CN113894409B - Laser axis control method, laser axis control device, laser equipment and storage medium - Google Patents
Laser axis control method, laser axis control device, laser equipment and storage medium Download PDFInfo
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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
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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
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Abstract
The application relates to a laser axis control method, a laser axis control system, a laser device and a storage medium. The method comprises the following steps: after receiving a processing starting instruction, detecting the current height corresponding to a current feedback signal, wherein the current feedback signal is used for controlling a signal of the laser axis height; acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and a target height; according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, the periodic displacement or the deceleration distance can reach the maximum speed, and the height of the laser axis is controlled to be lifted, fallen or stably controlled.
Description
Technical Field
The present application relates to the field of laser processing technologies, and in particular, to a laser axis control method, a laser axis control device, a laser apparatus, and a storage medium.
Background
The existing laser axis control method mainly completes the whole machining movement process through speed planning (Velocity Planning) control or through proportional-integral-derivative (Proportional Integral Derivative, PID) control. On the one hand, the control is performed by utilizing a speed plan, specifically, the residual distance of the current height from the target height is calculated to reach the maximum speed every time, and the control is performed by approaching the target speed, wherein the defect is that when the feedback signal shakes too much, the shake of a laser shaft is obvious; on the other hand, by proportional integral derivative control, that is, by PID control of the increment of the control amount, which is the difference between the current control amount and the last control amount, the disadvantage is that the control amount detected outside the measuring range is a constant value during the whole machining movement, and overshoot is easily caused by excessive instantaneous speed entering the measuring range.
In view of the foregoing, there is a need for a new laser axis control method that can suppress the laser axis jitter caused by the feedback signal error and prevent the overshoot caused by the excessive displacement.
Disclosure of Invention
In view of the above, it is desirable to provide a laser axis control method, a laser axis control device, a laser apparatus, and a storage medium that can prevent overshoot due to an excessive displacement while suppressing laser axis shake due to a feedback signal error.
In a first aspect, a laser axis control method is provided, the method including:
after receiving a processing starting instruction, detecting the current height corresponding to a current feedback signal, wherein the current feedback signal is used for controlling a signal of the laser axis height;
acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and a target height;
and according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, obtaining that the displacement or the deceleration distance in the period can reach the maximum speed, and carrying out lifting control, falling control or stable control on the height of the laser axis.
In one embodiment, the step of obtaining the maximum speed of the current period displacement or the deceleration distance according to the magnitude relation between the height difference and the preset precision and the relation between the current height and the measuring range is specific to performing lifting control, dropping control or stability control on the height of the laser axis:
if the height difference is smaller than the preset precision, a first displacement is obtained, and lifting control is carried out on the laser shaft;
if the height difference is larger than the preset precision and the current height is larger than or equal to the measuring range, obtaining a deceleration distance which can reach the maximum speed, and controlling the falling of the laser shaft at a planning speed; if the height difference is larger than the preset precision and the current height is smaller than the measuring range, a third displacement is obtained, and the laser shaft is subjected to falling control;
and if the height difference value is equal to the preset precision, obtaining a second displacement, and stably controlling the height of the laser axis.
In one embodiment, if the height difference is smaller than a preset precision, a first displacement is obtained, and the laser axis is lifted specifically:
if the height difference is smaller than the preset precision, calculating a first difference coefficient of the period and a first difference coefficient of the previous period, calculating a first displacement by an incremental PID, controlling the laser shaft to lift up by the first displacement, wherein the first displacement L1= (S/100)/(Vsmax 1/Vmax 1)/(D11+ (S/100)/(Vsmax 1/Vsmax 1)/R x D12, S is sensitivity, vsmax1 is maximum speed of a first residual path, vsmax1 is maximum speed of a first deceleration distance, R is shock suppression coefficient, and the first height difference D11 and the first height difference D12 of the previous period.
In one embodiment, if the height difference is equal to a preset precision, a second displacement is obtained, and the height of the laser axis is controlled stably specifically:
if the height difference is equal to the preset precision, calculating a second difference coefficient of the period and a second difference coefficient of the previous period, calculating a second displacement through an incremental PID, and if the second displacement is greater than or equal to a preset minimum displacement value, controlling the height of the laser axis by the second displacement to perform stable control; if the second displacement is smaller than a preset minimum displacement value, the height control of the laser axis is kept unchanged, wherein the second displacement L2=0.01 (Vsmax 2/Vmax 2) ×D21+0.01 (Vsmax 2/Vmax 2)/R×D22;
wherein S is sensitivity, vmax2 is maximum speed of the second residual path, vmax2 is maximum speed of the second deceleration distance, R is vibration suppression coefficient, the second height difference D21 and the last period is the second height difference D22.
In one embodiment, if the height difference is greater than a preset precision and the current height is greater than or equal to a range, obtaining a deceleration distance up to a maximum speed, and performing drop control on the laser shaft at a planned speed; if the height difference is greater than the preset precision and the current height is smaller than the measuring range, a third displacement is obtained, and the laser shaft is subjected to falling control specifically:
if the height difference is greater than the preset precision, judging whether the current height is greater than or equal to a measuring range;
if the current height is larger than or equal to the measuring range, obtaining a maximum speed which can be reached by the deceleration distance, controlling through speed planning, and approaching the maximum speed which can be reached by the deceleration distance until the constant speed is reached;
if the current height is smaller than the measuring range, calculating a third difference coefficient of the current period and a third difference coefficient of the previous period, calculating a third displacement by an incremental PID, controlling the laser shaft to fall by the third displacement, wherein the third displacement L3=0.01 (Vsmax 3/Vmax 3) ×D31+0.01 (Vsmax 3/Vsmax 3)/R×D32, S is sensitivity, vsmax3 is maximum speed of a third residual path, vsmax3 is maximum speed of a third deceleration distance, R is shock suppression coefficient, the third height difference D31 and the previous period third height difference D32.
In a second aspect, there is provided a laser axis control apparatus, the apparatus comprising:
the height detection unit is used for detecting the current height corresponding to the current feedback signal after receiving the processing starting instruction, and the current feedback signal is used for controlling the signal of the laser axis height;
the difference value acquisition unit is used for acquiring the height difference value of the period in real time, wherein the height difference value is the difference value between the current height and the target height;
the height control unit is used for obtaining the maximum speed of the displacement or the deceleration distance in the period according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, and carrying out lifting control, dropping control or stable control on the height of the laser shaft, wherein the first control subunit is used for obtaining a first displacement and carrying out lifting control on the laser shaft if the height difference is smaller than the preset precision;
the second control subunit is used for obtaining a deceleration distance which can reach a maximum speed if the height difference value is larger than the preset precision and the current height is larger than or equal to a measuring range, and carrying out falling control on the laser shaft at a planning speed; if the height difference is larger than the preset precision and the current height is smaller than the measuring range, a third displacement is obtained, and the laser shaft is subjected to falling control;
and the third control subunit is used for obtaining a second displacement amount and stably controlling the height of the laser axis if the height difference value is equal to the preset precision.
In one embodiment, the first control subunit is specifically configured to calculate the first difference coefficient of the present period and the first difference coefficient of the previous period if the height difference is smaller than a preset precision, calculate the present period displacement by using an incremental PID, and control the laser axis to lift up by using the present period displacement.
In a third aspect, there is provided a laser device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
after receiving a processing starting instruction, detecting the current height corresponding to a current feedback signal, wherein the current feedback signal is used for controlling a signal of the laser axis height;
acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and a target height;
and according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, obtaining that the displacement or the deceleration distance in the period can reach the maximum speed, and carrying out lifting control, falling control or stable control on the height of the laser axis.
In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
after receiving a processing starting instruction, detecting the current height corresponding to a current feedback signal, wherein the current feedback signal is used for controlling a signal of the laser axis height;
acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and a target height;
and according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, obtaining that the displacement or the deceleration distance in the period can reach the maximum speed, and carrying out lifting control, falling control or stable control on the height of the laser axis.
According to the laser axis control method, the laser axis control device, the laser equipment and the storage medium, after receiving a processing starting instruction, the current height corresponding to a current feedback signal is detected, and the current feedback signal is used for controlling a signal of the laser axis height; acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and a target height; according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, the periodic displacement or the deceleration distance can reach the maximum speed, and the height of the laser axis is controlled to be lifted, fallen or stably controlled.
Drawings
FIG. 1 is a flow chart of a laser axis control method in one embodiment;
FIG. 2 is a block diagram of a laser axis control device in one embodiment;
fig. 3 is an internal structural diagram of a laser device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The laser axis control method provided by the application can be applied to the application environment of laser equipment.
In one embodiment, as shown in fig. 1, a laser axis control method is provided, and the method is applied to a laser device for illustration, and includes the following steps:
step S11, after receiving a processing starting instruction, detecting the current height corresponding to a current feedback signal, wherein the current feedback signal is used for controlling a signal of the laser axis height.
In the embodiment of the application, the processing starting instruction is an instruction for starting the laser equipment to start processing. The current feedback signal is used for controlling the signal of the laser axis height in the working process of the laser equipment, and the laser axis height corresponding to the initial current feedback signal can be preset according to the requirement. After receiving the processing starting instruction, detecting the current height of the current period corresponding to the current feedback signal.
Step S12, acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and the target height.
In the embodiment of the application, the height difference is the difference between the current height of the period and the target height. The preset precision is a preset critical value of the system height difference. And obtaining a height difference value according to the detected current height and the target height so as to judge the relation between the height difference value of the period and the preset precision.
And step S13, according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, obtaining that the displacement or the deceleration distance in the period can reach the maximum speed, and carrying out lifting control, falling control or stable control on the height of the laser axis.
In the embodiment of the application, the magnitude relation between the height difference and the preset precision is divided into three cases, and the control on the laser axis under the three cases is specifically as follows:
and in the first case, if the height difference is smaller than the preset precision, a first displacement is obtained, and the laser shaft is lifted and controlled.
Specifically, if the height difference is smaller than the preset precision, calculating a first difference coefficient KP1 of the present period and a first difference coefficient KI1 of the previous period, calculating a first displacement L1 by an incremental PID, and controlling the laser shaft to lift by the first displacement L1, wherein
KP1＝(S/100)*(Vsmax1/Vmax1)；
KI1＝KP1/R；
L1＝KP1*D11+KI1*D12；
Wherein S is sensitivity, vmax1 is maximum speed of the first residual path, vmax1 is maximum speed of the first deceleration distance, R is vibration suppression coefficient, the first height difference D11 and the first height difference D12 of the previous period. Sensitivity is a parameter that accelerates the reaction of the system during the lift-off process to avoid collisions caused by too slow a reaction. The damping coefficient is a coefficient that reduces the impact of the feedback signal on the system. Under the condition, the sensitivity and the vibration suppression coefficient are matched for use, so that the response can be quickened, the laser axis shake caused by the feedback signal can be restrained, and the plate surface can be kept away from more quickly according to the difference coefficient calculated by the system when the plate surface is suddenly processed.
And in the second case, if the height difference is equal to the preset precision, obtaining a second displacement, and stably controlling the height of the laser axis.
Specifically, if the height difference is equal to a preset precision, calculating a second difference coefficient KP2 of the current period and a second difference coefficient KI2 of the previous period, calculating a second displacement L2 through an incremental PID, and if the second displacement L2 is greater than or equal to a preset minimum displacement value, controlling the height of the laser axis by using the second displacement L2 to perform stable control; if the second displacement L2 is smaller than the preset minimum displacement value, the height control of the laser axis is kept unchanged, namely the second displacement is zero, wherein the minimum displacement value is the preset minimum displacement value of the laser axis,
KP2＝0.01*(Vsmax2/Vmax2)；
KI2＝KP2/R；
L2＝KP2*D21+KI2*D22；
wherein S is sensitivity, vmax2 is maximum speed of the second residual path, vmax2 is maximum speed of the second deceleration distance, R is vibration suppression coefficient, the second height difference D21 and the last period is the second height difference D22. Under the condition that the height difference is equal to the preset precision, the response can be quickened through the matching of the sensitivity and the vibration suppression coefficient, the laser axis shake caused by the feedback signal can be restrained, and the smaller the displacement is, the overshoot caused by the overlarge displacement is prevented when the height is closer to the target height.
Thirdly, if the height difference is larger than the preset precision and the current height is larger than or equal to the measuring range, obtaining a deceleration distance which can reach the maximum speed, and carrying out falling control on the laser shaft at the planning speed; and if the height difference is larger than the preset precision and the current height is smaller than the measuring range, obtaining a third displacement and controlling the falling of the laser shaft.
Specifically, if the height difference is greater than a preset precision, judging whether the current height is greater than or equal to a measuring range;
if the current height is larger than or equal to the measuring range, obtaining a maximum speed which can be reached by the deceleration distance, controlling through speed planning, and approaching the maximum speed which can be reached by the deceleration distance until the constant speed is reached;
if the current height is smaller than the measuring range, calculating a third difference coefficient KP3 of the current period and a third difference coefficient KI3 of the previous period, calculating a third displacement L3 through an incremental PID, controlling the laser shaft to fall by the third displacement L3,
KP3＝0.01*(Vsmax3/Vmax3)；
KI3＝KP3/R；
L3＝KP3*D31+KI3*D32；
wherein S is sensitivity, vmax3 is maximum speed of the third residual path, vmax3 is maximum speed of the third deceleration distance, R is vibration suppression coefficient, the third height difference value D31 and the third height difference value D32 of the previous period. Under the condition, the sensitivity and the vibration suppression coefficient are matched for use, so that the response can be quickened, and the laser axis vibration caused by a feedback signal can be suppressed; the maximum speed can be achieved through the residual path and the maximum speed can be achieved through the deceleration distance, and the proportion and the difference coefficient are automatically adjusted every cycle, so that when the processed plate surface is suddenly far away, the difference coefficient calculated according to the system can approach the target height more quickly.
In the laser axis control method, after receiving a processing starting instruction, detecting the current height corresponding to a current feedback signal, wherein the current feedback signal is used for controlling a signal of the laser axis height; acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and a target height; according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, the periodic displacement or the deceleration distance can reach the maximum speed, and the height of the laser axis is controlled to be lifted, fallen or stably controlled.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 2, there is provided a laser axis control apparatus including: a height detection unit 21, a difference value acquisition unit 22, and a height control unit 23, wherein:
a height detecting unit 21, configured to detect a current height corresponding to a current feedback signal after receiving a processing start instruction, where the current feedback signal is a signal for controlling a laser axis height;
a difference value obtaining unit 22, configured to obtain, in real time, a height difference value of the present period, where the height difference value is a difference value between the present height and a target height;
and the height control unit 23 is configured to obtain, according to the relationship between the height difference and the preset precision and the relationship between the current height and the measurement range, that the displacement or the deceleration distance in the present period can reach the maximum speed, and perform lifting control, dropping control or stability control on the height of the laser axis.
In one embodiment, the height control unit 23 includes:
the first control subunit is used for obtaining the displacement of the period if the height difference value is smaller than the preset precision and performing lifting control on the laser shaft;
the second control subunit is used for obtaining a deceleration distance which can reach a maximum speed if the height difference value is larger than the preset precision and the current height is larger than or equal to a measuring range, and carrying out falling control on the laser shaft at a planning speed; if the height difference is larger than the preset precision and the current height is smaller than the measuring range, obtaining the displacement of the period, and controlling the falling of the laser shaft;
and the third control subunit is used for obtaining the displacement of the period if the height difference value is equal to the preset precision and stably controlling the height of the laser axis.
In one embodiment, the first control subunit is specifically configured to calculate the first difference coefficient KP1 of the present period and the first difference coefficient KI1 of the previous period if the height difference is smaller than a preset precision, calculate a first displacement L1 by using an incremental PID, and control the laser axis to lift up by using the first displacement L1, where
KP1＝(S/100)*(Vsmax1/Vmax1)；
KI1＝KP1/R；
L1＝KP1*D11+KI1*D12；
Wherein S is sensitivity, vmax1 is maximum speed of the first residual path, vmax1 is maximum speed of the first deceleration distance, R is vibration suppression coefficient, the first height difference D11 and the first height difference D12 of the previous period.
In one embodiment, the second control subunit is specifically configured to determine whether the current height is greater than or equal to a measurement range if the height difference is greater than a preset precision;
if the current height is larger than or equal to the measuring range, obtaining a maximum speed which can be reached by the deceleration distance, controlling through speed planning, and approaching the maximum speed which can be reached by the deceleration distance until the constant speed is reached;
if the current height is smaller than the measuring range, calculating a third difference coefficient KP3 of the current period and a third difference coefficient KI3 of the previous period, calculating a third displacement L3 through an incremental PID, controlling the laser shaft to fall by the third displacement L3,
KP3＝0.01*(Vsmax3/Vmax3)；
KI3＝KP3/R；
L3＝KP3*D31+KI3*D32；
wherein S is sensitivity, vmax3 is maximum speed of the third residual path, vmax3 is maximum speed of the third deceleration distance, R is vibration suppression coefficient, the third height difference value D31 and the third height difference value D32 of the previous period.
In one embodiment, the third control subunit is specifically configured to calculate the second difference coefficient KP2 of the present period and the second difference coefficient KI2 of the previous period if the height difference is equal to a preset precision, calculate the second displacement L2 by using an incremental PID, and control the height of the laser axis by using the second displacement L2 if the second displacement L2 is greater than or equal to a preset minimum displacement value; if the second displacement L2 is smaller than the preset minimum displacement value, the height control of the laser axis is kept unchanged,
KP2＝0.01*(Vsmax2/Vmax2)；
KI2＝KP2/R；
L2＝KP2*D21+KI2*D22；
wherein S is sensitivity, vmax2 is maximum speed of the second residual path, vmax2 is maximum speed of the second deceleration distance, R is vibration suppression coefficient, the second height difference D21 and the last period is the second height difference D22.
For specific limitations of the laser axis control device, reference may be made to the above limitations of the laser axis control method, and no further description is given here. The respective modules in the laser axis control device described above may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or independent of a processor in the laser device, or may be stored in software in a memory in the laser device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a laser device is provided, the internal structure of which may be as shown in FIG. 3. The laser device comprises a processor and a memory which are connected through a system bus. Wherein the processor of the laser device is configured to provide computing and control capabilities. The memory of the laser device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The computer program is executed by a processor to implement a laser axis control method.
It will be appreciated by those skilled in the art that the structure shown in fig. 3 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the laser apparatus to which the present inventive arrangements are applied, and that a particular laser apparatus may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a laser device is provided comprising a memory storing a computer program and a processor that when executing the computer program performs the steps of:
after receiving a processing starting instruction, detecting the current height corresponding to a current feedback signal, wherein the current feedback signal is used for controlling a signal of the laser axis height;
acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and a target height;
and according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, obtaining that the displacement or the deceleration distance in the period can reach the maximum speed, and carrying out lifting control, falling control or stable control on the height of the laser axis.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
after receiving a processing starting instruction, detecting the current height corresponding to a current feedback signal, wherein the current feedback signal is used for controlling a signal of the laser axis height;
acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and a target height;
and according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, obtaining that the displacement or the deceleration distance in the period can reach the maximum speed, and carrying out lifting control, falling control or stable control on the height of the laser axis.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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 a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description. The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (4)
1. A laser axis control method, the method comprising:
after receiving a processing starting instruction, detecting the current height corresponding to a current feedback signal, wherein the current feedback signal is used for controlling a signal of the laser axis height;
acquiring a height difference value of the period in real time, wherein the height difference value is a difference value between the current height and a target height;
according to the relation between the height difference and the preset precision and the relation between the current height and the measuring range, the maximum speed of the displacement or the deceleration distance in the period can be obtained, the height of the laser axis is controlled to be lifted, controlled to be fallen or controlled to be stable, and specifically, if the height difference is smaller than the preset precision, a first displacement is obtained, and the lifting control is carried out on the laser axis;
if the height difference is larger than the preset precision and the current height is larger than or equal to the measuring range, obtaining a deceleration distance which can reach the maximum speed, and controlling the falling of the laser shaft at a planning speed; if the height difference is larger than the preset precision and the current height is smaller than the measuring range, a third displacement is obtained, and the laser shaft is subjected to falling control;
if the height difference value is equal to the preset precision, a second displacement is obtained, and the height of the laser axis is stably controlled;
if the height difference is smaller than the preset precision, a first displacement is obtained, and the laser shaft is lifted specifically:
if the height difference is smaller than the preset precision, calculating a first difference coefficient of the period and a first difference coefficient of the previous period, calculating a first displacement by an incremental PID, controlling the laser shaft to lift up by the first displacement, wherein the first displacement L1= (S/100)/(Vsmax 1/Vmax 1)/(D11+ (S/100)/(Vsmax 1/Vsmax 1)/R x D12, S is sensitivity, vsmax1 is maximum speed of a first residual path, vsmax1 is maximum speed of a first deceleration distance, R is shock suppression coefficient, and the first height difference D11 and the first height difference D12 of the previous period;
and if the height difference value is equal to the preset precision, obtaining a second displacement, and performing stable control on the height of the laser axis specifically:
if the height difference is equal to the preset precision, calculating a second difference coefficient of the period and a second difference coefficient of the previous period, calculating a second displacement through an incremental PID, and if the second displacement is greater than or equal to a preset minimum displacement value, controlling the height of the laser axis by the second displacement to perform stable control; if the second displacement is smaller than a preset minimum displacement value, the height control of the laser axis is kept unchanged, wherein the second displacement L2=0.01 (Vsmax 2/Vmax 2) ×D21+0.01 (Vsmax 2/Vmax 2)/R×D22;
wherein S is sensitivity, vmax2 is maximum speed of a second residual path, vmax2 is maximum speed of a second deceleration distance, R is vibration suppression coefficient, a second height difference D21 and a previous period second height difference D22;
if the height difference is larger than the preset precision and the current height is larger than or equal to the measuring range, obtaining a deceleration distance which can reach the maximum speed, and controlling the falling of the laser shaft at a planned speed; if the height difference is greater than the preset precision and the current height is smaller than the measuring range, a third displacement is obtained, and the laser shaft is subjected to falling control specifically:
if the height difference is greater than the preset precision, judging whether the current height is greater than or equal to a measuring range;
if the current height is larger than or equal to the measuring range, obtaining a maximum speed which can be reached by the deceleration distance, controlling through speed planning, and approaching the maximum speed which can be reached by the deceleration distance until the constant speed is reached;
if the current height is smaller than the measuring range, calculating a third difference coefficient of the current period and a third difference coefficient of the previous period, calculating a third displacement by an incremental PID, controlling the laser shaft to fall by the third displacement, wherein the third displacement L3=0.01 (Vsmax 3/Vmax 3) ×D31+0.01 (Vsmax 3/Vsmax 3)/R×D32, S is sensitivity, vsmax3 is maximum speed of a third residual path, vsmax3 is maximum speed of a third deceleration distance, R is shock suppression coefficient, a third height difference D31 and a third height difference D32 of the previous period.
2. A laser axis control device, the device comprising:
the height detection unit is used for detecting the current height corresponding to the current feedback signal after receiving the processing starting instruction, and the current feedback signal is used for controlling the signal of the laser axis height;
the difference value acquisition unit is used for acquiring the height difference value of the period in real time, wherein the height difference value is the difference value between the current height and the target height;
the height control unit is configured to obtain, according to the relationship between the height difference and the preset precision and the relationship between the current height and the measurement range, that the displacement or the deceleration distance in the present period may reach a maximum speed, and perform lifting control, dropping control, or stability control on the height of the laser axis, where the height control unit includes:
the first control subunit is used for obtaining a first displacement amount and performing lifting control on the laser shaft if the height difference value is smaller than the preset precision;
the second control subunit is used for obtaining a deceleration distance which can reach a maximum speed if the height difference value is larger than the preset precision and the current height is larger than or equal to a measuring range, and carrying out falling control on the laser shaft at a planning speed; if the height difference is larger than the preset precision and the current height is smaller than the measuring range, a third displacement is obtained, and the laser shaft is subjected to falling control;
the third control subunit is used for obtaining a second displacement amount and stably controlling the height of the laser axis if the height difference value is equal to the preset precision;
the first control subunit is specifically configured to calculate a first difference coefficient of the present period and a first difference coefficient of the previous period if the height difference is smaller than a preset precision, calculate a first displacement by using an incremental PID, and control the laser axis to lift by using the first displacement, where the first displacement l1= (S/100) ×vsma1/Vmax 1) ×d11+ (S/100) ×vsma1/Vmax 1)/r×d12, where S is sensitivity, vsmax1 is a maximum speed of the first remaining path, vmax1 is a maximum speed of the first deceleration distance, R is a shock suppression coefficient, the first height difference D11, and the first height difference D12 of the previous period;
the third control subunit is specifically configured to calculate a second difference coefficient of the present period and a second difference coefficient of the previous period if the height difference is equal to a preset precision, calculate a second displacement through an incremental PID, and perform stable control on the height of the laser axis by using the second displacement control if the second displacement is greater than or equal to a preset minimum displacement value; if the second displacement is smaller than a preset minimum displacement value, the height control of the laser axis is kept unchanged, wherein the second displacement L2=0.01 (Vsmax 2/Vmax 2) ×D21+0.01 (Vsmax 2/Vmax 2)/R×D22;
wherein S is sensitivity, vmax2 is maximum speed of a second residual path, vmax2 is maximum speed of a second deceleration distance, R is vibration suppression coefficient, a second height difference D21 and a previous period second height difference D22;
the second control subunit is specifically configured to determine whether the current height is greater than or equal to a measurement range, if the height difference is greater than a preset precision;
if the current height is larger than or equal to the measuring range, obtaining a maximum speed which can be reached by the deceleration distance, controlling through speed planning, and approaching the maximum speed which can be reached by the deceleration distance until the constant speed is reached;
if the current height is smaller than the measuring range, calculating a third difference coefficient of the current period and a third difference coefficient of the previous period, calculating a third displacement by an incremental PID, controlling the laser shaft to fall by the third displacement, wherein the third displacement L3=0.01 (Vsmax 3/Vmax 3) ×D31+0.01 (Vsmax 3/Vsmax 3)/R×D32, S is sensitivity, vsmax3 is maximum speed of a third residual path, vsmax3 is maximum speed of a third deceleration distance, R is shock suppression coefficient, a third height difference D31 and a third height difference D32 of the previous period.
3. A laser device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of claim 1 when executing the computer program.
4. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of claim 1.
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