Following machining control method and device, machining equipment and readable storage medium

Abstract

This application relates to a follow-up machining control method, apparatus, machining equipment, and readable storage medium. The method includes: acquiring the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the measured trajectory position during the follow-up process; determining the trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the measured trajectory position; and determining the follow-up machining control command for the next acquisition cycle based on the trajectory normal vector and the total trajectory follow-up output for the next acquisition cycle. This method can improve the problem of abnormal follow-up control height at corner joints in planar machining, ensuring that the position following error remains within the allowable range of motion error during the follow-up process. It effectively ensures the follow-up descent efficiency while also guaranteeing the accuracy and adjustability of the follow-up descent, thereby meeting higher requirements for CNC machining effects.

Description

Technical Field

[0001] This application relates to the field of CNC machining, and in particular to a follow-up machining control method, apparatus, machining equipment, and readable storage medium. Background Technology

[0002] With the continuous development of CNC machining technology and the increasing variety of CNC machining demands, the requirements for CNC machining effects are becoming increasingly stringent. Most laser CNC machine tools utilize capacitive feedback for height, but during the secondary beveling process on flat surfaces, the height error caused by changes in the corner's motion posture increases the following error of the servo mechanism. This leads to abnormal following position of the machine tool when machining corners, thus failing to achieve the required machining accuracy. Summary of the Invention

[0003] Therefore, it is necessary to provide a follow-up machining control method, apparatus, machining equipment, and readable storage medium to address the aforementioned technical problems.

[0004] A servo machining control method, comprising:

[0005] The system acquires the trajectory tracking compensation coefficient, the trajectory planning position vector for the current acquisition cycle, and the actual trajectory position during the tracking process. Based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position, determine the trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle; Based on the trajectory normal vector and the total trajectory follow-up output of the next acquisition cycle, the follow-up processing control command for the next acquisition cycle of the follow-up process is determined.

[0006] In one embodiment, determining the trajectory planning normal vector and the total trajectory tracking output based on the trajectory tracking compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the measured trajectory position includes: Based on the trajectory planning position vector of the current acquisition cycle and the actual trajectory position, determine the trajectory position deviation of the current acquisition cycle and the trajectory planning normal vector of the next acquisition cycle; Based on the trajectory follow-up compensation coefficient and the trajectory position deviation of the current acquisition cycle, the total trajectory follow-up output for the next acquisition cycle is determined.

[0007] In one embodiment, the trajectory planning position vector includes a trajectory planning position and a planning position normal vector; determining the trajectory position deviation for the current acquisition cycle and the trajectory planning normal vector for the next acquisition cycle based on the trajectory planning position vector for the current acquisition cycle and the measured trajectory position includes: Based on the measured position of the trajectory in the current acquisition cycle, determine the normal vector of the measured position in the current acquisition cycle; The trajectory position deviation for the current acquisition period is determined based on the difference between the planned trajectory position and the measured trajectory position for the current acquisition period. The trajectory planning normal vector for the next acquisition cycle is determined by summing the planned position normal vector for the current acquisition cycle and the measured position normal vector.

[0008] In one embodiment, determining the measured position normal vector for the current acquisition cycle based on the measured trajectory position of the current acquisition cycle includes:

[0009] In the formula, the normal vector of the measured position in the current acquisition cycle is: A represents the converted position data of the trajectory of motion axis A, and B represents the converted position data of the trajectory of motion axis B.

[0010] In one embodiment, determining the total trajectory tracking output for the next acquisition cycle based on the trajectory tracking compensation coefficient and the trajectory position deviation of the current acquisition cycle includes: Based on the trajectory follow-up compensation coefficient and the trajectory planning position of the current acquisition cycle, determine the first compensation amount for the follow-up output of the next acquisition cycle; Based on the trajectory follow-up compensation coefficient and the trajectory position deviation of the current acquisition cycle, determine the follow-up output second compensation amount for the next acquisition cycle; The total amount of trajectory follow-up output for the next acquisition cycle is determined based on the first compensation amount of the follow-up output and the second compensation amount of the follow-up output for the next acquisition cycle.

[0011] In one embodiment, determining the total trajectory tracking output for the next acquisition cycle based on the first compensation amount and the second compensation amount of the tracking output for the next acquisition cycle includes:

[0012] In the formula, , This represents the trajectory tracking compensation coefficient. This indicates the trajectory planning position for the current data collection period. This indicates the trajectory position deviation during the current acquisition cycle.

[0013] In one embodiment, determining the servo machining control command for the next acquisition cycle of the servo process based on the trajectory normal vector and the total trajectory servo output of the next acquisition cycle includes: Based on the trajectory normal vector and the total trajectory follower output of the next acquisition cycle, determine the trajectory follower output components on multiple trajectory motion axes; Based on the trajectory follow-up output components on the multiple trajectory motion axes, the follow-up processing control command for the next acquisition cycle of the follow-up process is determined.

[0014] A follow-up machining control device, comprising: The acquisition module is used to acquire the trajectory tracking compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position during the tracking process; The follow-up compensation module, connected to the acquisition module, is used to determine the trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position. The follow-up machining control module, connected to the follow-up compensation module, is used to determine the follow-up machining control command for the next acquisition cycle of the follow-up process based on the trajectory normal vector and the total trajectory follow-up output of the next acquisition cycle.

[0015] 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.

[0016] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0017] A computer program product that, when run on a terminal device, causes the terminal device to perform any of the methods described above.

[0018] The beneficial effects of the embodiments provided in this application include: This follow-up machining control method, during the follow-up process of planar machining, optimizes and compensates the trajectory planning normal vector for the next acquisition cycle based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the measured trajectory position. This determines the optimized trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle. Based on the obtained trajectory planning normal vector and total trajectory follow-up output for the next acquisition cycle, a follow-up machining control command is determined to guide the follow-up process in the next acquisition cycle. This method can offset and adjust the follow-up machining trajectory along the trajectory normal direction in the next acquisition cycle, thereby improving the problem of abnormal follow-up control height at corner joints in planar machining. This ensures that the position following error remains within the allowable range of motion error during the follow-up process, effectively guaranteeing both follow-up descent efficiency and accuracy and adjustability, thus meeting higher requirements for CNC machining effects. Attached Figure Description

[0019] 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.

[0020] Figure 1 This is a flowchart illustrating a follow-up machining 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 follow-up machining control device in one embodiment; Figure 5 This is a schematic block diagram of the specific structure of the follow-up compensation module 40 in one embodiment; Figure 6 This is a schematic block diagram of the specific structure of the follow-up compensation module 40 in one embodiment; Figure 7 This is a schematic diagram of the processing equipment in one embodiment. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] Figure 1 This is a flowchart illustrating a follow-up machining control method in one embodiment.

[0024] In this embodiment, as Figure 1 As shown, the follow-up machining control method includes steps 102 to 106.

[0025] Step 102: Obtain the trajectory tracking compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position during the tracking process.

[0026] The trajectory follow-up compensation coefficient can be a coefficient that corrects and compensates for the motion trajectory during the follow-up process in planar machining. The trajectory planning position vector can be the planned position of the motion trajectory during the follow-up process, or it can be the normal vector of the planned motion trajectory during the follow-up process. The actual measured position of the trajectory can be the actual measured position of the motion trajectory during the follow-up process.

[0027] The acquisition of the trajectory planning position vector and the actual trajectory position in the current acquisition cycle during the follow-up process includes: analyzing the planned motion trajectory of the follow-up process through the trajectory analysis structure to obtain the trajectory planning position and the normal vector of the planned position in the current acquisition cycle; and detecting the actual motion trajectory of the follow-up process through the trajectory detection structure to obtain the actual trajectory position in the current acquisition cycle.

[0028] Step 104: Based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position, determine the trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle.

[0029] The trajectory planning normal vector can be the vector planned along the normal direction of the motion trajectory during the follow-up process. The total trajectory follow-up output can be the total trajectory motion planned along multiple motion axes during the follow-up process.

[0030] The scenarios for determining the trajectory planning normal vector and the total trajectory servo output for the next acquisition cycle based on the trajectory servo compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position include: determining the trajectory position deviation of the current acquisition cycle and the trajectory planning normal vector of the next acquisition cycle based on the trajectory planning position vector of the current acquisition cycle and the actual trajectory position; and determining the total trajectory servo output for the next acquisition cycle based on the trajectory servo compensation coefficient and the trajectory position deviation of the current acquisition cycle.

[0031] Step 106: Based on the trajectory normal vector and the total trajectory servo output of the next acquisition cycle, determine the servo machining control command for the next acquisition cycle of the servo process.

[0032] The follow-up machining control command can be formed based on the trajectory normal vector and the total trajectory follow-up output of the next acquisition cycle, and can guide the motion trajectory of the follow-up process in the next acquisition cycle.

[0033] The scenarios for determining the servo machining control command for the next acquisition cycle based on the trajectory normal vector and the total trajectory servo output of the next acquisition cycle include: determining the trajectory servo output components on multiple trajectory motion axes based on the trajectory normal vector and the total trajectory servo output of the next acquisition cycle; and determining the servo machining control command for the next acquisition cycle based on the trajectory servo output components on multiple trajectory motion axes.

[0034] The trajectory follower output component can be a follower motion component formed by decomposing the total trajectory follower output along multiple trajectory motion axes based on the trajectory normal vector of the next acquisition cycle. Optionally, the trajectory follower output component can be the trajectory follower motion displacement along multiple trajectory motion axes.

[0035] The follow-up machining control method provided in this example optimizes and compensates the trajectory planning normal vector for the next acquisition cycle based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the measured trajectory position during the follow-up process in planar machining. This determines the optimized trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle. Based on the obtained trajectory planning normal vector and total trajectory follow-up output for the next acquisition cycle, a follow-up machining control command is determined to guide the follow-up process in the next acquisition cycle. This allows the follow-up machining trajectory of the next acquisition cycle to be offset and adjusted along the trajectory normal direction, thereby improving the problem of abnormal follow-up control height at corner joints in planar machining. This ensures that the position following error remains within the allowable range of motion error during the follow-up process, effectively guaranteeing both follow-up descent efficiency and accuracy and adjustability, thus meeting higher requirements for CNC machining effects.

[0036] Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0037] In this embodiment, as Figure 2 As shown, step 104 includes sub-steps 202 to 206.

[0038] Step 202: Based on the measured position of the trajectory in the current acquisition cycle, determine the normal vector of the measured position in the current acquisition cycle.

[0039] The measured position normal vector can be the vector of the measured position of the trajectory along the normal of the motion trajectory during the current acquisition cycle.

[0040] Based on the measured position of the trajectory in the current acquisition cycle, determine the normal vector of the measured position in the current acquisition cycle, including:

[0041] In the formula, the measured position normal vector of the current acquisition cycle represents... A represents the converted position data of the trajectory of motion axis A, and B represents the converted position data of the trajectory of motion axis B.

[0042] Step 204: Determine the trajectory position deviation for the current acquisition cycle based on the difference between the planned trajectory position and the measured trajectory position for the current acquisition cycle.

[0043] The trajectory position deviation can be the positional deviation between the planned trajectory position and the actual measured trajectory position in the current acquisition cycle.

[0044] Based on the difference between the planned trajectory position and the measured trajectory position in the current acquisition period, the following scenarios can be used to determine the trajectory position deviation in the current acquisition period:

[0045] In the formula, This indicates the measured position of the trajectory during the current acquisition period. This indicates the trajectory planning position for the current data collection cycle.

[0046] Step 206: Based on the sum of the planned position normal vector and the measured position normal vector of the current acquisition cycle, determine the trajectory planning normal vector for the next acquisition cycle.

[0047] The following scenarios determine the trajectory planning normal vector for the next acquisition cycle based on the sum of the planned position normal vector and the measured position normal vector for the current acquisition cycle:

[0048] In the formula, This represents the normal vector of the planned location in the current acquisition cycle. This represents the normal vector of the measured position in the current acquisition cycle.

[0049] By using the normal vector calculated in the current cycle and the normal vector of the actual position to calculate the correction vector, the motion trajectory can be shifted towards the normal direction and adjusted to the correct direction, that is, to be closer to the surface of the plate. This is to reduce the abnormal height of the follow-up control when turning corners during the second slope opening.

[0050] Figure 3 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0051] In this embodiment, as Figure 3 As shown, step 104 includes sub-steps 302 to 306.

[0052] Step 302: Based on the trajectory follow-up compensation coefficient and the trajectory planning position of the current acquisition cycle, determine the first compensation amount of the follow-up output for the next acquisition cycle.

[0053] The first compensation amount of the follow-up output can be formed based on the trajectory follow-up compensation coefficient and the trajectory planning position of the current acquisition cycle, and is a variable that can compensate and adjust the follow-up control force.

[0054] The cases in which the first compensation amount for the follow-up output of the next acquisition cycle is determined based on the trajectory follow-up compensation coefficient and the trajectory planning position of the current acquisition cycle include:

[0055] In the formula, This represents the trajectory tracking compensation coefficient. This indicates the trajectory planning position for the current data collection week.

[0056] Step 304: Based on the trajectory follow-up compensation coefficient and the trajectory position deviation of the current acquisition cycle, determine the follow-up output second compensation amount for the next acquisition cycle.

[0057] The second compensation amount of the follow-up output can be formed based on the trajectory follow-up compensation coefficient and the trajectory position deviation of the current acquisition cycle, and is a variable that can compensate and adjust the trajectory position deviation.

[0058]

[0059] In the formula, This represents the trajectory tracking compensation coefficient. This indicates the trajectory position deviation during the current acquisition cycle.

[0060] Step 306: Based on the first compensation amount and the second compensation amount of the follow-up output in the next acquisition cycle, determine the total amount of trajectory follow-up output in the next acquisition cycle.

[0061] The cases in which the total amount of trajectory servo output for the next acquisition cycle is determined based on the first compensation amount and the second compensation amount of the servo output for the next acquisition cycle include:

[0062] In the formula, , This represents the trajectory tracking compensation coefficient. This indicates the trajectory planning position for the current data collection period. This indicates the trajectory position deviation during the current acquisition cycle.

[0063] By increasing the weights in the weighted strategy This refers to the trajectory follower compensation coefficient, which is equivalent to adding a proportional gain to the original follower calculation value. It increases the control intensity at corners, increases the compensation amount of the follower control, and reduces the following error more quickly; it also increases the weighting. The trajectory follow-up compensation coefficient is equivalent to increasing the compensation for tracking errors, correcting the direction of the follow-up error vector to the normal direction, and accelerating the follow-up to the correct position; thus effectively improving the problem of abnormal follow-up control height at the corner joint of planar machining.

[0064] 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.

[0065] Figure 4 This is a schematic block diagram of the follow-up machining control device in one embodiment.

[0066] In this embodiment, as Figure 4 As shown, the follow-up machining control device is applied to machining trajectories including interpolation axes and coupling axes. The follow-up machining control device includes an acquisition module 20, a follow-up compensation module 40, and a follow-up machining control module 60.

[0067] The acquisition module 20 is used to acquire the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position during the follow-up process.

[0068] The follow-up compensation module 40, connected to the acquisition module 20, is used to determine the trajectory planning normal vector and the total amount of trajectory follow-up output for the next acquisition cycle based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position.

[0069] The follow-up machining control module 60 is connected to the follow-up compensation module 40 and is used to determine the follow-up machining control command for the next acquisition cycle based on the trajectory normal vector and the total trajectory follow-up output of the next acquisition cycle.

[0070] 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.

[0071] The follow-up machining control device provided in this embodiment optimizes and compensates the trajectory planning normal vector for the next acquisition cycle based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position during the follow-up process of planar machining. This determines the optimized and compensated trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle. Based on the obtained trajectory planning normal vector and total trajectory follow-up output for the next acquisition cycle, a follow-up machining control command is determined to guide the follow-up process in the next acquisition cycle. This allows the follow-up machining trajectory of the next acquisition cycle to be offset and adjusted along the trajectory normal direction, thereby improving the problem of abnormal follow-up control height at the corner joints of planar machining. This ensures that the position following error remains within the allowable range of motion error during the follow-up process, effectively guaranteeing both follow-up descent efficiency and accuracy and adjustability, thus meeting higher requirements for CNC machining effects.

[0072] Figure 5 This is a schematic block diagram of the specific structure of the follow-up compensation module 40 in one embodiment.

[0073] In this embodiment, as Figure 5 As shown, the follow-up compensation module 40 includes a position vector determination unit 420, a position deviation determination unit 440, and a normal vector compensation unit 460.

[0074] The position vector determination unit 420 is used to determine the measured position normal vector of the current acquisition cycle based on the measured position of the trajectory in the current acquisition cycle.

[0075] The position deviation determination unit 440 is used to determine the trajectory position deviation for the current acquisition cycle based on the difference between the planned trajectory position and the measured trajectory position for the current acquisition cycle.

[0076] The normal vector compensation unit 460 is connected to the position vector determination unit 420 and the position deviation determination unit 440. It is used to determine the trajectory planning normal vector for the next acquisition cycle based on the sum of the planned position normal vector and the measured position normal vector for the current acquisition cycle.

[0077] 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.

[0078] Figure 6 This is a schematic block diagram of the specific structure of the follow-up compensation module 40 in one embodiment.

[0079] In this embodiment, as Figure 6 As shown, the follow-up compensation module 40 includes a follow-up position compensation unit 430, a position deviation compensation unit 450, and a follow-up compensation unit 470.

[0080] The follow-up position compensation unit 430 is used to determine the first compensation amount of the follow-up output for the next acquisition cycle based on the trajectory follow-up compensation coefficient and the trajectory planning position of the current acquisition cycle.

[0081] The position deviation compensation unit 450 is used to determine the second compensation amount of the follow-up output for the next acquisition cycle based on the trajectory follow-up compensation coefficient and the trajectory position deviation of the current acquisition cycle.

[0082] The follow-up compensation unit 470 is connected to the follow-up position compensation unit 430 and the position deviation compensation unit 450, and is used to determine the total amount of trajectory follow-up output for the next acquisition cycle based on the first compensation amount and the second compensation amount of the follow-up output for the next acquisition cycle.

[0083] 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.

[0084] 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.

[0085] The division of the modules in the above-described follow-up machining control device is only for illustrative purposes. In other embodiments, the follow-up machining control device can be divided into different modules as needed to complete all or part of the functions of the above-described follow-up machining control device.

[0086] For specific limitations regarding the follow-up machining control device, please refer to the limitations of the follow-up machining control method above, which will not be repeated here. Each module in the aforementioned follow-up machining control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the machining equipment in hardware form or independent of it, or stored in the memory of the machining equipment in software form, so that the processor can call and execute the operations corresponding to each module.

[0087] Figure 7 This is a schematic diagram of the processing equipment in one embodiment.

[0088] In this embodiment, as Figure 7As 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 CNC machining equipment.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] The follow-up machining control method, device, machining equipment, and readable storage medium provided in the above embodiments optimize and compensate the trajectory planning normal vector for the next acquisition cycle based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the measured trajectory position during the follow-up process of planar machining. This determines the optimized and compensated trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle. Based on the obtained trajectory planning normal vector and total trajectory follow-up output for the next acquisition cycle, a follow-up machining control command that can guide the follow-up process in the next acquisition cycle is determined. This enables the follow-up machining trajectory of the next acquisition cycle to be offset and adjusted along the trajectory normal direction, thereby improving the problem of abnormal follow-up control height at the corner connection point of planar machining. This ensures that the position following error remains within the allowable range of motion error during the follow-up process, effectively guaranteeing both follow-up descent efficiency and the accuracy and adjustability of the follow-up descent, thus meeting higher requirements for CNC machining effects. This has significant economic value and practical application value.

[0097] 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).

[0098] 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.

[0099] 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 follow-up machining control method, characterized in that, include: The system acquires the trajectory tracking compensation coefficient, the trajectory planning position vector for the current acquisition cycle, and the actual trajectory position during the tracking process. Based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position, determine the trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle; Based on the trajectory normal vector and the total trajectory follow-up output of the next acquisition cycle, the follow-up processing control command for the next acquisition cycle of the follow-up process is determined.

2. The follow-up machining control method according to claim 1, characterized in that, The step of determining the trajectory planning normal vector and the total trajectory tracking output based on the trajectory tracking compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the measured trajectory position includes: Based on the trajectory planning position vector of the current acquisition cycle and the actual trajectory position, determine the trajectory position deviation of the current acquisition cycle and the trajectory planning normal vector of the next acquisition cycle; Based on the trajectory follow-up compensation coefficient and the trajectory position deviation of the current acquisition cycle, the total trajectory follow-up output for the next acquisition cycle is determined.

3. The follow-up machining control method according to claim 2, characterized in that, The trajectory planning position vector includes the trajectory planning position and the planned position normal vector; the step of determining the trajectory position deviation for the current acquisition cycle and the trajectory planning normal vector for the next acquisition cycle based on the trajectory planning position vector for the current acquisition cycle and the measured trajectory position includes: Based on the measured position of the trajectory in the current acquisition cycle, determine the normal vector of the measured position in the current acquisition cycle; The trajectory position deviation for the current acquisition period is determined based on the difference between the planned trajectory position and the measured trajectory position for the current acquisition period. The trajectory planning normal vector for the next acquisition cycle is determined by summing the planned position normal vector for the current acquisition cycle and the measured position normal vector.

4. The follow-up machining control method according to claim 3, characterized in that, The step of determining the normal vector of the measured position in the current acquisition cycle based on the measured position of the trajectory in the current acquisition cycle includes: In the formula, the normal vector of the measured position in the current acquisition cycle is: A represents the converted position data of the trajectory of motion axis A, and B represents the converted position data of the trajectory of motion axis B.

5. The follow-up machining control method according to claim 2, characterized in that, The step of determining the total trajectory tracking output for the next acquisition cycle based on the trajectory tracking compensation coefficient and the trajectory position deviation of the current acquisition cycle includes: Based on the trajectory follow-up compensation coefficient and the trajectory planning position of the current acquisition cycle, determine the first compensation amount for the follow-up output of the next acquisition cycle; Based on the trajectory follow-up compensation coefficient and the trajectory position deviation of the current acquisition cycle, determine the follow-up output second compensation amount for the next acquisition cycle; The total amount of trajectory follow-up output for the next acquisition cycle is determined based on the first compensation amount of the follow-up output and the second compensation amount of the follow-up output for the next acquisition cycle.

6. The follow-up machining control method according to claim 5, characterized in that, The step of determining the total trajectory tracking output for the next acquisition cycle based on the first compensation amount and the second compensation amount of the tracking output for the next acquisition cycle includes: In the formula, , This represents the trajectory tracking compensation coefficient. This indicates the trajectory planning position for the current data collection period. This indicates the trajectory position deviation during the current acquisition cycle.

7. The follow-up machining control method according to claim 1, characterized in that, The step of determining the servo machining control command for the next acquisition cycle of the servo process based on the trajectory normal vector and the total trajectory servo output of the next acquisition cycle includes: Based on the trajectory normal vector and the total trajectory follower output of the next acquisition cycle, determine the trajectory follower output components on multiple trajectory motion axes; Based on the trajectory follow-up output components on the multiple trajectory motion axes, the follow-up processing control command for the next acquisition cycle of the follow-up process is determined.

8. A follow-up machining control device, characterized in that, include: The acquisition module is used to acquire the trajectory tracking compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position during the tracking process; The follow-up compensation module, connected to the acquisition module, is used to determine the trajectory planning normal vector and the total trajectory follow-up output for the next acquisition cycle based on the trajectory follow-up compensation coefficient, the trajectory planning position vector of the current acquisition cycle, and the actual trajectory position. The follow-up machining control module, connected to the follow-up compensation module, is used to determine the follow-up machining control command for the next acquisition cycle of the follow-up process based on the trajectory normal vector and the total trajectory follow-up output of the next acquisition cycle.

9. A processing device, 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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