CN115421442A - Position compensation method and device for laser processing and storage medium - Google Patents

Position compensation method and device for laser processing and storage medium Download PDF

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Publication number
CN115421442A
CN115421442A CN202211152666.XA CN202211152666A CN115421442A CN 115421442 A CN115421442 A CN 115421442A CN 202211152666 A CN202211152666 A CN 202211152666A CN 115421442 A CN115421442 A CN 115421442A
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time
uniform
actuator
stage
planning
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刘洋
常勇
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Guangdong Hongshi Laser Technology Co Ltd
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Guangdong Hongshi Laser Technology Co 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
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus

Abstract

The invention relates to a position compensation method for laser processing, which comprises the following steps: setting a pre-trigger adjustment threshold L; judging whether the distance between the current position and the target position is within an adjustment threshold value L; step three: calculating a planning speed curve and a segmentation time from the current position to the target position of the current path segment; calculating the planning time T1 of the actual output position, wherein the planning time is earlier than the actual output position time T, and the planning time for planning and adjusting the position is T' = T1-T; obtaining a corrected adjusting position according to the planning speed curve and the adjusting position planning time T'; and after the actuator reaches the adjusting position, the actuator outputs an in-place signal to the actuator, and the actuator emits laser after obtaining the signal. Systems and storage media for implementing the method are also included. When the adjusting position of the actuator is corrected, dynamic compensation can be performed according to the speed curve and time segments, and the finally obtained adjusting position can enable the actual laser output position of the actuator to coincide with the target position or has small deviation.

Description

Position compensation method and device for laser processing and storage medium
Technical Field
The present invention relates to the field of laser processing, and more particularly, to a position compensation method and system for laser processing, and a storage medium.
Background
In order to realize flying cutting or marking in the laser cutting or marking process, the time for switching the light is strictly controlled, namely, the light is switched on and off at the corresponding mechanical position. To ensure that the laser light energy is output to the correct position, the delay response of the system and the laser needs to be considered. In flight cutting, the speed operation is fast, accurate light-on time control is needed, for example, the operation speed is 400mm/s when the position is triggered, the light-on response time is delayed by 2.5ms, and the deviation between the actual position and the target position is about 1 mm.
At present, the compensation position deviation can adopt the setting of fixed switching light time or the introduction of a position comparison module, and whether the switching light is in a certain range is judged by collecting position signals fed back by a machine tool motor, so as to control the switching light. And the actual trigger positions of the fixed switch light time are different under different running speeds, so that the processing consistency and precision are difficult to ensure. The position comparison module needs to calculate the correction position in advance, but even if the correction position is calculated, the compensation still has deviation because of speed variation in the operation process.
Disclosure of Invention
In order to overcome the problem of deviation between the target position and the actual position of the laser in the prior art, the invention provides a position compensation method for laser processing, which can dynamically calculate the compensated correction position and ensure that the deviation between the target position and the actual position is smaller or even has no deviation.
In order to solve the technical problems, the invention adopts the technical scheme that: a position compensation method for laser processing, comprising the steps of:
the method comprises the following steps: setting a certain pre-trigger adjustment threshold L according to the current motion path segment and the target position to be reached by the actuator;
step two: judging whether the distance between the current position of the actuator and the target position of the current movement path section is within an adjustment threshold value L or not, and if so, executing the next step of position correction;
step three: correcting the starting position of the actuator;
s3.1, calculating a planning speed curve and a segmentation time from the current position to the target position of the current path segment;
s3.2, calculating the planning time T1 of the actual output position, wherein the planning time T is earlier than the actual output position time T, and the planning time of the planning adjustment position is T' = T1-T;
s3.3: obtaining a corrected adjusting position Pr (Xr, yr) according to the planning speed curve and the adjusting position planning time T';
step four: and after the actuator reaches the adjusting position, the actuator outputs an in-place signal to the actuator, and the actuator emits laser after obtaining the signal.
In the above technical solution, when calculating and acquiring the corrected adjustment position, the speed change of the current path segment where the actuator is located is considered, and after the speed change is considered, the adjustment position is corrected to an adjustment position point corresponding to the speed change, so that the actuator is started at the adjustment position, and the actuator emits laser at the target position after a certain delay, so that the laser can be more accurately output to the target position, that is, the final actual output position of the laser and the target position can coincide or have a small deviation.
The calculation of the adjustment position needs to judge whether the distance between the current position of the actuator and the target position of the current movement path section is within the adjustment threshold value L, so that the excessive calculation error caused by speed interruption and change in the movement process after the calculation is carried out in advance is avoided, and the calculation precision and the real-time performance are ensured.
Preferably, in S3.1, a T-shaped planning speed curve and a segment time T from the current position to the target position of the current movement path segment are calculated according to the movement state (V, a, F, ve, L, le) of the current position 1 ,t 2 ,t 3 ](ii) a Wherein, V is the current speed, A is the acceleration, F is the target speed, ve is the segment end speed of the motion path segment, L is the distance between the current position and the target position, and Le is the remaining distance from the end point of the current motion path segment; t is t 1 Is the acceleration period time, t 2 Is the sum of the time of the acceleration section and the time of the uniform speed section, t 3 Is the total time the current segment is running.
Preferably, there are six T-shaped programming speed curves, which are as follows:
(1) Only the stage of uniform deceleration, with a segment time of [0, t 3 ]Wherein t is 1 ＝0,t 2 ＝0；
(2) With only a uniform acceleration phase, with a segment time of [ t ] 1 ,t 1 ,t 1 ]Wherein t is 2 ＝t 1 ,t 3 ＝t 1 ；
(3) Without a ramp-up phase (involving only constant velocity phase processing), the segment time is [0,t ] 2 ,t 3 ]Wherein t is 1 ＝0；
(4) Without a uniform deceleration phase, for a segment time t 1 ,t 2 ,t 2 ]Wherein t is 3 ＝t 2 ；
(5) Without uniform stage, the segment time is t 1 ,t 1 ,t 3 ]Wherein t is 2 ＝t 1 (ii) a The maximum speed Vmax that can be reached at this stage,
Figure BDA0003857574310000031
(6) Has a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage, and the segment time is t 1 ,t 2 ,t 2 ]；
Preferably, the planning time T1 of the actual output position is calculated for six T-shaped planning speed curves, which is specifically as follows:
(1) Only the uniform deceleration stage:
Figure BDA0003857574310000032
Figure BDA0003857574310000033
wherein Vr is a theoretical velocity of the lasing component at the target position;
(2) Only the uniform acceleration stage:
Figure BDA0003857574310000034
Figure BDA0003857574310000035
(3) There is no leveling phase:
Figure BDA0003857574310000036
(4) Without the uniform deceleration stage:
Figure BDA0003857574310000037
(5) There is no uniform velocity stage:
Figure BDA0003857574310000038
(6) The method comprises a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:
Figure BDA0003857574310000039
preferably, in S3.3, the adjustment distance L' between the corrected adjustment position and the current position is calculated according to six T-shaped planning velocity curves, which is as follows:
(1) Only a uniform deceleration stage:
Figure BDA00038575743100000310
(2) Only the uniform acceleration stage:
Figure BDA0003857574310000041
(3) No uniform acceleration stage (including only uniform velocity stage treatment):
Figure BDA0003857574310000042
(4) Without the uniform deceleration stage:
Figure BDA0003857574310000043
(5) The uniform speed stage is not provided:
Figure BDA0003857574310000044
(6) The method comprises a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:
Figure BDA0003857574310000045
according to the adjustment distance L' and the type of the current movement path section, the adjustment position is as follows:
Pr＝f(P，L′)
where P is the current position.
Preferably, in the fourth step, the positions fed back by the X-axis and Y-axis encoders of the actuator are acquired and compared with the adjustment position Pr, after the two positions are paired, the adjustment position is captured and an in-place signal is output to the actuator, and the actuator emits laser after acquiring the signal.
Preferably, in the fourth step, the calculated adjustment positions Pr (Xr, yr) are input into the buffer data queue and arranged in time, and when the position fed back by the encoder is compared with the adjustment positions, the comparison and the capture of the corresponding adjustment positions are performed in sequence in time order.
Preferably, the adjustment threshold L is greater than the maximum speed times the delay time T.
A laser processing system comprising an actuator, a memory, and a processor; the memory is used for storing a computer program; the processor is used for implementing the steps of the position synchronization output time compensation method for laser processing when executing the computer program; the processor comprises a position correction compensation module and a position comparison and capture module; the position correction compensation module is used for calculating an adjusting position, and the position comparison and capture module is used for confirming that the actuator reaches the adjusting position and sending a signal to the actuator.
A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, realizes the steps of the position-synchronized output time compensation method for laser processing as described above.
Compared with the prior art, the invention has the beneficial effects that: the speed curve and the time segment of the actuator are introduced into the actuator adjusting position obtained by the method, dynamic compensation can be carried out according to the speed curve and the time segment when the adjusting position of the actuator is corrected, the finally obtained adjusting position can enable the actual laser output position of the actuator to be overlapped with or have small deviation with the target position, and the consistency and the precision of laser processing are guaranteed.
Drawings
Fig. 1 is a flowchart of a position compensation method for laser processing according to the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplicity of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The technical scheme of the invention is further described in detail by the specific embodiments and the accompanying drawings:
example 1
Fig. 1 shows an embodiment of a position compensation method for laser processing, comprising the following steps:
the method comprises the following steps: setting a certain advanced trigger adjustment threshold value L according to the current movement path segment and the target position to be reached by the actuator; the adjustment threshold L is greater than the maximum speed times the delay time T
Step two: judging whether the distance between the current position of the actuator and the target position of the current movement path section is within an adjustment threshold value L or not, and if so, executing the next step of position correction;
step three: correcting the starting position of the actuator;
s3.1, calculating a planning speed curve and a segmentation time from the current position to the target position of the current path segment;
s3.2, calculating the planning time T1 of the actual output position, wherein the planning time T is earlier than the actual output position time T, and the planning time T' = T1-T of the planning adjustment position; the time T is the delay time of the actuator.
S3.3: obtaining a corrected adjusting position Pr (Xr, yr) according to the planning speed curve and the adjusting position planning time T';
step four: the method comprises the steps of obtaining positions fed back by X-axis and Y-axis encoders of an actuator, comparing the positions with an adjusting position Pr, capturing the adjusting position and outputting an in-place signal to the actuator after the two positions are paired, and emitting laser after the actuator obtains the signal.
The working principle of the embodiment is as follows: when the corrected adjusting position is calculated and obtained, the speed change of the current path section where the actuator is located is considered, and after the speed change is considered, the adjusting position is corrected to an adjusting position point corresponding to the speed change, so that the actuator is started at the adjusting position, and after a certain delay, the actuator emits laser at a target position instead, and the laser can be more accurately output to the target position.
The calculation of the adjustment position needs to judge whether the distance between the current position of the actuator and the target position of the current movement path section is within the adjustment threshold value L, so that the excessive calculation error caused by speed interruption and change in the movement process after the calculation is carried out in advance is avoided, and the calculation precision and the real-time performance are ensured.
The beneficial effects of this embodiment: the speed curve and the time segment of the actuator are introduced into the actuator adjusting position obtained by the method, dynamic compensation can be carried out according to the speed curve and the time segment when the adjusting position of the actuator is corrected, the finally obtained adjusting position can enable the actual laser output position of the actuator to be overlapped with or have small deviation with the target position, and the consistency and the precision of laser processing are guaranteed.
Example 2
Embodiment 2 of a position compensation method for laser machining, comprising the steps of: the method comprises the following steps: setting a certain pre-trigger adjustment threshold L according to the current motion path segment and the target position to be reached by the actuator; the adjustment threshold L is greater than the maximum speed times the delay time T
Step two: judging whether the distance between the current position of the actuator and the target position of the current movement path section is within an adjustment threshold value L or not, and if so, executing next position correction;
step three: correcting the starting position of the actuator;
s3.1, calculating a planning speed curve and a segmentation time from the current position to the target position of the current path segment;
according to the motion state (V, A, F, ve, L, le) of the current position, calculating the T-shaped planning speed curve from the current position to the target position of the current motion path section and the segmentation time [ T 1 ,t 2 ,t 3 ](ii) a Where V is the current velocity, A is the acceleration, F is the target velocity, ve is the subject velocityThe segment end speed of the moving path segment, L is the distance from the current position to the target position, and Le is the remaining distance from the end point of the current moving path segment; t is t 1 Is the acceleration period time, t 2 Is the sum of the time of the acceleration section and the time of the uniform speed section, t 3 Is the total time the current segment is running.
The T-shaped programming speed curves are six in type, and are concretely as follows:
(1) Only the stage of uniform deceleration, with a segment time of [0, t 3 ]Wherein t is 1 ＝0,t 2 ＝0；
(2) With only a uniform acceleration phase, with a segment time of [ t ] 1 ,t 1 ,t 1 ]Wherein t is 2 ＝t 1 ,t 3 ＝t 1 ；
(3) Without uniform acceleration phase (including only uniform velocity phase processing), the segmentation time is [0 2 ,t 3 ]Wherein t is 1 ＝0；
(4) Without uniform deceleration stage, with a segment time of [ t 1 ,t 2 ,t 2 ]Wherein t is 3 ＝t 2 ；
(5) Without a uniform stage, the segment time is [ t ] 1 ,t 1 ,t 3 ]Wherein t is 2 ＝t 1 (ii) a The maximum speed Vmax that can be reached at this stage,
Figure BDA0003857574310000071
(6) Has a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage, and the segment time is t 1 ,t 2 ,t 2 ]；
S3.2, calculating the planning time T1 of the actual output position, wherein the planning time T is earlier than the actual output position time T, and the planning time T' = T1-T of the planning adjustment position; the time T is the delay time of the actuator. For six T-shaped planning velocity curves, the calculation of T1 is specifically as follows:
(1) Only the uniform deceleration stage:
Figure BDA0003857574310000072
Figure BDA0003857574310000073
wherein Vr is a theoretical velocity of the lasing component at the target position;
(2) Only the uniform acceleration stage:
Figure BDA0003857574310000074
Figure BDA0003857574310000075
(3) There is no leveling phase:
Figure BDA0003857574310000076
(4) There is no uniform deceleration stage:
Figure BDA0003857574310000077
(5) The uniform speed stage is not provided:
Figure BDA0003857574310000081
(6) The method comprises a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:
Figure BDA0003857574310000082
s3.3: obtaining a corrected adjusting position Pr (Xr, yr) according to the planning speed curve and the adjusting position planning time T'; in this embodiment, the adjustment distance L' between the corrected adjustment position and the current position is calculated according to six T-shaped planning velocity curves, which is specifically as follows:
(1) Only the uniform deceleration stage:
Figure BDA0003857574310000083
(2) Only the uniform acceleration stage:
Figure BDA0003857574310000084
(3) No uniform acceleration stage (including only uniform velocity stage treatment):
Figure BDA0003857574310000085
(4) Without the uniform deceleration stage:
Figure BDA0003857574310000086
(5) The uniform speed stage is not provided:
Figure BDA0003857574310000087
(6) The method comprises a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:
Figure BDA0003857574310000088
according to the adjustment distance L' and the type of the current movement path section, the adjustment position is as follows:
Pr＝f(P，L′)
where P is the current position.
Step four: the positions fed back by the X-axis encoder and the Y-axis encoder of the actuator are obtained and compared with the adjusting position Pr, the adjusting position is captured and an in-place signal is output to the actuator after the two positions are paired, and the actuator emits laser after obtaining the signal.
In this embodiment, the calculated adjustment positions Pr (Xr, yr) are input into the buffer data queue and arranged in time, and when the position fed back by the encoder is compared with the adjustment positions, the corresponding adjustment positions are sequentially compared and captured in time order. The actuator is provided with a plurality of different motion path sections and target positions, namely a plurality of adjustment positions are correspondingly required to be captured, the position capture is to compare the positions fed back by the X-axis encoder and the Y-axis encoder with the calculated adjustment positions in the continuous movement of the actuator, and the adjustment position in the former time is necessarily positioned at the front section of the path of the adjustment position in the later time, so that the capture of each adjustment position can be ensured by sequentially comparing according to the time sequence.
The working principle of the embodiment is as follows: dividing a speed curve and a segmentation time of the actuator in a motion path section into six motion curve conditions according to a T-shaped speed planning curve, calculating an adjusting position according to the six motion curve conditions, wherein the adjusting position can accord with the speed motion curve of the actuator, and after the actuator emits laser at the adjusting position, adding delay time of the actuator to ensure that the actual laser output position of the actuator is superposed with a target position.
The beneficial effects of this embodiment: the speed curve and the time segment of the actuator are introduced into the actuator adjusting position obtained by the method, dynamic compensation can be carried out according to the speed curve and the time segment when the adjusting position of the actuator is corrected, the finally obtained adjusting position can enable the actual laser output position of the actuator to be overlapped with or have small deviation with the target position, and the consistency and the precision of laser processing are guaranteed.
Example 3
A laser processing system comprising an actuator, a memory, and a processor; the memory is used for storing a computer program; the processor is configured to implement the steps of the position-synchronized output time compensation method for laser processing according to embodiment 1 or embodiment 2 when executing the computer program; the processor comprises a position correction compensation module and a position comparison and capture module; the position correction compensation module is used for calculating an adjusting position, the position comparison and acquisition module is used for comparing the current position and the adjusting position of the actuator encoder, and when the two positions are well matched, the comparison and acquisition module acquires the adjusting position and confirms that the actuator reaches the adjusting position, and then sends a signal to the actuator.
In this embodiment, after the position correction compensation module calculates the corrected position data, the data is temporarily stored in a queue for buffering. And the position comparison module takes the data from the queue in sequence for comparison. And the position comparison and capture module judges whether to capture the position according to whether the cache queue has position data to be captured. The position comparison and capture module does not need to compare and calculate data all the time after the function is started. The position capture judgment is carried out only when the cache queue has data.
Example 4
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the position-synchronized output time compensation method for laser processing of embodiment 1 or 2.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A position compensation method for laser processing, comprising the steps of:
the method comprises the following steps: setting a certain pre-trigger adjustment threshold L according to the current motion path segment and the target position to be reached by the actuator;
step two: judging whether the distance between the current position of the actuator and the target position of the current movement path section is within an adjustment threshold value L or not, and if so, executing next position correction;
step three: correcting the starting position of the actuator;
s3.1, calculating a planning speed curve and a segmentation time from the current position to the target position of the current path segment;
s3.2, calculating the planning time T1 of the actual output position, wherein the planning time T is earlier than the actual output position time T, and the planning time T' = T1-T of the planning adjustment position;
s3.3: obtaining a corrected adjusting position Pr (Xr, yr) according to the planning speed curve and the adjusting position planning time T';
step four: and after the actuator reaches the adjusting position, the actuator outputs an in-place signal to the actuator, and the actuator emits laser after obtaining the signal.
2. The position compensation method for laser processing according to claim 1, wherein in S3.1, a T-shaped programming speed curve and a segment time [ T ] T from the current position to the target position of the current motion path segment are calculated according to the motion state (V, a, F, ve, L, le) of the current position 1 ,t 2 ,t 3 ](ii) a Wherein V is the current speed, A is the acceleration, F is the target speed, ve is the segment end speed of the motion path segment to which it belongs, L is the distance from the current position to the target position, and Le is the remaining distance from the end point of the current motion path segment; t is t 1 Is the acceleration period time, t 2 Is the sum of the time of the acceleration section and the time of the uniform speed section, t 3 Is the total time the current segment is running.
3. The position compensation method for laser processing according to claim 2, wherein the T-shaped programmed velocity curves have six types, specifically as follows:
(1) Only the stage of uniform deceleration, with a segment time of [0, t 3 ]Wherein t is 1 ＝0,t 2 ＝0；
(2) With only a uniform acceleration phase, with a segment time of [ t ] 1 ,t 1 ,t 1 ]Which isMiddle t 2 ＝t 1 ,t 3 ＝t 1 ；
(3) Without uniform acceleration phase (including only uniform velocity phase processing), the segmentation time is [0 2 ,t 3 ]Wherein t is 1 ＝0；
(4) Without a uniform deceleration phase, for a segment time t 1 ,t 2 ,t 2 ]Wherein t is 3 ＝t 2 ；
(5) Without a uniform stage, the segment time is [ t ] 1 ,t 1 ,t 3 ]Wherein t is 2 ＝t 1 (ii) a The maximum speed Vmax that can be reached at this stage,
Figure FDA0003857574300000021
(6) Has a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage, and the segment time is t 1 ,t 2 ,t 2 ]；
4. The position compensation method for laser processing according to claim 3, wherein the planning time T1 of the actual output position is calculated for six T-shaped planning velocity curves, specifically as follows:
(1) Only the uniform deceleration stage:
Figure FDA0003857574300000022
Figure FDA0003857574300000023
wherein Vr is a theoretical velocity of the lasing component at the target position;
(2) Only the uniform acceleration stage:
Figure FDA0003857574300000024
Figure FDA0003857574300000025
(3) There is no leveling phase:
Figure FDA0003857574300000026
(4) There is no uniform deceleration stage:
Figure FDA0003857574300000027
(5) The uniform speed stage is not provided:
Figure FDA0003857574300000028
(6) The method comprises a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:
Figure FDA0003857574300000029
5. the position compensation method for laser processing according to claim 4, wherein in S3.3, the adjustment distance L' between the corrected adjustment position and the current position is calculated according to six T-shaped planning velocity curves as follows:
(1) Only a uniform deceleration stage:
Figure FDA0003857574300000031
(2) Only the uniform acceleration stage:
Figure FDA0003857574300000032
(3) No uniform acceleration stage (including only uniform velocity stage treatment):
Figure FDA0003857574300000033
(4) There is no uniform deceleration stage:
Figure FDA0003857574300000034
(5) There is no uniform velocity stage:
Figure FDA0003857574300000035
(6) The method comprises a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:
Figure FDA0003857574300000036
according to the adjustment distance L' and the type of the current movement path section, the adjustment position is as follows:
Pr＝f(P，L′)
where P is the current position.
6. A position compensation method for laser processing according to any of claims 1-5, wherein in step four, the position fed back by the X-axis and Y-axis encoders of the actuator is obtained and compared with the adjustment position Pr, and after the two positions are paired, the adjustment position is captured and output to the actuator, and the actuator emits laser light after acquiring the signal.
7. The position compensation method for laser processing according to claim 6, wherein in step four, the calculated adjustment positions Pr (Xr, yr) are input into the buffer data queue and arranged in time, and when the position fed back from the encoder is compared with the adjustment positions, the comparison and capturing of the corresponding adjustment positions are sequentially performed in time order.
8. A method of position compensation for laser machining as claimed in any one of claims 1 to 5, wherein the adjustment threshold L is greater than the maximum speed times the delay time T.
9. A laser machining system comprising an actuator, a memory, and a processor; the memory is used for storing a computer program; the processor is configured to implement the steps of the method for position-synchronized output time compensation for laser processing according to any one of claims 1 to 8 when executing the computer program; the processor comprises a position correction compensation module and a position comparison and capture module; the position correction compensation module is used for calculating an adjusting position, and the position comparison and capture module is used for confirming that the actuator reaches the adjusting position and sending a signal to the actuator.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method for position-synchronized output time compensation for laser processing according to any one of claims 1 to 8.
CN202211152666.XA 2022-09-21 2022-09-21 Position compensation method and device for laser processing and storage medium Pending CN115421442A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116493787A (en) * 2023-06-21 2023-07-28 深圳市圭华智能科技有限公司 Synchronous trigger system for micron-sized laser and motion platform position

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116493787A (en) * 2023-06-21 2023-07-28 深圳市圭华智能科技有限公司 Synchronous trigger system for micron-sized laser and motion platform position
CN116493787B (en) * 2023-06-21 2023-11-28 深圳市圭华智能科技有限公司 Synchronous trigger system for micron-sized laser and motion platform position

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