the capacitance value; Obtain the voltage-height ratio coefficient and calculate the actual height spacing by combining it with the standard linear voltage.

[0009] Optionally, in the five-axis laser servo control method described in this application, the step of calculating the control increment based on the actual height spacing and servo system parameters includes: The height spacing error value is obtained by combining the actual height spacing with the target height spacing. Obtain the predicted height spacing change, and process it in conjunction with the height spacing error value to obtain the comprehensive error; The control increment is obtained by processing the comprehensive error using a discrete incremental PID algorithm.

[0010] Optionally, in the five-axis laser servo control method described in this application, the step of obtaining the real-time spacing error value control amount based on the control increment and correcting the height deviation in real time includes: Obtain the control increment from the previous cycle, and calculate the real-time spacing error value control quantity by combining the control increment. Adjust the laser head nozzle according to the real-time spacing error value; The real-time height difference between the laser head nozzle and the target height difference is processed to obtain the real-time height deviation. The comparison results are obtained by comparing the real-time height deviation with the preset height deviation threshold; If the real-time height deviation is greater than or equal to the preset height deviation threshold, the height deviation will be corrected.

[0011] Optionally, the five-axis laser servo control method described in this application further includes: Monitor the operation of the laser servo control device within a preset time period and extract its operational technical parameters; The operational technical parameters include high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and follow-up delay. Based on the high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and follow-up delay, the operation effect coefficient is obtained by processing the preset device operation effect evaluation model. The operational performance deviation rate is obtained by comparing the operational performance coefficient with the preset operational performance threshold. The operational performance of the laser servo control device is judged based on the deviation rate of the operational performance, and corresponding optimization measures are implemented.

[0012] Secondly, this application provides a five-axis laser servo control system, the system comprising: The sensor detection module, integrated into the laser head, uses a capacitive sensor to detect the capacitance value between the nozzle and the workpiece. The capacitor height adjustment module collects the capacitance value of the capacitance sensor, which corresponds to the height distance between the laser head nozzle and the workpiece. It also outputs a voltage of 0-10V, which shows a linear relationship between the 0-10V voltage and the height distance of 0-10mm. The analog input module collects voltage values ​​and transmits them to the CNC system, converting the voltage into height and spacing values. The control system module calculates the difference between the current height spacing of the laser head nozzle and the target height spacing, and sends the error value to the servo driver of the height actuator. The high-speed actuator, including a servo driver, servo motor, and lead screw transmission device, is used to drive the laser head nozzle to move up and down along the Z-axis. The human-machine interface is a secondary development function interface based on the CNC system platform, used to set the material type, target follow-up height, cutting parameters, and display the real-time height.

[0013] Optionally, this application provides a five-axis laser servo control system, which includes a memory and a processor. The memory includes a program for implementing a five-axis laser servo control method. When the program for implementing the five-axis laser servo control method is executed by the processor, it performs the following steps: Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters; The parameters of the laser servo device are set and calibrated according to the workpiece's characteristic parameters; Collect capacitance values ​​and calculate the actual height spacing; The control increment is calculated based on the actual height spacing and the parameters of the servo system. The real-time spacing error value is obtained based on the control increment, and the height deviation is corrected in real time.

[0014] Thirdly, this application also provides a computer-readable storage medium storing a program for implementing a five-axis laser servo control method. When the program for implementing the five-axis laser servo control method is executed by a processor, it implements the steps of implementing the five-axis laser servo control method as described in any of the preceding claims.

[0015] As can be seen from the above, the five-axis laser servo control method, system, and medium disclosed in this invention acquire the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece processing characteristic parameters. Based on the workpiece characteristic parameters, the laser servo device parameters are set and calibrated, capacitance values ​​are collected, the actual height distance is calculated, the control increment is calculated based on the actual height distance and the servo system parameters, the real-time distance error value control amount is obtained based on the control increment, and the height deviation is corrected in real time, thereby realizing the five-axis laser servo control technology.

[0016] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing embodiments of this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the five-axis laser servo control method provided in this application embodiment; Figure 2 A system diagram for implementing a five-axis laser servo control system provided in an embodiment of this application; Figure 3 This is a schematic diagram of the system hardware for implementing a five-axis laser servo control system, provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a five-axis laser servo control method according to some embodiments of this application. This five-axis laser servo control method is used in terminal devices, such as computers and mobile terminals. The five-axis laser servo control method includes the following steps: S11. Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece processing characteristic parameters; S12. Perform parameter setting and calibration of the laser servo device according to the workpiece characteristic parameters; S13. Collect capacitance values ​​and calculate the actual height spacing; S14. Calculate the control increment based on the actual height spacing and the parameters of the servo system; S15. Obtain the real-time spacing error value control amount based on the control increment, and correct the height deviation in real time.

[0022] It is important to note that existing laser cutting equipment typically employs contact or optical height detection methods, adjusting the laser head nozzle height by detecting changes in the distance between the laser head nozzle and the workpiece. However, existing height adjustment servo systems suffer from several shortcomings: response lag, limited detection accuracy, and instability. Therefore, a five-axis laser servo control scheme is needed. This scheme includes: acquiring the workpiece's characteristic parameters, including geometric parameters, physical property parameters, and machining characteristic parameters. The geometric parameters include surface flatness, thickness, and outline; the physical property parameters include material properties and hardness; and the machining characteristic parameters include machining accuracy and trajectory complexity. Next, the laser servo device's parameters are set and calibrated based on the workpiece's characteristic parameters. Furthermore, capacitance values ​​are collected to calculate the actual height distance. The control increment is calculated based on the actual height distance and the servo system parameters. The real-time distance error control value is obtained based on the control increment, and the height deviation is corrected in real-time, thus achieving five-axis laser servo control technology.

[0023] According to an embodiment of the present invention, the acquisition of workpiece characteristic parameters of the pre-processed workpiece includes workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters, including: Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters; The workpiece geometric parameters include surface flatness, workpiece thickness, and external profile. The physical property parameters of the workpiece include the workpiece material and the workpiece material hardness; The workpiece machining characteristic parameters include machining accuracy and machining trajectory complexity.

[0024] It is important to note that the first step is to obtain complete workpiece characteristic parameters for the pre-processed workpiece. These parameters are used to match the system parameters and calibration process of the five-axis laser servo control, ensuring that the height adjustment is highly compatible with the workpiece characteristics. The workpiece characteristic parameters are mainly divided into three categories: workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters. Among these, the workpiece geometric parameters directly determine the dynamic adjustment strategy and trajectory prediction logic for height servo control. Specifically, these include surface flatness, workpiece thickness, and external contour, reflecting the degree of warpage, size specifications, and curved / irregular contour characteristics of the sheet metal, providing a basis for height compensation and target spacing settings. The workpiece physical property parameters affect the stability of the capacitance detection signal and the adaptability to the cutting process. Specifically, these include the workpiece material and its hardness. Materials with different conductivity and structural strength will change the capacitance detection characteristics and the thermal deformation law during cutting, requiring corresponding adjustments to the calibration coefficients and control parameters. The workpiece machining characteristic parameters determine the system control accuracy and response level requirements. Specifically, these include machining accuracy and machining trajectory complexity, used to match control modes such as high-precision servo control, high-speed tracking, and multi-inflection point smooth adjustment, ensuring stable and oscillating height servo control even under complex trajectories and high-precision requirements.

[0025] According to an embodiment of the present invention, the step of setting and calibrating the parameters of the laser servo device based on the workpiece characteristic parameters includes: Set the PID parameters according to the surface flatness, workpiece thickness, and outer contour. Adjust the PID parameters according to the machining accuracy and the complexity of the machining trajectory; Set the target height spacing and height adjustment limit threshold according to the workpiece thickness; Set the operating mode according to the external shape; Perform 16-point calibration and orientation compensation calibration based on surface flatness, workpiece thickness, shape contour, workpiece material, and workpiece material hardness.

[0026] It is important to note that the five-axis laser servo system requires refined parameter configuration and calibration based on the characteristic parameters of the pre-processed workpiece. The initial parameters and adaptive adjustment coefficients of the PID controller are adaptively set according to the workpiece surface flatness, thickness, and shape, ensuring fast and oscillating height adjustment response. The PID proportional, integral, and derivative parameters are further fine-tuned based on processing accuracy requirements and trajectory complexity to improve trajectory tracking accuracy and dynamic stability. Target height spacing is set according to workpiece thickness, and a height adjustment limit threshold is configured to prevent over-range adjustment, balancing the needs of thick plate perforation with splash prevention and thin plate precision cutting. The system switches between planar, curved, and irregular shapes according to the shape, adapting to the servo tracking requirements of curved and shaped workpieces. Considering surface flatness, workpiece thickness, shape, workpiece material, and hardness, the system automatically performs 16-point standard calibration. For special conditions such as warping, thick plates, curved surfaces, and irregular shapes, directional compensation calibration is performed simultaneously, calibrating the voltage-height proportional coefficient to ensure accurate and reliable capacitance detection and height conversion, improving the stability and accuracy of servo control under complex conditions.

[0027] According to an embodiment of the present invention, the step of collecting capacitance values ​​and calculating the actual height spacing includes: Real-time detection and acquisition of the capacitance value between the laser head nozzle and the pre-processed workpiece; The standard linear voltage is obtained based on the capacitance value; Obtain the voltage-height ratio coefficient and calculate the actual height spacing by combining it with the standard linear voltage.

[0028] It is important to note that a capacitive sensor integrated into the laser head detects and acquires the capacitance value between the laser head nozzle and the pre-processed workpiece surface in real time without contact, providing a stable original signal for height detection, unaffected by molten slag splashes and high temperatures. The capacitance height adjustment module amplifies, filters, and linearly converts the acquired capacitance value into a 0-10V standard linear voltage signal. This voltage has a strictly linear relationship with the height distance between the nozzle and the workpiece. In automatic mode, the system pre-runs a 16-point calibration program to complete the calibration of capacitance and height, obtaining and determining the voltage-height proportionality coefficient VH. The CNC system acquires the standard linear voltage in real time through the analog input module to obtain the actual detection voltage Vreal, and then performs real-time calculation according to the linear conversion formula ΔH=Vreal / VH to accurately obtain the actual height distance ΔH between the laser head nozzle and the workpiece. This provides reliable data support for subsequent height error calculation, PID control, and real-time correction of height deviation, ensuring the detection accuracy and response speed of the five-axis laser servo control.

[0029] According to an embodiment of the present invention, the step of calculating the control increment based on the actual height spacing and the servo system parameters includes: The height spacing error value is obtained by combining the actual height spacing with the target height spacing. Obtain the predicted height spacing change, and process it in conjunction with the height spacing error value to obtain the comprehensive error; The control increment is obtained by processing the comprehensive error using a discrete incremental PID algorithm.

[0030] It is important to note that in the five-axis laser servo control process, height deviation calculation and control increment generation are the core steps to achieve precise servoing. First, the system uses the actual height spacing ΔH calculated in real time as the real-time detected height h(t), i.e., h(t) = ΔH. This is then compared with the target height spacing h0 pre-set in the human-machine interface to construct the real-time height spacing error value e(t), calculated as: e(t) = h0 - h(t). This error directly reflects the deviation between the current distance between the laser head nozzle and the workpiece surface and the target value, providing a basic error basis for subsequent control. To improve the system's ability to predict height changes and reduce adjustment lag caused by board warping, curved surface contours, and sudden trajectory changes, the system calculates and obtains the predicted height spacing change Δh in real time based on the five-axis linkage cutting trajectory and workpiece shape characteristics. p (t). The predicted change is weighted and fused with the real-time height spacing error value e(t), and a prediction coefficient k_f is introduced for adjustment to obtain the comprehensive error e*(t), which is calculated as: e*(t) = e(t) + k_f·Δh p (t); The comprehensive error takes into account both real-time deviation and trajectory trend changes, which can significantly improve the system's following performance and stability under complex working conditions; Subsequently, the system uses the comprehensive error as input and performs real-time calculations using a discrete incremental PID algorithm to obtain the control increment Δu(k) for height adjustment; In the discrete form, the comprehensive errors of the current cycle, the previous cycle, and the cycle before that are denoted as e*(k), e*(k-1), and e*(k-2), respectively, combined with the PID control period T and the proportional coefficient K obtained through adaptive tuning. p Integral coefficient K i The differential coefficient Kd, and the formula for calculating the control increment are: Δu(k) = K p ·[e(k)-e(k-1)]+K i The algorithm, ·T·e*(k)+Kd·[e*(k)-2e*(k-1)+e*(k-2)] / T, only adjusts the changing part of the control quantity, without accumulating from zero. This effectively avoids the integral accumulation saturation problem present in traditional PID controllers, allowing the system to remain stable during long-term continuous processing. Simultaneously, the system adaptively tunes the PID parameters based on the comprehensive error amplitude and error change rate, ensuring real-time matching of parameters with the current operating conditions, further improving response speed and control accuracy.

[0031] According to an embodiment of the present invention, the step of obtaining a real-time spacing error value control amount based on the control increment and correcting the height deviation in real time includes: Obtain the control increment from the previous cycle, and calculate the real-time spacing error value control quantity by combining the control increment. Adjust the laser head nozzle according to the real-time spacing error value; The real-time height difference between the laser head nozzle and the target height difference is processed to obtain the real-time height deviation. The comparison results are obtained by comparing the real-time height deviation with the preset height deviation threshold; If the real-time height deviation is greater than or equal to the preset height deviation threshold, the height deviation will be corrected.

[0032] It is important to note that the system first acquires the control increment from the previous cycle, adds it to the control increment calculated in the current cycle, and updates it in real time according to the formula u(k)=u(k-1)+Δu(k) to obtain the real-time spacing error control value u(k), which serves as the core command for driving the height actuator. Subsequently, this control value is output to the servo driver, which, through the linkage of the servo motor and the lead screw transmission device, adjusts the laser head nozzle's vertical movement along the Z-axis in real time, quickly correcting the current height deviation and bringing the distance between the nozzle and the workpiece surface closer to the target height. After adjustment, the height signal is collected in real time by the capacitive sensor and processed by the capacitive height adjuster and the analog input module. The system monitors and calculates the adjusted real-time height distance, and performs a difference calculation between it and the preset target height distance to obtain the real-time height deviation. The system then compares this real-time height deviation with the preset height deviation threshold in real time to generate a comparison result. When the real-time height deviation is greater than or equal to the preset height deviation threshold, it is determined that the current height does not meet the control requirements. The system immediately enters the closed-loop correction process, recalculates the error, adaptively tunes the PID parameters, and updates the control increment. It then outputs the control quantity again to drive the Z-axis mechanism to perform a second precise correction of the height deviation until the real-time height deviation is less than the threshold, so that the nozzle and the workpiece surface are stably maintained at the target height distance.

[0033] According to an embodiment of the present invention, it further includes: Monitor the operation of the laser servo control device within a preset time period and extract its operational technical parameters; The operational technical parameters include high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and follow-up delay. Based on the high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and follow-up delay, the operation effect coefficient is obtained by processing the preset device operation effect evaluation model. The operational performance deviation rate is obtained by comparing the operational performance coefficient with the preset operational performance threshold. The operational performance of the laser servo control device is judged based on the deviation rate of the operational performance, and corresponding optimization measures are implemented.

[0034] It is important to note that the laser servo control device undergoes continuous operation monitoring within a preset time period, and key operational technical parameters are collected and extracted in real time for quantitative evaluation of control performance. These operational technical parameters mainly include high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and servo follow-up delay. These parameters directly reflect the comprehensive performance of the servo system in detection, control, execution, and linkage. The above four core technical parameters are synchronously input into a preset device operation effect evaluation model. Through weighted calculation and normalization, operation effect coefficients are obtained, achieving a quantitative characterization of the system's operating state. Subsequently, the operational performance coefficient is compared with the preset operational performance threshold in real time, and the difference between the two is calculated to obtain the operational performance deviation rate, which is used to judge the degree of deviation between the actual operating level and the ideal standard. Based on the magnitude of the operational performance deviation rate, the system automatically judges the overall operational performance of the laser servo control device: when the deviation rate is within the allowable range, it is judged to be operating normally; when the deviation rate exceeds the allowable range, it is judged to be substandard, and corresponding optimization measures are automatically implemented. Specifically, these include: if the height dynamic response is insufficient, the intensity of PID adaptive adjustment is strengthened; if the servo axis positioning deviation is found, the transmission mechanism and grating ruler are calibrated; if the trajectory fitting degree is low, the height prediction parameters are optimized; and if the servo following delay exceeds the standard, the signal sampling and control cycle is increased.

[0035] Secondly, the present invention also discloses a five-axis laser servo control system 2, comprising: Sensor detection module 21, integrated on the laser head, uses a capacitive sensor to detect the capacitance value between the nozzle and the workpiece; The capacitor height adjustment module 22 collects the capacitance value of the capacitor sensor, which corresponds to the height distance between the laser head nozzle and the workpiece, and outputs a voltage of 0-10V. The voltage value is characterized by a linear relationship between 0-10V and the height distance of 0-10mm. Analog input module 23 collects voltage values ​​and transmits them to the CNC system, converting the voltage into height spacing values; Control system module 24: The CNC system calculates the difference between the current height spacing of the laser head nozzle and the target height spacing, and sends the error value to the height actuator servo driver; The height actuator 25 includes a servo driver, a servo motor, and a lead screw drive, which is used to drive the laser head nozzle to move up and down along the Z-axis. The human-machine interface 26 is a secondary development function interface based on the CNC system platform, used to set the material type, target follow-up height, cutting parameters, and display the real-time height.

[0036] It should be particularly noted that the present invention also discloses a five-axis laser servo control system, such as... Figure 2 As shown, Figure 2This is a system diagram of a five-axis laser servo control system provided in an embodiment of this application. The system mainly consists of a sensor detection module, a capacitor height adjustment module, an analog input module, a control system module 24, a height actuator, and a human-machine interface. Each module works together to complete capacitance signal acquisition, height conversion, error calculation, servo drive, and parameter management, realizing real-time detection and closed-loop dynamic adjustment of the distance between the laser head nozzle and the workpiece surface. The sensor detection module is integrated and installed at the front end of the laser head, using a non-contact capacitance sensor as the core detection component to collect the capacitance value between the laser head nozzle and the metal workpiece surface in real time. The capacitance value changes linearly with the distance between the nozzle and the workpiece. The module is resistant to molten slag splashes, high temperatures, and electromagnetic interference, providing a stable and reliable raw signal for height detection and ensuring detection accuracy even under complex cutting conditions. The capacitance height adjustment module is connected to the sensor detection module to collect the capacitance value output by the capacitance sensor in real time and convert it into an electrical signal corresponding to the current height distance between the laser head nozzle and the workpiece surface. This module outputs the processed signal as a standard linear voltage of 0-10V, with a strict linear correspondence between voltage and height distance (0V corresponds to 0mm, 10V corresponds to 10mm), providing standardized input for subsequent height calculation. The analog input module receives the voltage signal output by the capacitance height adjustment module, completes voltage acquisition using high-precision sampling, and transmits the digital signal to the control system module. The CNC system, based on the calibrated voltage-height ratio coefficient, converts the voltage value into the actual height distance between the laser head nozzle and the workpiece in real time, completing the conversion from electrical signal to physical height. The system conversion and control module uses a five-axis CNC system as its core controller. It calculates the height difference between the real-time height spacing and the preset target height spacing to obtain the real-time height error. The system integrates the error signal with trajectory prediction information to form a comprehensive error. A discrete incremental adaptive PID algorithm is used to complete parameter self-tuning and control quantity calculation. Control commands are sent in real-time to the servo driver of the height actuator, achieving rapid, oscillation-free, and overshoot-free height adjustment. The height actuator, composed of a servo driver, servo motor, and high-precision lead screw transmission device, receives control commands from the control system module and drives the laser head nozzle to move linearly up and down along the Z-axis, correcting height deviations in real-time to maintain a constant target distance between the nozzle and the workpiece, ensuring a stable and consistent cutting process. The human-machine interface, based on the five-axis CNC system platform, provides a visual operation interface for inputting and selecting material type, material thickness, target follow-up height, cutting parameters, and piercing parameters. It supports parameter saving, program modification, and quick thickness recall. The interface displays real-time information such as axis coordinates, height detection values, laser power, air pressure, and equipment status, facilitating operator monitoring, debugging, and maintenance, and improving system usability and engineering practicality.

[0037] like Figure 3 As shown, Figure 3 This is a schematic diagram of the hardware of a five-axis laser servo control system provided in an embodiment of this application. According to this embodiment, the system hardware diagram uses a five-axis CNC system controller as the control core, and adopts a closed-loop architecture of detection-conversion-computation-execution-feedback: one path of the controller connects to a servo driver, driving the height actuator to move the laser head up and down along the Z-axis; the other path connects to an analog input module, acquiring the voltage signal output by the capacitor height adjuster module and converting it into the actual height distance. The capacitance sensor detection module is integrated at the laser head nozzle, acquiring the capacitance value between the nozzle and the workpiece in real time and sending it to the capacitor height adjuster to convert it into a 0-10V linear voltage. The height actuator consists of a servo driver, a servo motor, and a lead screw drive, receiving commands from the controller to complete Z-axis height adjustment. Simultaneously, a human-machine interface based on secondary development of the CNC system is provided for parameter setting and status display. The diagram shows the O-XYZ coordinate system, clearly displaying the connection relationship of each hardware module, signal flow direction, and Z-axis height adjustment direction, fully presenting the hardware composition and collaborative working principle of the five-axis laser servo control system.

[0038] According to an embodiment of the present invention, the five-axis laser servo control system further includes a memory and a processor. The memory includes a program for implementing a five-axis laser servo control method. When the processor executes the program for implementing a five-axis laser servo control method, it performs the following steps: Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters; The parameters of the laser servo device are set and calibrated according to the workpiece's characteristic parameters; Collect capacitance values ​​and calculate the actual height spacing; The control increment is calculated based on the actual height spacing and the parameters of the servo system. The real-time spacing error value is obtained based on the control increment, and the height deviation is corrected in real time.

[0039] It is important to note that existing laser cutting equipment typically employs contact or optical height detection methods, adjusting the laser head nozzle height by detecting changes in the distance between the laser head nozzle and the workpiece. However, existing height adjustment servo systems suffer from several shortcomings: response lag, limited detection accuracy, and instability. Therefore, a five-axis laser servo control scheme is needed. This scheme includes: acquiring the workpiece's characteristic parameters, including geometric parameters, physical property parameters, and machining characteristic parameters. The geometric parameters include surface flatness, thickness, and outline; the physical property parameters include material properties and hardness; and the machining characteristic parameters include machining accuracy and trajectory complexity. Next, the laser servo device's parameters are set and calibrated based on the workpiece's characteristic parameters. Furthermore, capacitance values ​​are collected to calculate the actual height distance. The control increment is calculated based on the actual height distance and the servo system parameters. The real-time distance error control value is obtained based on the control increment, and the height deviation is corrected in real-time, thus achieving five-axis laser servo control technology.

[0040] According to an embodiment of the present invention, the acquisition of workpiece characteristic parameters of the pre-processed workpiece includes workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters, including: Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters; The workpiece geometric parameters include surface flatness, workpiece thickness, and external profile. The physical property parameters of the workpiece include the workpiece material and the workpiece material hardness; The workpiece machining characteristic parameters include machining accuracy and machining trajectory complexity.

[0041] It is important to note that the first step is to obtain complete workpiece characteristic parameters for the pre-processed workpiece. These parameters are used to match the system parameters and calibration process of the five-axis laser servo control, ensuring that the height adjustment is highly compatible with the workpiece characteristics. The workpiece characteristic parameters are mainly divided into three categories: workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters. Among these, the workpiece geometric parameters directly determine the dynamic adjustment strategy and trajectory prediction logic for height servo control. Specifically, these include surface flatness, workpiece thickness, and external contour, reflecting the degree of warpage, size specifications, and curved / irregular contour characteristics of the sheet metal, providing a basis for height compensation and target spacing settings. The workpiece physical property parameters affect the stability of the capacitance detection signal and the adaptability to the cutting process. Specifically, these include the workpiece material and its hardness. Materials with different conductivity and structural strength will change the capacitance detection characteristics and the thermal deformation law during cutting, requiring corresponding adjustments to the calibration coefficients and control parameters. The workpiece machining characteristic parameters determine the system control accuracy and response level requirements. Specifically, these include machining accuracy and machining trajectory complexity, used to match control modes such as high-precision servo control, high-speed tracking, and multi-inflection point smooth adjustment, ensuring stable and oscillating height servo control even under complex trajectories and high-precision requirements.

[0042] According to an embodiment of the present invention, the step of setting and calibrating the parameters of the laser servo device based on the workpiece characteristic parameters includes: Set the PID parameters according to the surface flatness, workpiece thickness, and outer contour. Adjust the PID parameters according to the machining accuracy and the complexity of the machining trajectory; Set the target height spacing and height adjustment limit threshold according to the workpiece thickness; Set the operating mode according to the external shape; Perform 16-point calibration and orientation compensation calibration based on surface flatness, workpiece thickness, shape contour, workpiece material, and workpiece material hardness.

[0043] It is important to note that the five-axis laser servo system requires refined parameter configuration and calibration based on the characteristic parameters of the pre-processed workpiece. The initial parameters and adaptive adjustment coefficients of the PID controller are adaptively set according to the workpiece surface flatness, thickness, and shape, ensuring fast and oscillating height adjustment response. The PID proportional, integral, and derivative parameters are further fine-tuned based on processing accuracy requirements and trajectory complexity to improve trajectory tracking accuracy and dynamic stability. Target height spacing is set according to workpiece thickness, and a height adjustment limit threshold is configured to prevent over-range adjustment, balancing the needs of thick plate perforation with splash prevention and thin plate precision cutting. The system switches between planar, curved, and irregular shapes according to the shape, adapting to the servo tracking requirements of curved and shaped workpieces. Considering surface flatness, workpiece thickness, shape, workpiece material, and hardness, the system automatically performs 16-point standard calibration. For special conditions such as warping, thick plates, curved surfaces, and irregular shapes, directional compensation calibration is performed simultaneously, calibrating the voltage-height proportional coefficient to ensure accurate and reliable capacitance detection and height conversion, improving the stability and accuracy of servo control under complex conditions.

[0044] According to an embodiment of the present invention, the step of collecting capacitance values ​​and calculating the actual height spacing includes: Real-time detection and acquisition of the capacitance value between the laser head nozzle and the pre-processed workpiece; The standard linear voltage is obtained based on the capacitance value; Obtain the voltage-height ratio coefficient and calculate the actual height spacing by combining it with the standard linear voltage.

[0045] It is important to note that a capacitive sensor integrated into the laser head detects and acquires the capacitance value between the laser head nozzle and the pre-processed workpiece surface in real time without contact, providing a stable original signal for height detection, unaffected by molten slag splashes and high temperatures. The capacitance height adjustment module amplifies, filters, and linearly converts the acquired capacitance value into a 0-10V standard linear voltage signal. This voltage has a strictly linear relationship with the height distance between the nozzle and the workpiece. In automatic mode, the system pre-runs a 16-point calibration program to complete the calibration of capacitance and height, obtaining and determining the voltage-height proportionality coefficient VH. The CNC system acquires the standard linear voltage in real time through the analog input module to obtain the actual detection voltage Vreal, and then performs real-time calculation according to the linear conversion formula ΔH=Vreal / VH to accurately obtain the actual height distance ΔH between the laser head nozzle and the workpiece. This provides reliable data support for subsequent height error calculation, PID control, and real-time correction of height deviation, ensuring the detection accuracy and response speed of the five-axis laser servo control.

[0046] According to an embodiment of the present invention, the step of calculating the control increment based on the actual height spacing and the servo system parameters includes: The height spacing error value is obtained by combining the actual height spacing with the target height spacing. Obtain the predicted height spacing change, and process it in conjunction with the height spacing error value to obtain the comprehensive error; The control increment is obtained by processing the comprehensive error using a discrete incremental PID algorithm.

[0047] It is important to note that in the five-axis laser servo control process, height deviation calculation and control increment generation are the core steps to achieve precise servoing. First, the system uses the actual height spacing ΔH calculated in real time as the real-time detected height h(t), i.e., h(t) = ΔH. This is then compared with the target height spacing h0 pre-set in the human-machine interface to construct the real-time height spacing error value e(t), calculated as: e(t) = h0 - h(t). This error directly reflects the deviation between the current distance between the laser head nozzle and the workpiece surface and the target value, providing a basic error basis for subsequent control. To improve the system's ability to predict height changes and reduce adjustment lag caused by board warping, curved surface contours, and sudden trajectory changes, the system calculates and obtains the predicted height spacing change Δh in real time based on the five-axis linkage cutting trajectory and workpiece shape characteristics. p (t). The predicted change is weighted and fused with the real-time height spacing error value e(t), and a prediction coefficient k_f is introduced for adjustment to obtain the comprehensive error e*(t), which is calculated as: e*(t) = e(t) + k_f·Δh p (t); The comprehensive error takes into account both real-time deviation and trajectory trend changes, which can significantly improve the system's following performance and stability under complex working conditions; Subsequently, the system uses the comprehensive error as input and performs real-time calculations using a discrete incremental PID algorithm to obtain the control increment Δu(k) for height adjustment; In the discrete form, the comprehensive errors of the current cycle, the previous cycle, and the cycle before that are denoted as e*(k), e*(k-1), and e*(k-2), respectively, combined with the PID control period T and the proportional coefficient K obtained through adaptive tuning. p Integral coefficient K i The differential coefficient Kd, and the formula for calculating the control increment are: Δu(k) = K p ·[e(k)-e(k-1)]+K i The algorithm, ·T·e*(k)+Kd·[e*(k)-2e*(k-1)+e*(k-2)] / T, only adjusts the changing part of the control quantity, without accumulating from zero. This effectively avoids the integral accumulation saturation problem present in traditional PID controllers, allowing the system to remain stable during long-term continuous processing. Simultaneously, the system adaptively tunes the PID parameters based on the comprehensive error amplitude and error change rate, ensuring real-time matching of parameters with the current operating conditions, further improving response speed and control accuracy.

[0048] According to an embodiment of the present invention, the step of obtaining a real-time spacing error value control amount based on the control increment and correcting the height deviation in real time includes: Obtain the control increment from the previous cycle, and calculate the real-time spacing error value control quantity by combining the control increment. Adjust the laser head nozzle according to the real-time spacing error value; The real-time height difference between the laser head nozzle and the target height difference is processed to obtain the real-time height deviation. The comparison results are obtained by comparing the real-time height deviation with the preset height deviation threshold; If the real-time height deviation is greater than or equal to the preset height deviation threshold, the height deviation will be corrected.

[0049] It is important to note that the system first acquires the control increment from the previous cycle, adds it to the control increment calculated in the current cycle, and updates it in real time according to the formula u(k)=u(k-1)+Δu(k) to obtain the real-time spacing error control value u(k), which serves as the core command for driving the height actuator. Subsequently, this control value is output to the servo driver, which, through the linkage of the servo motor and the lead screw transmission device, adjusts the laser head nozzle's vertical movement along the Z-axis in real time, quickly correcting the current height deviation and bringing the distance between the nozzle and the workpiece surface closer to the target height. After adjustment, the height signal is collected in real time by the capacitive sensor and processed by the capacitive height adjuster and the analog input module. The system monitors and calculates the adjusted real-time height distance, and performs a difference calculation between it and the preset target height distance to obtain the real-time height deviation. The system then compares this real-time height deviation with the preset height deviation threshold in real time to generate a comparison result. When the real-time height deviation is greater than or equal to the preset height deviation threshold, it is determined that the current height does not meet the control requirements. The system immediately enters the closed-loop correction process, recalculates the error, adaptively tunes the PID parameters, and updates the control increment. It then outputs the control quantity again to drive the Z-axis mechanism to perform a second precise correction of the height deviation until the real-time height deviation is less than the threshold, so that the nozzle and the workpiece surface are stably maintained at the target height distance.

[0050] According to an embodiment of the present invention, it further includes: Monitor the operation of the laser servo control device within a preset time period and extract its operational technical parameters; The operational technical parameters include high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and follow-up delay. Based on the high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and follow-up delay, the operation effect coefficient is obtained by processing the preset device operation effect evaluation model. The operational performance deviation rate is obtained by comparing the operational performance coefficient with the preset operational performance threshold. The operational performance of the laser servo control device is judged based on the deviation rate of the operational performance, and corresponding optimization measures are implemented.

[0051] It is important to note that the laser servo control device undergoes continuous operation monitoring within a preset time period, and key operational technical parameters are collected and extracted in real time for quantitative evaluation of control performance. These operational technical parameters mainly include high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and servo follow-up delay. These parameters directly reflect the comprehensive performance of the servo system in detection, control, execution, and linkage. The above four core technical parameters are synchronously input into a preset device operation effect evaluation model. Through weighted calculation and normalization, operation effect coefficients are obtained, achieving a quantitative characterization of the system's operating state. Subsequently, the operational performance coefficient is compared with the preset operational performance threshold in real time, and the difference between the two is calculated to obtain the operational performance deviation rate, which is used to judge the degree of deviation between the actual operating level and the ideal standard. Based on the magnitude of the operational performance deviation rate, the system automatically judges the overall operational performance of the laser servo control device: when the deviation rate is within the allowable range, it is judged to be operating normally; when the deviation rate exceeds the allowable range, it is judged to be substandard, and corresponding optimization measures are automatically implemented. Specifically, these include: if the height dynamic response is insufficient, the intensity of PID adaptive adjustment is strengthened; if the servo axis positioning deviation is found, the transmission mechanism and grating ruler are calibrated; if the trajectory fitting degree is low, the height prediction parameters are optimized; and if the servo following delay exceeds the standard, the signal sampling and control cycle is increased.

[0052] A third aspect of the present invention provides a readable storage medium storing a program for implementing a five-axis laser servo control method, wherein when the program for implementing the five-axis laser servo control method is executed by a processor, the steps for implementing the five-axis laser servo control method as described in any of the preceding claims are implemented.

[0053] This invention discloses a method, system, and medium for implementing five-axis laser servo control. It acquires workpiece characteristic parameters of a pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece processing characteristic parameters. Based on these workpiece characteristic parameters, it sets and calibrates the parameters of the laser servo device, collects capacitance values, calculates the actual height distance, calculates the control increment based on the actual height distance and servo system parameters, obtains the real-time distance error control value based on the control increment, and corrects the height deviation in real time. The system includes a sensor detection module, a capacitor height adjuster module, an analog input module, a control system module, a height actuator, and a human-machine interface, thereby realizing five-axis laser servo control technology.

[0054] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0055] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0056] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, 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 units.

[0057] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0058] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A method for realizing five-axis laser servo control, characterized in that, Includes the following steps: Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters; The parameters of the laser servo device are set and calibrated according to the workpiece's characteristic parameters; Collect capacitance values ​​and calculate the actual height spacing; The control increment is calculated based on the actual height spacing and the parameters of the servo system. The real-time spacing error value is obtained based on the control increment, and the height deviation is corrected in real time.

2. The method for realizing five-axis laser servo control according to claim 1, characterized in that, The process of obtaining the workpiece characteristic parameters of the pre-processed workpiece includes workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters, including: Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters; The workpiece geometric parameters include surface flatness, workpiece thickness, and external profile. The physical property parameters of the workpiece include the workpiece material and the workpiece material hardness; The workpiece machining characteristic parameters include machining accuracy and machining trajectory complexity.

3. The method for realizing five-axis laser servo control according to claim 2, characterized in that, The parameter setting and calibration of the laser servo device based on workpiece characteristic parameters includes: Set the PID parameters according to the surface flatness, workpiece thickness, and outer contour. Adjust the PID parameters according to the machining accuracy and the complexity of the machining trajectory; Set the target height spacing and height adjustment limit threshold according to the workpiece thickness; Set the operating mode according to the external shape; Perform 16-point calibration and orientation compensation calibration based on surface flatness, workpiece thickness, shape contour, workpiece material, and workpiece material hardness.

4. The method for realizing five-axis laser servo control according to claim 1, characterized in that, The collected capacitance values ​​are used to calculate the actual height spacing, including: Real-time detection and acquisition of the capacitance value between the laser head nozzle and the pre-processed workpiece; The standard linear voltage is obtained based on the capacitance value; Obtain the voltage-height ratio coefficient and calculate the actual height spacing by combining it with the standard linear voltage.

5. The method for realizing five-axis laser servo control according to claim 4, characterized in that, The process of calculating the control increment based on the actual height spacing and servo system parameters includes: The height spacing error value is obtained by combining the actual height spacing with the target height spacing. Obtain the predicted height spacing change, and process it in conjunction with the height spacing error value to obtain the comprehensive error; The control increment is obtained by processing the comprehensive error using a discrete incremental PID algorithm.

6. The method for realizing five-axis laser servo control according to claim 5, characterized in that, The step of obtaining the real-time spacing error value control amount based on the control increment and correcting the height deviation in real time includes: Obtain the control increment from the previous cycle, and calculate the real-time spacing error value control quantity by combining the control increment. The laser head nozzle is adjusted according to the real-time spacing error value; The real-time height difference between the laser head nozzle and the target height difference is processed to obtain the real-time height deviation. The comparison results are obtained by comparing the real-time height deviation with the preset height deviation threshold; If the real-time height deviation is greater than or equal to the preset height deviation threshold, the height deviation will be corrected.

7. The method for realizing five-axis laser servo control according to claim 1, characterized in that, Also includes: Monitor the operation of the laser servo control device within a preset time period and extract its operational technical parameters; The operational technical parameters include high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and follow-up delay. Based on the high dynamic response accuracy, servo axis positioning accuracy, trajectory fitting degree, and follow-up delay, the operation effect coefficient is obtained by processing the preset device operation effect evaluation model. The operational performance deviation rate is obtained by comparing the operational performance coefficient with the preset operational performance threshold. The operational performance of the laser servo control device is judged based on the deviation rate of the operational performance, and corresponding optimization measures are implemented.

8. A crane high-altitude tower assembly precision positioning control system, wherein the crane high-altitude tower assembly precision positioning control system implements the crane high-altitude tower assembly precision positioning control method according to claims 1-7, characterized in that, include: The sensor detection module, integrated into the laser head, uses a capacitive sensor to detect the capacitance value between the nozzle and the workpiece. The capacitor height adjustment module collects the capacitance value of the capacitance sensor, which corresponds to the height distance between the laser head nozzle and the workpiece. It also outputs a voltage of 0-10V, which shows a linear relationship between the 0-10V voltage and the height distance of 0-10mm. The analog input module collects voltage values ​​and transmits them to the CNC system, converting the voltage into height and spacing values. The control system module calculates the difference between the current height spacing of the laser head nozzle and the target height spacing, and sends the error value to the servo driver of the height actuator. The high-speed actuator, including a servo driver, servo motor, and lead screw transmission device, is used to drive the laser head nozzle to move up and down along the Z-axis. The human-machine interface is a secondary development function interface based on the CNC system platform, used to set the material type, target follow-up height, cutting parameters, and display the real-time height.

9. A five-axis laser servo control system, characterized in that, It also includes a memory and a processor. The memory stores a program for implementing the five-axis laser servo control method. When the program for implementing the five-axis laser servo control method is executed by the processor, it performs the following steps: Obtain the workpiece characteristic parameters of the pre-processed workpiece, including workpiece geometric parameters, workpiece physical property parameters, and workpiece machining characteristic parameters; The parameters of the laser servo device are set and calibrated according to the workpiece's characteristic parameters; Collect capacitance values ​​and calculate the actual height spacing; The control increment is calculated based on the actual height spacing and the parameters of the servo system. The real-time spacing error value is obtained based on the control increment, and the height deviation is corrected in real time.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program for implementing a five-axis laser servo control method. When the program for implementing a five-axis laser servo control method is executed by a processor, it implements the steps of implementing a five-axis laser servo control method as described in any one of claims 1 to 7.

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