CN109375586A - The method and system of flight cut-sytle pollination are realized in laser numerical control system - Google Patents

The method and system of flight cut-sytle pollination are realized in laser numerical control system Download PDF

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CN109375586A
CN109375586A CN201811452935.8A CN201811452935A CN109375586A CN 109375586 A CN109375586 A CN 109375586A CN 201811452935 A CN201811452935 A CN 201811452935A CN 109375586 A CN109375586 A CN 109375586A
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cutting
period
feedback position
feedback
numerical control
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CN109375586B (en
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李康
莫雪林
朱成坤
张迅
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Shanghai Weihong Intelligent Technology Co Ltd
Shanghai Weihong Electronic Technology Ltd
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Shanghai Weihong Intelligent Technology Co Ltd
Shanghai Weihong Electronic Technology Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32063—Adapt speed of tool as function of deviation from target rate of workpieces

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Laser Beam Processing (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)

Abstract

The present invention relates to a kind of methods that flight cut-sytle pollination is realized in laser numerical control system, including (1) to carry out drive data interaction and obtain data；(2) the constant time lag t ' between feedback position and physical location is calculated according to cut point target position and period internal feedback position；(3) FPGA is configured according to calculated t ' and controls laser port by the t' time.The invention further relates to the systems that flight cut-sytle pollination is realized in a kind of laser numerical control system.Using in the laser numerical control system realize flight cut-sytle pollination method and system, have it is high in machining efficiency, precision is good, advantage at low cost, using more and more extensive, flight cutting function is used as the critical function in laser numerical control system for it, is the raising indispensable ring of processing efficiency.This method and system devise the flight cutting method that can be used under bus system, can obtain driver feedback position in real time, and application range is wider.

Description

Method and system for realizing flight cutting control in laser numerical control system
Technical Field
The invention relates to the field of numerical control machining, in particular to the field of laser port control in a laser numerical control system, and specifically relates to a method and a system for realizing flight cutting control in the laser numerical control system.
Background
The processing and manufacturing industry is always the backbone industry of national economy, and the national life is the processing and manufacturing industry which cannot be opened. Wherein the level of the numerical control system is directly linked to the level of the manufacturing industry. With the rapid development of numerical control systems, people have higher and higher requirements on processing efficiency and processing precision.
The bus type numerical control system has the advantages of high processing efficiency, good precision and low cost, is more and more widely applied, and the flight cutting function is an essential function in the laser numerical control system to improve the processing efficiency.
For the bus driver, because of the communication period, the driver feedback position cannot be obtained in real time like a non-bus driver, and the non-bus flight cutting algorithm is not applicable any more.
In order to better use the bus type numerical control system, it is necessary to design a flight cutting method that can be used under the bus system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a system for realizing flight cutting control in a laser numerical control system, which have the advantages of high processing efficiency, good precision and low cost.
In order to achieve the purpose, the method and the system for realizing the flight cutting control in the laser numerical control system are as follows:
the method for realizing flight cutting control in the laser numerical control system is mainly characterized by comprising the following steps of:
(1) performing data interaction on the driver to acquire data;
(2) calculating a fixed time delay t' between the feedback position and the actual position according to the target position of the cutting point and the feedback position in the period;
(3) and configuring the FPGA to control the laser port by t 'time according to the calculated t'.
Preferably, the step (1) specifically includes the following steps:
(1.1) performing driver data interaction, judging whether a new port control instruction is received or not, and if so, enqueuing the instruction; otherwise, continuing the step (1.2);
(1.2) judging whether the instruction queue is empty, if so, ending the communication period; otherwise, continuing the step (2).
Preferably, the calculating of the fixed time delay t' between the feedback position and the actual position in the step (2) specifically includes the following steps:
(2.1) calculating a time instant of the predicted movement to the exp position;
(2.2) calculation from fcurTime t to exp;
(2.3) calculating the fixed time delay t' between the feedback position and the actual position.
Preferably, the calculating in the step (2.1) predicts the time when the motion reaches the ideal cutting point position exp, specifically:
the moment of predicted movement to the exp position is calculated according to the following formula:
wherein,in order to obtain the target position of the cutting point,the feedback position of the period is shown, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,the distance vector from the target position of the cutting point to the feedback position in the period,for the feedback position of the last communication cycle, VelX is the cutting speed scalar on the X axis, VelY is the cutting speed scalar on the Y axis,the current plane is cut to the velocity vector.
Preferably, said calculation in step (2.2) is from fcurThe time t to exp of the movement is specifically:
from f is calculated according to the following formulacurTime to exp t:
wherein,in order to obtain the target position of the cutting point,is the feedback position of the period, T is the current communication period, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,is the distance vector from the target position of the cutting point to the feedback position in the period, VelX is a scalar quantity of the cutting speed on the X axis, VelY is a scalar quantity of the cutting speed on the Y axis,the current plane is cut to the velocity vector.
Preferably, the step (2.3) of calculating the fixed time delay t' between the feedback position and the actual position includes:
calculating the fixed time delay t' between the feedback position and the actual position according to the following formula:
t‘＝t-delay，
wherein t is from fcurThe time to exp, delay is the fixed delay of the actuator feedback position and the actuator actual position.
Preferably, the step (3) specifically includes the following steps:
(3.1) judging whether t' is not greater than 0, if yes, immediately controlling the port; otherwise, continuing the step (3.2);
(3.2) judging whether T 'is smaller than 1 period T, if so, configuring the FPGA to control a laser port through T' time, and instructing dequeuing and finishing the communication period; otherwise, the communication cycle is ended.
The laser numerical control system for realizing flight cutting control is mainly characterized by comprising the following components:
a motor for actually cutting the workpiece;
the control program adjusts port errors according to the actual cutting position of the motor when running, and specifically performs the following steps:
(1) performing data interaction on the driver to acquire data;
(2) calculating a fixed time delay t' between the feedback position and the actual position according to the target position of the cutting point and the feedback position in the period;
(3) and configuring the FPGA to control the laser port by t 'time according to the calculated t'.
Preferably, the step (1) specifically includes the following steps:
(1.1) performing driver data interaction, judging whether a new port control instruction is received or not, and if so, enqueuing the instruction; otherwise, continuing the step (1.2);
(1.2) judging whether the instruction queue is empty, if so, ending the communication period; otherwise, continuing the step (2).
Preferably, the calculating of the fixed time delay t' between the feedback position and the actual position in the step (2) specifically includes the following steps:
(2.1) calculating a time instant of the predicted movement to the exp position;
(2.2) calculation from fcurTime t to exp;
(2.3) calculating the fixed time delay t' between the feedback position and the actual position.
Preferably, the calculating in the step (2.1) predicts the time when the motion reaches the ideal cutting point position exp, specifically:
the moment of predicted movement to the exp position is calculated according to the following formula:
wherein,in order to obtain the target position of the cutting point,the feedback position of the period is shown, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,the distance vector from the target position of the cutting point to the feedback position in the period,for the feedback position of the last communication cycle, VelX is the cutting speed scalar on the X axis, VelY is the cutting speed scalar on the Y axis,the current plane is cut to the velocity vector.
Preferably, said calculation in step (2.2) is from fcurThe time t to exp of the movement is specifically:
from f is calculated according to the following formulacurTime to exp t:
wherein,in order to obtain the target position of the cutting point,is the feedback position of the period, T is the current communication period, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,is the distance vector from the target position of the cutting point to the feedback position in the period, VelX is a scalar quantity of the cutting speed on the X axis, VelY is a scalar quantity of the cutting speed on the Y axis,the current plane is cut to the velocity vector.
Preferably, the step (2.3) of calculating the fixed time delay t' between the feedback position and the actual position includes:
calculating the fixed time delay t' between the feedback position and the actual position according to the following formula:
t‘＝t-delay，
wherein t is from fcurThe time to exp, delay is the fixed delay of the actuator feedback position and the actuator actual position.
Preferably, the step (3) specifically includes the following steps:
(3.1) judging whether t' is not greater than 0, if yes, immediately controlling the port; otherwise, continuing the step (3.2);
(3.2) judging whether T 'is smaller than 1 period T, if so, configuring the FPGA to control a laser port through T' time, and instructing dequeuing and finishing the communication period; otherwise, the communication cycle is ended.
The method and the system for realizing the flight cutting control in the laser numerical control system have the advantages of high processing efficiency, good precision and low cost, are more and more widely applied, and the flight cutting function is an important function in the laser numerical control system and is an indispensable link for improving the processing efficiency. The method and the system design a flight cutting method which can be used under a bus system, can obtain the feedback position of the driver in real time, and have wider application range.
Drawings
FIG. 1 is a flow chart of a method for implementing flight cutting control in a laser numerical control system according to the present invention.
Fig. 2 is a schematic diagram of actual cutting and ideal cutting of a motor of a system for realizing flight cutting control in the laser numerical control system.
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
The method for realizing flight cutting control in the laser numerical control system comprises the following steps:
(1) performing data interaction on the driver to acquire data;
(1.1) performing driver data interaction, judging whether a new port control instruction is received or not, and if so, enqueuing the instruction; otherwise, continuing the step (1.2);
(1.2) judging whether the instruction queue is empty, if so, ending the communication period; otherwise, continuing the step (2);
(2) calculating a fixed time delay t' between the feedback position and the actual position according to the target position of the cutting point and the feedback position in the period;
(2.1) calculating a time instant of the predicted movement to the exp position;
(2.2) calculation from fcurTime t to exp;
(2.3) calculating a fixed time delay t' between the feedback position and the actual position;
(3) configuring an FPGA to control a laser port by t 'time according to the calculated t';
(3.1) judging whether t' is not greater than 0, if yes, immediately controlling the port; otherwise, continuing the step (3.2);
(3.2) judging whether T 'is less than 1 period T, if so, configuring the FPGA to control the laser port by T' time,
the command is dequeued and the communication cycle is ended; otherwise, the communication cycle is ended.
As a preferred embodiment of the present invention, the calculating in step (2.1) predicts the time when the motion reaches the ideal cutting point position exp, specifically:
the moment of predicted movement to the exp position is calculated according to the following formula:
wherein,in order to obtain the target position of the cutting point,the feedback position of the period is shown, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, and DisY is the feedback from the target position of the cutting point on the Y axis to the periodThe distance of the position(s) is (are),the distance vector from the target position of the cutting point to the feedback position in the period,for the feedback position of the last communication cycle, VelX is the cutting speed scalar on the X axis, VelY is the cutting speed scalar on the Y axis,the current plane is cut to the velocity vector.
As a preferred embodiment of the present invention, the calculation in said step (2.2) is from fcurThe time t to exp of the movement is specifically:
from f is calculated according to the following formulacurTime to exp t:
wherein,in order to obtain the target position of the cutting point,is the feedback position of the period, T is the current communication period, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,is the distance vector from the target position of the cutting point to the feedback position in the period, VelX is a scalar quantity of the cutting speed on the X axis, VelY is a scalar quantity of the cutting speed on the Y axis,the current plane is cut to the velocity vector.
As a preferred embodiment of the present invention, the step (2.3) of calculating the fixed time delay t' between the feedback position and the actual position specifically includes:
calculating the fixed time delay t' between the feedback position and the actual position according to the following formula:
t‘＝t-delay，
wherein t is from fcurThe time to exp, delay is the fixed delay of the actuator feedback position and the actuator actual position.
The system for realizing flight cutting control in the laser numerical control system based on the method comprises the following steps:
a motor for actually cutting the workpiece;
the control program adjusts port errors according to the actual cutting position of the motor when running, and specifically performs the following steps:
(1) performing data interaction on the driver to acquire data;
(1.1) performing driver data interaction, judging whether a new port control instruction is received or not, and if so, enqueuing the instruction; otherwise, continuing the step (1.2);
(1.2) judging whether the instruction queue is empty, if so, ending the communication period; otherwise, continuing the step (2);
(2) calculating a fixed time delay t' between the feedback position and the actual position according to the target position of the cutting point and the feedback position in the period;
(2.1) calculating a time instant of the predicted movement to the exp position;
(2.2) calculation from fcurTime t to exp;
(2.3) calculating a fixed time delay t' between the feedback position and the actual position;
(3) configuring an FPGA to control a laser port by t 'time according to the calculated t';
(3.1) judging whether t' is not greater than 0, if yes, immediately controlling the port; otherwise, continuing the step (3.2);
(3.2) judging whether T 'is less than 1 period T, if so, configuring the FPGA to control the laser port by T' time,
the command is dequeued and the communication cycle is ended; otherwise, the communication cycle is ended.
As a preferred embodiment of the present invention, the calculating in step (2.1) predicts the time when the motion reaches the ideal cutting point position exp, specifically:
the moment of predicted movement to the exp position is calculated according to the following formula:
wherein,in order to obtain the target position of the cutting point,the feedback position of the period is shown, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,the distance vector from the target position of the cutting point to the feedback position in the period,for the feedback position of the last communication cycle, VelX is the cutting speed scalar on the X axis, VelY is the cutting speed scalar on the Y axis,the current plane is cut to the velocity vector.
As a preferred embodiment of the present invention, the calculation in said step (2.2) is from fcurThe time t to exp of the movement is specifically:
from f is calculated according to the following formulacurTime to exp t:
wherein,in order to obtain the target position of the cutting point,is the feedback position of the period, T is the current communication period, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,is the distance vector from the target position of the cutting point to the feedback position in the period, VelX is a scalar quantity of the cutting speed on the X axis, VelY is a scalar quantity of the cutting speed on the Y axis,the current plane is cut to the velocity vector.
As a preferred embodiment of the present invention, the step (2.3) of calculating the fixed time delay t' between the feedback position and the actual position specifically includes:
calculating the fixed time delay t' between the feedback position and the actual position according to the following formula:
t‘＝t-delay，
wherein t is from fcurThe time to exp, delay is the fixed delay of the actuator feedback position and the actuator actual position.
In a specific embodiment of the invention, the invention provides a lower computer flight cutting algorithm in a laser bus numerical control system, when a motor cuts an arc, due to rigidity errors in acceleration and deceleration processes, an actual cutting position has certain retraction relative to a cutter path when an arc-shaped cutter path is cut, and a model is modeled as shown in fig. 2.
In fig. 2, the upper line represents the ideal transmission position. The lower line represents the feedback position. tar is the target position of the cutting point, and is a known condition. f. oflastThe feedback position for the last communication cycle is a known condition. f. ofcurThe feedback position for this period is a known condition. exp is the ideal cut point location. f. ofexpThe position is fed back for the predicted next cycle.
As shown in fig. 1, it is necessary to predict the moment of movement to the exp position.
Assuming that the current communication cycle is T, the time T for fcur to move to exp is:
due to the communication protocol, the feedback position of the driver and the actual position of the driver have a fixed delay
t‘＝t-delay；
Comparing T' with T:
(1) if T > T ', the FPGA is configured to control the laser port by T' time (if T < ═ 0, the port is immediately controlled)
(2) If T < ═ T', the next communication period recalculates the time of the control laser port
The method and the system for realizing the flight cutting control in the laser numerical control system have the advantages of high processing efficiency, good precision and low cost, are more and more widely applied, and the flight cutting function is an important function in the laser numerical control system and is an indispensable link for improving the processing efficiency. The method and the system design a flight cutting method which can be used under a bus system, can obtain the feedback position of the driver in real time, and have wider application range.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.

Claims (14)

1. A method for realizing flight cutting control in a laser numerical control system is characterized by comprising the following steps:
(1) performing data interaction on the driver to acquire data;
(2) calculating a fixed time delay t' between the feedback position and the actual position according to the target position of the cutting point and the feedback position in the period;
(3) and configuring the FPGA to control the laser port by t 'time according to the calculated t'.
2. The method for realizing the flying cutting control in the laser numerical control system according to claim 1, wherein the step (1) specifically comprises the following steps:
(1.1) performing driver data interaction, judging whether a new port control instruction is received or not, and if so, enqueuing the instruction; otherwise, continuing the step (1.2);
(1.2) judging whether the instruction queue is empty, if so, ending the communication period; otherwise, continuing the step (2).
3. The method for realizing flight cutting control in the laser numerical control system according to claim 1, wherein the step (2) of calculating the fixed time delay t' between the feedback position and the actual position specifically comprises the following steps:
(2.1) calculating a time instant of the predicted movement to the exp position;
(2.2) calculation from fcurTime t to exp;
(2.3) calculating the fixed time delay t' between the feedback position and the actual position.
4. The method for implementing flying cutting control in a laser numerical control system according to claim 3, wherein the calculating in the step (2.1) predicts the moment of moving to the ideal cutting point position exp, specifically:
the moment of predicted movement to the exp position is calculated according to the following formula:
wherein,in order to obtain the target position of the cutting point,the feedback position of the period is shown, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,the distance vector from the target position of the cutting point to the feedback position in the period,for the feedback position of the last communication cycle, VelX is the cutting speed scalar on the X axis, VelY is the cutting speed scalar on the Y axis,the current plane is cut to the velocity vector.
5. The method for implementing flying cutting control in laser numerical control system as claimed in claim 3, wherein the calculation in the step (2.2) is from fcurThe time t to exp of the movement is specifically:
from f is calculated according to the following formulacurTime to exp t:
wherein,in order to obtain the target position of the cutting point,is the feedback position of the period, T is the current communication period, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,is the distance vector from the target position of the cutting point to the feedback position in the period, VelX is a scalar quantity of the cutting speed on the X axis, VelY is a scalar quantity of the cutting speed on the Y axis,the current plane is cut to the velocity vector.
6. The method for realizing flight cutting control in the laser numerical control system according to claim 3, wherein the step (2.3) of calculating the fixed time delay t' between the feedback position and the actual position specifically comprises:
calculating the fixed time delay t' between the feedback position and the actual position according to the following formula:
t‘=t-delay，
wherein t is from fcurThe time to exp, delay is the fixed delay of the actuator feedback position and the actuator actual position.
7. The method for realizing the flight cutting control in the laser numerical control system as claimed in claim 1, wherein the step (3) specifically comprises the following steps:
(3.1) judging whether t' is not greater than 0, if yes, immediately controlling the port; otherwise, continuing the step (3.2);
(3.2) judging whether T 'is smaller than 1 period T, if so, configuring the FPGA to control a laser port through T' time, and instructing dequeuing and finishing the communication period; otherwise, the communication cycle is ended.
8. A laser numerical control system for realizing a flight cutting control function is characterized by comprising:
a motor for actually cutting the workpiece;
the control program adjusts port errors according to the actual cutting position of the motor when running, and specifically performs the following steps:
(1) performing data interaction on the driver to acquire data;
(2) calculating a fixed time delay t' between the feedback position and the actual position according to the target position of the cutting point and the feedback position in the period;
(3) and configuring the FPGA to control the laser port by t 'time according to the calculated t'.
9. The system for realizing flight cutting control in the laser numerical control system according to claim 8, wherein the step (1) specifically comprises the following steps:
(1.1) performing driver data interaction, judging whether a new port control instruction is received or not, and if so, enqueuing the instruction; otherwise, continuing the step (1.2);
(1.2) judging whether the instruction queue is empty, if so, ending the communication period; otherwise, continuing the step (2).
10. The system for realizing flight cutting control in a laser numerical control system according to claim 8, wherein the step (2) of calculating the fixed time delay t' between the feedback position and the actual position specifically comprises the following steps:
(2.1) calculating a time instant of the predicted movement to the exp position;
(2.2) calculation from fcurTime t to exp;
(2.3) calculating the fixed time delay t' between the feedback position and the actual position.
11. The system for implementing flying cutting control in laser numerical control system according to claim 10, wherein the calculating in step (2.1) predicts the moment of moving to the ideal cutting point position exp, specifically:
the moment of predicted movement to the exp position is calculated according to the following formula:
wherein,in order to obtain the target position of the cutting point,the feedback position of the period is shown, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,the distance vector from the target position of the cutting point to the feedback position in the period,for the feedback position of the last communication cycle, VelX is the cutting speed scalar on the X axis, VelY is the cutting speed scalar on the Y axis,the current plane is cut to the velocity vector.
12. The system for implementing flying cutting control in laser numerical control system as claimed in claim 10, wherein the calculation in the step (2.2) is from fcurThe time t to exp of the movement is specifically:
from f is calculated according to the following formulacurTime to exp t:
wherein,in order to obtain the target position of the cutting point,is the feedback position of the period, T is the current communication period, DisX is the distance from the target position of the cutting point on the X axis to the feedback position of the period, DisY is the distance from the target position of the cutting point on the Y axis to the feedback position of the period,is the distance vector from the target position of the cutting point to the feedback position in the period, VelX is a scalar quantity of the cutting speed on the X axis, VelY is a scalar quantity of the cutting speed on the Y axis,the current plane is cut to the velocity vector.
13. The system for implementing flying cutting control in a laser numerical control system according to claim 10, wherein the calculating of the fixed time delay t' between the feedback position and the actual position in the step (2.3) specifically comprises:
calculating the fixed time delay t' between the feedback position and the actual position according to the following formula:
t‘=t-delay，
wherein t is from fcurThe time to exp, delay is the fixed delay of the actuator feedback position and the actuator actual position.
14. The system for realizing flight cutting control in the laser numerical control system according to claim 8, wherein the step (3) specifically comprises the following steps:
(3.1) judging whether t' is not greater than 0, if yes, immediately controlling the port; otherwise, continuing the step (3.2);
(3.2) judging whether T 'is smaller than 1 period T, if so, configuring the FPGA to control a laser port through T' time, and instructing dequeuing and finishing the communication period; otherwise, the communication cycle is ended.
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