A galvanometer control method, system and device for double swing handheld laser welding

Abstract

The present application belongs to the technical field of laser welding, and provides a galvanometer control method, system and device for double-swing handheld laser welding. First, according to the required trajectory type of double-swing handheld laser welding, a double-axis reference model suitable for different application scenarios is constructed, which is used to generate an ideal state trajectory of galvanometer motion. Based on the actual motion state of the galvanometer and the ideal state generated by the reference model, a compound control mode combining state feedback, PID error correction and feedforward compensation is adopted to drive the actual motion trajectory of the galvanometer to accurately track the ideal state trajectory generated by the reference model. The inter-axis error compensation and decoupling feedforward control mechanism is introduced to adjust the control instructions of the X-axis and Y-axis of the double-swing galvanometer. The present application adopts a model tracking control algorithm to improve the welding trajectory tracking accuracy, and through double-axis collaborative decoupling control, cross-coupling control and decoupling feedforward control are introduced to effectively offset the inter-axis interference and ensure the synchronization of the double-axis motion of the galvanometer.

Description

Technical Field

[0001] This invention belongs to the field of laser welding technology, specifically relating to a galvanometer control method, system, and equipment for double-pendulum handheld laser welding. Background Technology

[0002] In the field of laser welding, dual-pendulum handheld laser welding equipment is widely used in welding complex workpieces due to its high flexibility and adaptability. The galvanometer system, as the core actuator of the dual-pendulum handheld laser welding system, directly determines the accuracy of the welding trajectory and the welding quality through its control precision and dual-axis synchronization.

[0003] The galvanometer system mainly consists of a permanent magnet torque motor, a reflecting mirror, an angle sensor, and a mechanical support structure. Its core dynamic characteristics are determined by the torque motor. Ignoring the nonlinear parts of the motor armature inductance (under low-speed conditions) and mechanical damping, the galvanometer system can be simplified to a second-order linear system.

[0004] The galvanometer control circuit is essentially a D / A converter circuit. Its function is to convert the planned data of the scanning pattern stored in the memory into a series of voltage pulse signals to control the galvanometer to perform the corresponding scanning motion. In traditional galvanometer control systems, to achieve high-precision position control and high real-time algorithm requirements, the galvanometer motor control adopts a three-closed-loop control strategy, based on cascade PI control and improved to enhance position control performance.

[0005] In the existing technology, the galvanometer control of double-pendulum handheld laser welding has the following shortcomings:

[0006] 1. Low control precision: When welding complex trajectories such as straight lines and arcs, the positional deviation often exceeds 0.02mm, resulting in substandard weld joint precision;

[0007] 2. Slow response speed: When faced with step control commands, the response time is generally greater than 2ms, which is difficult to meet the requirements of high-speed welding.

[0008] 3. Poor stability: After long-term operation, the galvanometer motion deviation will increase significantly due to power fluctuations and module temperature rise.

[0009] 4. The system has weak anti-interference ability and is prone to control failure in industrial environments with electromagnetic radiation and mechanical vibration.

[0010] These problems severely restrict the improvement of welding quality and production efficiency. Therefore, there is an urgent need for a galvanometer control method and system that can achieve dual-axis decoupling, high-precision trajectory tracking, and strong anti-interference capability. Summary of the Invention

[0011] The purpose of this invention is to overcome the existing defects and provide a galvanometer control method, system and equipment for double-pendulum handheld laser welding.

[0012] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0013] The first objective of this invention is to provide a galvanometer control method for double-pendulum handheld laser welding, comprising the following steps:

[0014] (1) Based on the trajectory type required for double pendulum handheld laser welding, construct a dual-axis reference model adapted to different application scenarios. The reference model is used to generate the ideal state trajectory of the galvanometer motion.

[0015] (2) Based on the actual motion state of the galvanometer and the ideal state generated by the reference model, a composite control method combining state feedback, PID error correction and feedforward compensation is adopted to drive the actual motion trajectory of the galvanometer to accurately track the ideal state trajectory generated by the reference model.

[0016] (3) Introduce an inter-axis error compensation and decoupling feedforward control mechanism, adjust the control commands of the X and Y axes of the double pendulum mirror, and eliminate inter-axis coupling interference.

[0017] Furthermore, in step (1), the dual-axis reference model includes a straight-line trajectory reference model, a circular arc trajectory reference model, and a complex curve reference model;

[0018] The linear trajectory reference model uses acceleration and deceleration planning to smoothly increase the reference speed from 0 to a set speed, and then smoothly decrease it to 0.

[0019] The circular trajectory reference model achieves variable angular velocity circular motion by adjusting the angular velocity in real time;

[0020] The complex curve reference model imports key trajectory points through a host computer. Based on the B-spline curve interpolation algorithm, a smooth trajectory with continuous curvature is generated in real time.

[0021] Furthermore, the position equation of the straight-line trajectory reference model is expressed as:

[0022]

[0023] in, Indicates the coordinates of the starting point of the line. Indicates the coordinates of the endpoint of the straight line; , represents the length of a straight line; Indicates the speed of motion; , is the duration of exercise;

[0024] The position equation of the circular arc trajectory reference model is expressed as:

[0025]

[0026] in, This represents the coordinates of the center of the arc, where R is the radius. Angular velocity, v is the linear velocity. This is the initial angle.

[0027] Furthermore, the composite control method in step (2) is expressed as follows:

[0028]

[0029] in, For drive control commands, The state feedback gain matrix is... As the reference model state vector, These are the reference positions for the X and Y axes, respectively. These are the reference speeds for the X and Y axes, respectively. Let be the actual state vector of the galvanometer. These are the actual positions on the X and Y axes, respectively. These are the actual speeds along the X and Y axes, respectively. This refers to the position tracking error; These are the PID correction coefficients; This is the feedforward compensation term, calculated based on the acceleration of the reference model. , For acceleration gain, The acceleration is for the reference model.

[0030] Furthermore, the inter-shaft error compensation in step (3) is expressed as:

[0031]

[0032] in, denoted as X, where X is the coupling error between the X and Y axes; K is the coupling coefficient, used to characterize the strength of the coupling between the X and Y axes; x and y are the actual motion variables of the X and Y axes, respectively. , These are the reference variables for the X-axis and Y-axis, respectively.

[0033] Furthermore, the decoupling feedforward control in step (3) includes the following steps:

[0034] 1) Based on the preset welding path, generate the ideal position sequence of the X and Y axes through cubic spline interpolation. , ;)

[0035] 2) The ideal X-axis and Y-axis position sequences generated in step 1) , By inputting the dual-axis reference model, a smooth output that conforms to the physical limits of the motor is obtained. Calculate the feedforward voltage:

[0036]

[0037]

[0038] In the formula, These are the feedforward voltages for the X and Y axes, respectively. It is a differential element, used to improve the system response speed; It is a first-order inertial element used to match the dynamic characteristics of the system; These are the feedforward gains for the X-axis and Y-axis, respectively. Reference models for the X and Y axes, respectively; These are the ideal position sequences for the X and Y axes, respectively. These are the decoupling terms for the X and Y axes, respectively; The coupling coefficient characterizes the interference strength. These are the actual positions of the X-axis and Y-axis, respectively;

[0039] 3) Incorporate the decoupling feedforward voltage into the control command to cancel the mutual interference between the X-axis and Y-axis of the dual-axis galvanometer during its movement.

[0040] Another object of the present invention is to provide a galvanometer control system for dual-pendulum handheld laser welding, the system being used to implement the galvanometer control method for dual-pendulum handheld laser welding provided in the first object of the present invention, comprising:

[0041] The perception layer includes multiple sensors with different functions, which are used to collect status data in real time, including the position of the galvanometer, the temperature of the drive module, and the power supply voltage, to provide feedback information to the control layer.

[0042] The control layer receives data and instructions from the perception layer and generates optimal control instructions through the model tracking control algorithm.

[0043] The driving layer is used to convert the control commands output by the control layer into driving signals to drive the motion of the execution layer.

[0044] The execution layer, including the double pendulum galvanometer and galvanometer motor, is used to receive signals from the drive layer and complete the movement in the X and Y axes to achieve precise control of the welding trajectory.

[0045] Furthermore, the control layer includes:

[0046] The control panel is used to coordinate and control the operation of the entire equipment.

[0047] The model tracking control module, connected to the control board, is used to drive the galvanometer to accurately track the ideal state trajectory generated by the reference model using a composite control method that combines state feedback, PID error correction and feedforward compensation.

[0048] The communication module is used to connect the model tracking control module and the driver layer to enable data interaction between the two.

[0049] Another object of the present invention is to provide an electronic device, including a processor and a memory storing a computer program, wherein the processor executes the computer program to implement the galvanometer control method for double-pendulum handheld laser welding provided by the first object of the present invention.

[0050] In combination with the above technical solutions, the beneficial effects of the present invention compared with the prior art are as follows:

[0051] High trajectory tracking accuracy: This invention allows the galvanometer to "plan its motion in advance" through decoupled feedforward control. The decoupling term eliminates inter-axis interference, ensuring that the deviation between the actual trajectory and the ideal path (straight line, arc, etc.) is minimal.

[0052] Dynamic response: The design of the differential element and feedforward gain allows the galvanometer to quickly follow commands even during high-speed motion (such as zigzag lines, sudden stops and starts), avoiding lag or overshoot.

[0053] Robustness: The reference model in this invention , It can adapt to different working conditions and has a high coupling coefficient. , Through calibration and optimization, the system can maintain stable performance even under mechanical wear and environmental changes. In short, this model-tracking dual-axis decoupled feedforward control uses a combination of "feedforward trajectory tracking + decoupling and interference elimination" to make the galvanometer both accurate and efficient when moving along complex paths, which is one of the key technologies for achieving high-precision welding and processing. Attached Figure Description

[0054] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0055] Figure 1 This is a flowchart of a galvanometer control method for double-pendulum handheld laser welding provided in an embodiment of the present invention;

[0056] Figure 2 This is a schematic diagram of the galvanometer control system for double-pendulum handheld laser welding provided in an embodiment of the present invention. Detailed Implementation

[0057] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0058] Example 1:

[0059] like Figure 1 The image shows an embodiment of the galvanometer control method for dual-pendulum handheld laser welding provided by the present invention, which specifically includes the following steps:

[0060] S1: Based on the trajectory type required for double-pendulum handheld laser welding, construct a dual-axis reference model adapted to different application scenarios. The reference model is used to generate the ideal state trajectory of the galvanometer motion.

[0061] S2: Based on the actual motion state of the galvanometer and the ideal state generated by the reference model, a composite control method combining state feedback, PID error correction and feedforward compensation is adopted to drive the actual motion trajectory of the galvanometer to accurately track the ideal state trajectory generated by the reference model.

[0062] S3: Introduce an inter-axis error compensation and decoupling feedforward control mechanism to adjust the control commands of the X and Y axes of the double pendulum mirror and eliminate inter-axis coupling interference.

[0063] Specifically, under high-frequency digital control, the control cycle is short and computational resources are limited. Based on considerations of high real-time performance and low computational load, this invention introduces speed and current feedforwards on top of cascade closed-loop control, which is the most reasonable and effective strategy to improve control performance. Considering the characteristics of the galvanometer motor during operation, such as a well-defined system model, stable parameters, and few disturbances, the feedforward parameters can be determined based on the system model in the speed and current feedforward design. The resulting feedforward state conforms to the desired system trajectory, has strong interpretability, and clear physical meaning.

[0064] Model Following Control (MFC) is a control strategy based on an ideal model of the controlled object. It generates the desired state change trajectory by constructing an ideal model of the controlled object, which is then directly applied to the actual system, causing the controlled object to move along the desired trajectory. Errors are eliminated through closed-loop correction. Compared to traditional composite feedforward control strategies, MFC makes the actual motion trajectory of the controlled object closer to the motion trajectory of the ideal model, thereby improving the system's control performance.

[0065] I. Reference Model Construction

[0066] Based on the operating characteristics of the galvanometer system, corresponding ideal reference models are constructed for different application scenarios to ensure the accuracy of trajectory tracking.

[0067] 1. Straight-line trajectory reference model

[0068] Suitable for laser cutting, linear scanning, and other applications, with the starting point of the line set as... The destination is The speed of movement is (Configurable range) Line length:

[0069]

[0070] The position equation of the reference model is then:

[0071]

[0072] in For the motion time, and simultaneously through acceleration and deceleration planning (S-shaped acceleration and deceleration), the reference speed is... Smoothly upgrade from 0 to Then smoothly reduce it to 0 to avoid shock during start-stop.

[0073] 2. Circular Arc Trajectory Reference Model

[0074] Suitable for scenarios such as circular markings and arc-shaped cuts, where the center of the arc is set as... The radius is R, and the angular velocity is: (v is the linear velocity), the initial angle is Then the position equation of the reference model is:

[0075]

[0076] Through real-time adjustments It can achieve variable angular velocity circular motion to meet the requirements of complex trajectories.

[0077] 3. Complex Curve Reference Model

[0078] For irregular trajectories, a reference model is generated using B-spline curve interpolation, and the trajectory key points are imported into the host computer. The control layer generates smooth trajectories in real time based on the B-spline algorithm (order is configurable, 3-5), ensuring continuous trajectory curvature and avoiding abrupt changes in the motion of the galvanometer.

[0079] II. Model Tracking Control Laws

[0080] A composite control system combining "state feedback + PID error correction + feedforward compensation" is employed to ensure accurate tracking of the reference model by the actual motion of the galvanometer. The control expression is as follows:

[0081]

[0082] In the formula:

[0083] : Drive layer control commands (motor current amplitude / number of pulses);

[0084] : State feedback gain matrix (designed using the pole placement method, so that the closed-loop poles of the system are located at...) (to ensure dynamic response speed)

[0085] : Reference model state vector (position, velocity);

[0086] : The actual state vector of the galvanometer;

[0087] Position tracking error;

[0088] PID correction coefficients (tuned using particle swarm optimization algorithm) );

[0089] Feedforward compensation term (acceleration calculation based on reference model) , (This is for acceleration gain), used to counteract system inertia and improve dynamic tracking accuracy.

[0090] III. Dual-axis cooperative control

[0091] The two axes (X-axis and Y-axis) of an X / Y dual-axis galvanometer should ideally move independently. However, due to factors such as mechanical structural deformation (e.g., flexible supports, shaft machining errors) and electromagnetic interference (e.g., drive circuit crosstalk), inter-axis coupling occurs—that is, the motion (or control command) of one axis interferes with the actual output of the other axis. For an X / Y dual-axis galvanometer, a "cross-coupling control" mechanism is designed, introducing an inter-axis error compensation term based on single-axis model tracking control.

[0092]

[0093] In the formula:

[0094] x, y: the actual motion variables (such as angle and displacement) of the X-axis and Y-axis, respectively;

[0095] , Reference variables for the X and Y axes (such as nominal range of motion and reference control commands);

[0096] k: Coupling coefficient, configurable, used to characterize the strength of the coupling between the X-axis and Y-axis. It can be identified experimentally or through system configuration. The configuration can be obtained through calibration experiments: for example, fixing the Y-axis movement, changing the X-axis command, and measuring the actual interference on the Y-axis; or fixing the X-axis, changing the Y-axis command, measuring the interference on the X-axis, and then fitting the value of k. The value of k is closely related to system design and machining accuracy.

[0097] Exy: The coupling error between the X and Y axes. This value can be used for subsequent coupling compensation control.

[0098] By adjusting the two-axis control commands in real time, the synchronization of the two-axis motion (synchronization error) is ensured. (0.001mm) to avoid shape distortion in complex trajectory processing.

[0099] IV. Dual-axis decoupled feedforward control

[0100] Dual-axis galvanometers exhibit inter-axis coupling during motion (X-axis motion interferes with Y-axis motion, and vice versa). To improve trajectory tracking accuracy, feedforward control (outputting control values ​​in advance based on the ideal trajectory) and decoupling terms are needed to counteract inter-axis interference. Trajectory feedforward: Based on the welding path (e.g., straight line, arc, polygonal line), a dual-axis ideal position sequence is generated through cubic spline interpolation. , Combined with the reference model output Calculate the feedforward voltage:

[0101]

[0102]

[0103] : Ideal position sequence along the X-axis (generated by cubic spline interpolation of the welding path, representing "where it should go").

[0104] s is the differential element, used to improve the system response speed; Txs+1 is the first-order inertial element, used to match the dynamic characteristics of the system; Ktx is the feedforward gain, and Gmx(s) is the X-axis reference model (describing the ideal motion characteristics); the overall function is to "calculate the basic control quantity driving the X-axis in advance based on the ideal trajectory".

[0105] : The decoupling term for the X-axis; Cxy is the coupling coefficient, which characterizes the interference strength of the Y-axis on the X-axis; It is the actual position of the Y-axis; the function of this item is to "counteract the interference of Y-axis movement on the X-axis" and achieve inter-axis decoupling.

[0106] The invention will be further explained below with reference to simulation experiments.

[0107] (I) Simulation Platform Construction

[0108] A system simulation model was built using MATLAB / Simulink, integrating the model tracking control algorithm, motor drive model, and position detection model to simulate the motion of the galvanometer under different trajectories. The simulation parameters are set as follows:

[0109] Motor parameters: Stepper motor step angle 1.8°, microstepping 32, reduction ratio 1:10;

[0110] Control parameters: State feedback gain matrix K=[0.8,0.2,0.8,0.2], PID parameters Kp=10, Ki=0.5, Kd=0.1;

[0111] Interference parameters: electromagnetic interference amplitude 0.005mm, vibration interference amplitude 0.01mm.

[0112] (II) Analysis of Simulation Results

[0113] Control accuracy simulation: In the simulation of the straight trajectory (100mm), the maximum tracking error is 0.007mm and the average value is 0.003mm; in the simulation of the circular trajectory (20mm), the maximum tracking error is 0.008mm and the average value is 0.004mm, both of which meet the design target.

[0114] Response speed simulation: In the simulation of the X-axis step command (0→10mm), the response time is 0.7ms; in the simulation of the dual-axis linkage step command ((0,0)→(10mm,10mm)), the response time is 0.85ms, which meets the response speed requirements.

[0115] Anti-interference simulation: After applying electromagnetic interference (10V / m, 800MHz), the tracking error changes by 0.003mm; after applying vibration interference (2g, 200Hz), the static positioning error is 0.012mm, and the anti-interference performance meets the standard.

[0116] (III) System Optimization

[0117] Based on the simulation results, the following optimizations were made to the system:

[0118] Algorithm optimization: To address the issue of large tracking errors for complex curved trajectories (such as "S" shapes), a "feedforward compensation term" is added to the model tracking control algorithm. This term adjusts the control commands in advance based on the curvature changes of the trajectory, reducing the maximum tracking error of complex curved trajectories from 0.012 mm to within 0.01 mm.

[0119] Software optimization: The sampling frequency of the position detection module has been optimized, and the sampling period has been shortened from 10ms to 5ms, which improves the system's response sensitivity to position changes and reduces dynamic tracking errors.

[0120] Example 2:

[0121] This invention provides a galvanometer control system for dual-pendulum handheld laser welding. The system is used to implement the galvanometer control method for dual-pendulum handheld laser welding provided in Embodiment 1 of this invention, including:

[0122] The perception layer includes multiple sensors with different functions, which are used to collect status data in real time, including the position of the galvanometer, the temperature of the drive module, and the power supply voltage, to provide feedback information to the control layer.

[0123] The control layer receives data and instructions from the perception layer and generates optimal control instructions through the model tracking control algorithm.

[0124] The driving layer is used to convert the control commands output by the control layer into driving signals to drive the motion of the execution layer.

[0125] The execution layer, including the double pendulum galvanometer and galvanometer motor, is used to receive signals from the drive layer and complete the movement in the X and Y axes to achieve precise control of the welding trajectory.

[0126] Specifically, such as Figure 2 As shown, the control layer in this embodiment of the invention includes:

[0127] The control panel is used to coordinate and control the operation of the entire equipment.

[0128] The model tracking control module, connected to the control board, is used to drive the galvanometer to accurately track the ideal state trajectory generated by the reference model using a composite control method that combines state feedback, PID error correction and feedforward compensation.

[0129] The communication module is used to connect the model tracking control module and the driver layer to enable data interaction between the two.

[0130] The driving layer includes a half-bridge driver, a power supply module (including an overcurrent detection circuit), a signal isolation module (differential circuit and single-ended to differential circuit), a balancing module, a first-stage amplifier, a second-stage amplifier, and a pump differential circuit. It is used to convert the optimal control commands output by the control layer into driving signals, while providing stable power and isolating interference signals in the industrial field.

[0131] Example 3:

[0132] The present invention provides an electronic device, including a processor and a memory storing a computer program. When the processor executes the computer program, it implements the galvanometer control method for double-pendulum handheld laser welding provided in Embodiment 1 of the present invention.

[0133] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in the present invention, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some steps in the various embodiments 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.

[0134] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0135] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A galvanometer control method for double-pendulum handheld laser welding, characterized in that, The method includes the following steps: (1) Based on the trajectory type required for double pendulum handheld laser welding, construct a dual-axis reference model adapted to different application scenarios. The reference model is used to generate the ideal state trajectory of the galvanometer motion. (2) Based on the actual motion state of the galvanometer and the ideal state generated by the reference model, a composite control method combining state feedback, PID error correction and feedforward compensation is adopted to drive the actual motion trajectory of the galvanometer to accurately track the ideal state trajectory generated by the reference model. (3) Introduce an inter-axis error compensation and decoupling feedforward control mechanism, adjust the control commands of the X and Y axes of the double pendulum mirror, and eliminate inter-axis coupling interference.

2. The galvanometer control method for double-pendulum handheld laser welding according to claim 1, characterized in that, In step (1), the dual-axis reference model includes a straight trajectory reference model, a circular arc trajectory reference model, and a complex curve reference model; The linear trajectory reference model uses acceleration and deceleration planning to smoothly increase the reference speed from 0 to a set speed, and then smoothly decrease it to 0. The circular trajectory reference model achieves variable angular velocity circular motion by adjusting the angular velocity in real time; The complex curve reference model imports key trajectory points through a host computer. Based on the B-spline curve interpolation algorithm, a smooth trajectory with continuous curvature is generated in real time.

3. The galvanometer control method for double-pendulum handheld laser welding according to claim 2, characterized in that, The position equation of the straight-line trajectory reference model is expressed as: ； in, Indicates the coordinates of the starting point of the line. Indicates the coordinates of the endpoint of the straight line; , represents the length of a straight line; Indicates the speed of motion; , is the duration of exercise; The position equation of the circular arc trajectory reference model is expressed as: ； in, This represents the coordinates of the center of the arc, where R is the radius. Angular velocity, v is the linear velocity. This is the initial angle.

4. The galvanometer control method for double-pendulum handheld laser welding according to claim 1, characterized in that, The composite control method in step (2) is represented as follows: ； in, For drive control commands, The state feedback gain matrix, As the reference model state vector, These are the reference positions for the X and Y axes, respectively. These are the reference speeds for the X and Y axes, respectively. Let be the actual state vector of the galvanometer. These are the actual positions on the X and Y axes, respectively. These are the actual speeds along the X and Y axes, respectively. This refers to the position tracking error; These are the PID correction coefficients; This is the feedforward compensation term, calculated based on the acceleration of the reference model. , For acceleration gain, The acceleration is for the reference model.

5. The galvanometer control method for double-pendulum handheld laser welding according to claim 1, characterized in that, The inter-shaft error compensation in step (3) is expressed as follows: ； in, denoted as X, where X is the coupling error between the X and Y axes; K is the coupling coefficient, used to characterize the strength of the coupling between the X and Y axes; x and y are the actual motion variables of the X and Y axes, respectively. , These are the reference variables for the X-axis and Y-axis, respectively.

6. The galvanometer control method for double-pendulum handheld laser welding according to claim 1, characterized in that, The decoupling feedforward control in step (3) includes the following steps: 1) Based on the preset welding path, generate the ideal position sequence of the X and Y axes through cubic spline interpolation. , ; 2) The ideal X-axis and Y-axis position sequences generated in step 1) , By inputting the dual-axis reference model, a smooth output that conforms to the physical limits of the motor is obtained. Calculate the feedforward voltage: ； ； In the formula, These are the feedforward voltages for the X and Y axes, respectively. It is a differential element, used to improve the system response speed; It is a first-order inertial element used to match the dynamic characteristics of the system; These are the feedforward gains for the X-axis and Y-axis, respectively. Reference models for the X and Y axes, respectively; These are the ideal position sequences for the X and Y axes, respectively. These are the decoupling terms for the X and Y axes, respectively; The coupling coefficient characterizes the interference strength. These are the actual angular velocities along the X and Y axes, respectively. 3) Incorporate the decoupling feedforward voltage into the control command to cancel the mutual interference between the X-axis and Y-axis of the dual-axis galvanometer during its movement.

7. A galvanometer control system for double-pendulum handheld laser welding, characterized in that, The system is used to implement the galvanometer control method for double-pendulum handheld laser welding as described in any one of claims 1-6.

8. The galvanometer control system for double-pendulum handheld laser welding according to claim 7, characterized in that, The system includes: The perception layer includes multiple sensors with different functions, which are used to collect status data in real time, including the position of the galvanometer, the temperature of the drive module, and the power supply voltage, to provide feedback information to the control layer. The control layer receives data and instructions from the perception layer and generates optimal control instructions through the model tracking control algorithm. The driving layer is used to convert the control commands output by the control layer into driving signals to drive the motion of the execution layer. The execution layer, including the double pendulum galvanometer and galvanometer motor, is used to receive signals from the drive layer and complete the movement in the X and Y axes to achieve precise control of the welding trajectory.

9. The galvanometer control system for double-pendulum handheld laser welding according to claim 8, characterized in that, The control layer includes: The control panel is used to coordinate and control the operation of the entire equipment. The model tracking control module, connected to the control board, is used to drive the galvanometer to accurately track the ideal state trajectory generated by the reference model using a composite control method that combines state feedback, PID error correction and feedforward compensation. The communication module is used to connect the model tracking control module and the driver layer to enable data interaction between the two.

10. An electronic device comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the galvanometer control method for double-pendulum handheld laser welding as described in any one of claims 1 to 6.

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