CN112025117A - Method and system for realizing follow-up control of laser cutting head based on linear state error combination - Google Patents
Method and system for realizing follow-up control of laser cutting head based on linear state error combination Download PDFInfo
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- CN112025117A CN112025117A CN202011059573.3A CN202011059573A CN112025117A CN 112025117 A CN112025117 A CN 112025117A CN 202011059573 A CN202011059573 A CN 202011059573A CN 112025117 A CN112025117 A CN 112025117A
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- control
- ex33a
- cutting head
- control circuit
- laser cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The invention relates to a method for realizing the follow-up control of a laser cutting head based on linear state error combination, which comprises the steps of performing man-machine interaction through an NCstudio platform, completing the setting of relevant parameters and executing start-stop actions; operating a linear deviation correlation code by an EX33A control circuit; corresponding control instructions are sent to an EX33A control circuit through the motion control card; the EX33A control circuit linearly combines the position and speed deviations estimated by the composite tracking and state observer according to the distance plate information received by the capacitance amplifier; and amplifying the control command through a driver. The invention also relates to a system for realizing the follow-up control of the laser cutting head based on the linear state error combination. By adopting the method and the system for realizing the follow-up control of the laser cutting head based on the linear state error combination, the linear combination of the state deviation is applied to the laser head follow-up control system, and on the premise of ensuring the control effect, the complexity of the control algorithm operation can be reduced and the operation efficiency can be improved.
Description
Technical Field
The invention relates to the field of laser cutting follow-up control, in particular to the field of control law design, and specifically relates to a method and a system for realizing the follow-up control of a laser cutting head based on linear state error combination.
Background
The active disturbance rejection control algorithm mainly comprises a tracking differentiator, an extended state observer and a nonlinear combination. In the active disturbance rejection control algorithm, the nonlinear feedback specifically refers to that the estimated output of the extended state observer and the expected output generated by the differential tracker are subjected to nonlinear combination according to the actual condition of the system. The existing algorithm adopts a nonlinear control law, so that the debugging of control parameters is complicated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a system for realizing the follow-up control of a laser cutting head based on linear state error combination, which have the advantages of simple and convenient debugging, high operation efficiency and wider application range.
In order to achieve the above purpose, the method and system for realizing the servo control of the laser cutting head based on the linear state error combination of the invention are as follows:
the method for realizing the follow-up control of the laser cutting head based on the linear state error combination is mainly characterized by comprising the following steps of:
(1) performing man-machine interaction through an NCstudio platform to complete related parameter setting and execute start-stop actions;
(2) the linear deviation correlation code is run by the EX33A control circuit;
(3) corresponding control instructions are sent to an EX33A control circuit through the motion control card;
(4) the EX33A control circuit linearly combines the position and speed deviations estimated by the composite tracking and state observer according to the distance plate information received by the capacitance amplifier;
(5) the EX33A control circuit sends control information to the drive;
(6) the driver drives the motor to rotate to complete corresponding movement.
Preferably, the information received by the capacitive amplifier in step (4) includes a capacitive frequency.
The system for realizing the servo control of the laser cutting head based on the linear state error combination is mainly characterized by comprising an NCstudio platform, a motion control card, an EX33A control circuit, a driver, a motor and a cutting head, wherein the motion control card is connected with the NCstudio platform, the EX33A control circuit is connected with the motion control card, the EX33A control circuit is connected with the driver, and the motor is controlled by the driver and controls the movement of the cutting head.
Preferably, the system further comprises a capacitive displacement sensor, and the displacement state is acquired through the EX33A control circuit.
Preferably, the system further comprises an encoder connected to the EX33A control circuit.
By adopting the method and the system for realizing the follow-up control of the laser cutting head based on the linear state error combination, the linear combination of the state deviation is applied to the laser follow-up control system, and the complexity of the control algorithm operation can be reduced and the operation efficiency can be improved on the premise of ensuring the control effect. On the other hand, a linear combination of state biases helps to reduce the complexity of parameter debugging.
Drawings
FIG. 1 is a schematic structural diagram of a system for implementing the servo control of a laser cutting head based on linear state error combination according to the present invention.
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 invention discloses a method for realizing the follow-up control of a laser cutting head based on linear state error combination, which comprises the following steps:
(1) performing man-machine interaction through an NCstudio platform to complete related parameter setting and execute start-stop actions;
(2) the linear deviation correlation code is run by the EX33A control circuit;
(3) corresponding control instructions are sent to an EX33A control circuit through the motion control card;
(4) the EX33A control circuit linearly combines the position and speed deviations estimated by the composite tracking and state observer according to the distance plate information received by the capacitance amplifier;
(5) the EX33A control circuit sends control information to the drive;
(6) the driver drives the motor to rotate to complete corresponding movement.
As a preferred embodiment of the present invention, the information received by the capacitive amplifier in step (4) includes a capacitive frequency.
Referring to fig. 1, in the present invention, the system for implementing the method to implement the servo control of the laser cutting head based on linear state error combination includes an NCStudio platform, a motion control card, an EX33A control circuit, a driver, a motor, and a cutting head, wherein the motion control card is connected to the NCStudio platform, the EX33A control circuit is connected to the motion control card, and the EX33A control circuit is connected to the driver, and controls the motor and the cutting head to move through the driver.
In a preferred embodiment of the present invention, the system further comprises a capacitive displacement sensor connected to the EX33A control circuit.
As a preferred embodiment of the present invention, the system further comprises an encoder, and the EX33A control circuit is used for acquiring the displacement state.
In the specific implementation mode of the invention, an improved laser follow-up control method is provided by adopting a control law design of linear combination of state deviation. On the basis of ensuring the control effect, the parameter debugging is simplified, and the development efficiency is improved.
The internal state and disturbance of the system can be estimated in real time through a Linear Extended State Observer (LESO), and the disturbance rejection capability of the system is improved through active compensation of the disturbance in the control law design. From the principle of the extended state observer, the total disturbance state variable of the system is
Virtual controller control quantity u0Control system equivalent gain b0The actual output quantity of the controller is u, and the following relation is satisfied:
as can be seen from the above equation, the basic structure of the control law formed by linearly combining the state deviations is similar to that of the proportional-derivative control state feedback control. Wherein (v)1(t),...,vn(t)) is the tracking and differential signal of the original signal obtained after the input reference signal has been processed by the complex tracking differentiator. [ k ] A1,k2...kn]Is the controller gain. Suppose the equivalent gain b of the controlled object0B, in practice, will be0Replacing b, the following equation, x, can be obtainedn(t)＝u0(t) of (d). It can be seen that the system after the change is of the integral cascade type. In actual use, b is usually0The unknown quantity is used for improving the control effect of the controller, and parameter adjustment can be carried out through model identification or through establishing a rough model of a controlled object in a trial and error mode.
The embodiment of the invention relates to a software platform NCStutio, and the related hardware comprises: motion control card, servo motor, capacitance amplifier, EX33A control circuit, transmission, motor, driver, etc.
The specific real-time process is as follows:
and performing man-machine interaction through the NCstudio of the software platform to complete the setting of relevant parameters and the execution of start-stop actions. The linear offset correlation code is operated by the EX33A control circuit. After the NCStaudio software completes the setting of the relevant following parameters and actions, the corresponding control execution is sent to the end EX33A through the motion control card. EX33A is used as part of the control output by linearly combining the position and velocity deviations estimated by the hybrid tracking and state observer based on the capacitance frequency received by the capacitance amplifier, motor encoder feedback, target following height, etc. EX33A sends control information to the driver, and the driver is responsible for driving the motor to rotate, and complete corresponding movement.
By adopting the method and the system for realizing the follow-up control of the laser cutting head based on the linear state error combination, the linear combination of the state deviation is applied to the laser follow-up control system, and the complexity of the control algorithm operation can be reduced and the operation efficiency can be improved on the premise of ensuring the control effect. On the other hand, a linear combination of state biases helps to reduce the complexity of parameter debugging.
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 (5)
1. A method for realizing follow-up control of a laser cutting head based on linear state error combination is characterized by comprising the following steps:
(1) performing man-machine interaction through an NCstudio platform to complete related parameter setting and execute start-stop actions;
(2) the linear deviation correlation code is run by the EX33A control circuit;
(3) corresponding control instructions are sent to an EX33A control circuit through the motion control card;
(4) the EX33A control circuit linearly combines the position and speed deviations estimated by the composite tracking and state observer according to the distance plate information received by the capacitance amplifier;
(5) the EX33A control circuit sends control information to the drive;
(6) the driver drives the motor to rotate to complete corresponding movement.
2. The method for implementing laser cutting head follow-up control based on linear state error combination as claimed in claim 1, wherein the information received by the capacitive amplifier in the step (4) comprises a capacitive frequency.
3. A system for implementing a laser cutting head follow-up control based on linear state error combination for implementing the method of claim 1, wherein the system comprises an NCStudio platform, a motion control card, an EX33A control circuit, a driver, a motor and a cutting head, the motion control card is connected with the NCStudio platform, the EX33A control circuit is connected with the motion control card, the EX33A control circuit is connected with the driver, the motor is controlled by the driver, and the cutting head is controlled to move.
4. The system for performing servo control of a laser cutting head based on linear state error combination as claimed in claim 3, wherein said system further comprises a capacitive displacement sensor for acquiring displacement state by said EX33A control circuit.
5. The system for performing servo-control of a laser cutting head based on linear state error combination as claimed in claim 3, wherein said system further comprises an encoder connected to said EX33A control circuit.
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| US20030199997A1 (en) * | 2002-04-18 | 2003-10-23 | Zhiqiang Gao | Scaling and parameterizing a controller |
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| CN107991867A (en) * | 2017-11-28 | 2018-05-04 | 浙江工业大学 | A kind of iterative learning profile errors control method of the networking multi-shaft motion control system based on automatic disturbance rejection controller |
| CN110707981A (en) * | 2019-10-10 | 2020-01-17 | 安徽工程大学 | Permanent magnet synchronous motor speed controller based on novel extended state observer |
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2020
- 2020-09-30 CN CN202011059573.3A patent/CN112025117A/en active Pending
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| US20030199997A1 (en) * | 2002-04-18 | 2003-10-23 | Zhiqiang Gao | Scaling and parameterizing a controller |
| CN104570730A (en) * | 2014-11-26 | 2015-04-29 | 中国科学院光电技术研究所 | Improved auto-disturbance rejection controlling method |
| CN105305913A (en) * | 2015-10-30 | 2016-02-03 | 西安交通大学苏州研究院 | Novel disturbance-rejection following controller for ball screw feeding system |
| CN107425769A (en) * | 2017-08-10 | 2017-12-01 | 广东工业大学 | The Auto-disturbance-rejection Control and system of a kind of Permanent-magnet Synchronous-motor Speed Servo System |
| CN107991867A (en) * | 2017-11-28 | 2018-05-04 | 浙江工业大学 | A kind of iterative learning profile errors control method of the networking multi-shaft motion control system based on automatic disturbance rejection controller |
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