CN115933536A - Board information determination method, device, equipment and storage medium - Google Patents
Board information determination method, device, equipment and storage medium Download PDFInfo
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Abstract
The application discloses a method, a device, equipment and a storage medium for determining board information, wherein the method comprises the following steps: acquiring first height information between the laser cutting head and the board surface to be processed, which is acquired by the height adjusting box based on the response characteristic of the height adjusting box; processing the height information of the encoder according to a preset compensation function to obtain second height information, wherein the compensation function is determined according to the response characteristic of the height adjusting box; and determining the board information of the board to be processed according to the first height information and the second height information so that the laser cutting head can cut the board based on the board information. By the off-line identification method, the compensation function of the encoder is obtained, so that the encoder is consistent with the response characteristic of the height-adjusting box through the compensation function, the plate position and the plate speed are more accurate in the dynamic process of laser processing, and the problem of inaccurate plate processing information caused by large height deviation acquired by the conventional height-adjusting box is solved.
Description
Technical Field
The present disclosure relates to the field of metal laser processing, and in particular, to a method, an apparatus, a device, and a storage medium for determining plate information.
Background
In the metal laser processing process with a cutting head height sensor, a control system needs to acquire signals of the height sensor to control the height of the cutting head, and height sensor information is acquired from a height adjusting box (also called a height adjusting box), wherein the height adjusting box is used for acquiring and processing height signals. Generally, the control objective in such a scenario is to make the height value returned by the height sensor coincide with the command height set by the user as much as possible, and this control mode is called as follow-up control or height-up control, and the axis participating in follow-up control is called as follow-up axis.
However, in the process of height signal acquisition, the capacitance sensor of the height adjustment box has the characteristic of easily generating a large amount of noise, so that specific filtering and other measures are added to the existing manufacturers of the height adjustment box to reduce the noise of the height signal. However, this filtering process can distort the sensor signal to some extent, which distortion occurs mainly during the movement of the cutting head. I.e. when the cutting head is accelerating or decelerating, the height values acquired by the system deviate from the actual height values due to filtering effects. The accuracy of the position or speed information of the plate surface (metal surface to be processed by laser) determined according to the height adjusting box is low, the problem that the follow-up shaft is easy to shake during processing is caused, and the follow-up control effect is influenced.
Disclosure of Invention
In view of this, embodiments of the present application provide a method, an apparatus, a device, and a storage medium for determining plate surface information, which are used to solve the technical problem that the following control effect is affected by the jitter easily generated during the processing of the following shaft due to inaccurate plate surface processing information.
The embodiment of the application provides a method for determining board information, which comprises the following steps:
acquiring first height information between the laser cutting head and the board surface to be processed, which is acquired by the height adjusting box based on the response characteristic of the height adjusting box;
processing the height information of the encoder according to a preset compensation function to obtain second height information, wherein the compensation function is determined according to the response characteristic of the height adjusting box;
and determining the board surface information of the board surface to be processed according to the first height information and the second height information so that the laser cutting head can cut the board surface based on the board surface information.
In a possible embodiment of the present application, before the processing the height information of the encoder according to the preset compensation function, the method includes:
obtaining an initial function;
and identifying the initial function by adopting an off-line identification technology according to the response characteristic of the heightening box to obtain a compensation function.
In a possible implementation manner of the present application, identifying the initial function by using an offline identification technique according to a response characteristic of the height-adjusting box to obtain a compensation function includes:
acquiring motion information of a follow-up shaft during excitation motion based on a motion signal, wherein the motion information comprises a third height information set acquired by the encoder and a fourth height information set acquired by the height adjusting box, and the follow-up shaft is used for controlling the laser cutting head to move;
calculating a response coefficient initial value set of the initial function by adopting a phase delay mode based on the motion information;
solving to obtain a target coefficient of the initial function based on the initial value set of the response coefficient and a preset plate surface speed function by using a least square method;
and inputting the target coefficient into the initial function to obtain the compensation function.
In a possible embodiment of the present application, the obtaining motion information when the follower shaft performs the excitation motion based on the motion signal includes:
acquiring the motion frequency of the follow-up shaft when the follow-up shaft carries out excitation motion based on the motion signal;
and acquiring the motion information in real time based on the motion frequency and the acquisition period for acquiring the motion information.
In a possible embodiment of the present application, the following axis performs excitation motion based on a motion frequency in a motion signal, and the calculating the initial value set of the response coefficient of the initial function by using a phase delay method based on the motion information includes:
calculating a phase difference between the height information in the third height information set and the height information in the fourth height information set;
determining a delay time of the turn-up box based on the motion frequency and the phase difference;
determining the number of cycles of the delay of the heightening box according to the delay time and the acquisition cycle of acquiring the motion information;
based on the number of cycles, the initial set of values of the response coefficient is determined.
In a possible embodiment of the present application, the obtaining, by using a least square method, a target coefficient set of the initial function based on the initial value set of the response coefficients and a preset plate surface velocity function by solving includes:
constructing a plate speed function based on the initial function;
and determining a target coefficient set which enables the board surface speed function to be minimum based on the initial value set of the response coefficients and the least square method.
In a possible embodiment of the present application, the board surface information includes target height information and speed information, and determining the board surface information of the board surface to be processed according to the first height information and the second height information includes:
determining target height information of the board surface to be processed based on the first height information and the second height information;
and carrying out differential processing on the target height information based on a differential function to obtain the speed information of the board surface to be processed.
The present application further provides a panel information determining apparatus, the apparatus including:
the information acquisition module is used for acquiring first height information between the laser cutting head and the board surface to be processed, which is acquired by the height adjusting box based on the response characteristic of the height adjusting box;
the precision compensation module is used for processing the height information of the encoder according to a preset compensation function to obtain second height information, wherein the compensation function is determined according to the response characteristic of the height adjusting box;
and the information determining module is used for determining the board information of the board to be processed according to the first height information and the second height information so as to enable the laser cutting head to cut based on the board information.
The present application further provides a board information determination device, where the board information determination device is an entity node device, the board information determination device includes: a memory, a processor and a program of the board surface information determination method stored in the memory and operable on the processor, wherein the program of the board surface information determination method is executable by the processor to implement the steps of the board surface information determination method.
To achieve the above object, there is also provided a computer-readable storage medium having a board surface information determining program stored thereon, wherein the board surface information determining program, when executed by a processor, implements any of the steps of the board surface information determining method described above.
The application provides a method, a device, equipment and a storage medium for determining plate surface information, which are used for acquiring first height information between a laser cutting head and a plate surface to be processed, which is acquired by a height adjusting box based on the response characteristic of the height adjusting box; processing the height information of the encoder according to a preset compensation function to obtain second height information, wherein the compensation function is determined according to the response characteristic of the height adjusting box; and determining the board information of the board to be processed according to the first height information and the second height information so that the laser cutting head can cut the board based on the board information. The compensation function of the encoder is obtained through an off-line identification method, so that the encoder is consistent with the response characteristic of the height-adjusting box through the compensation function, the plate position (target height information) and the plate speed are more accurate in the dynamic process of laser processing, and the problem that the plate processing information is inaccurate due to large height deviation obtained by the conventional height-adjusting box is solved (in the process of height signal acquisition of the height-adjusting box, a capacitance sensor of the height-adjusting box has the characteristic of easily generating a large amount of noise points, so that specific filtering and other means are added for processing by the conventional height-adjusting box manufacturer to reduce the noise of the height signal. That is, obtain the high box based on the first altitude information between the laser cutting head that its response characteristic gathered and the face of waiting to process, will discern the encoder and increase the response characteristic utilization of box height output on the encoder, obtain and handle the altitude information of encoder according to predetermined compensation function, obtain the second altitude information to make the response characteristic of encoder behind this compensation function unanimous with the response characteristic of increasing the box, compensated the precision of increasing the box. Therefore, the target height information and the speed information of the board surface to be processed are determined to be more accurate according to the first height information and the second height information, and the follow-up control effect is better.
Drawings
Fig. 1 is a schematic flow chart of a first embodiment of a board surface information determining method according to the present application;
fig. 2 is a control block diagram of open precision compensation in a second embodiment of the method for determining plate surface information of the present application;
fig. 3 is a diagram illustrating the effect of precision compensation and uncompensation in a third embodiment of the board surface information determination method according to the present application;
FIG. 4 is a schematic diagram of an apparatus configuration of a hardware operating environment according to an embodiment of the present application;
fig. 5 is a schematic functional block diagram of a preferred embodiment of the board information determining apparatus according to the present application.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
An embodiment of the present application provides a board surface information determining method, which is applied to a board surface information determining apparatus in an embodiment of the present application, and with reference to fig. 1, the method includes:
s10, acquiring first height information between the laser cutting head and the plate surface to be processed, which is acquired by the heightening box based on the response characteristic of the heightening box;
step S20, processing the height information of the encoder according to a preset compensation function to obtain second height information, wherein the compensation function is determined according to the response characteristic of the height adjusting box;
and S30, determining the board surface information of the board surface to be processed according to the first height information and the second height information so that the laser cutting head can cut the board surface based on the board surface information.
The present embodiment is intended to: response characteristic through discerning encoder and heightening the high output of box utilizes response characteristic on the encoder to the precision of the face information that box and encoder obtained is heightened in the compensation obtains accurate face processing information, improves the follow-up control effect of follow-up shaft in the laser beam machining process.
Specifically, in the application, a compensation function of the encoder is obtained by an offline identification method, so that the response characteristic of the encoder after passing through the compensation function is consistent with the response characteristic of the height adjustment box, the aim that the position (target height information) of the board and the speed of the board are more accurate in the dynamic process of laser processing is achieved, and the problem that the board processing information is inaccurate due to large height deviation obtained by the conventional height adjustment box is solved (in the process of height signal acquisition by the height adjustment box, a capacitance sensor of the capacitance sensor has the characteristic of easily generating a large amount of noise points, so that specific means such as filtering are added to manufacturers of the conventional height adjustment boxes to reduce the noise of height signals. In this application, acquire and increase the box and treat the first altitude information between the processing face based on the laser cutting head that its response characteristic gathered, acquire and handle the altitude information of encoder according to predetermined compensation function, obtain the second altitude information to make the response characteristic of encoder after this compensation function unanimous with the response characteristic of increasing the box, compensated the precision of increasing the box. Therefore, the target height information and the speed information of the board surface to be processed are determined to be more accurate according to the first height information and the second height information, and the follow-up control effect is better.
In this embodiment, the specific application scenarios targeted are:
in the metal laser processing process with a cutting head height sensor, a control system needs to acquire signals of the height sensor to control the height of the cutting head, and height sensor information is acquired from a height adjusting box (also called a height adjusting box). Generally, the control objective in such a scenario is to make the height value returned by the height sensor coincide with the command height set by the user as much as possible, and this control mode is called as follow-up control or height-up control, and the axis participating in follow-up control is called as follow-up axis.
However, in the process of height signal acquisition, the capacitance sensor of the height adjustment box has the characteristic of easily generating a large amount of noise, so that the existing height adjustment box manufacturers add specific filtering and other measures to process the height signal, so that the noise of the height signal is reduced. However, this filtering process can distort the sensor signal to some extent, which distortion occurs mainly during the movement of the cutting head. I.e. when the cutting head is accelerating or decelerating, the height values acquired by the system deviate from the actual height values due to filtering. The accuracy of the position or speed information of the plate surface (metal surface to be processed by laser) determined by the heightening box is low, the problems of jitter and the like are easily generated during the processing of the follow-up shaft, and the follow-up control effect is influenced.
As an example, the board surface information determination method may be applied to a laser processing control system applied to a laser processing control apparatus.
As one example, a laser machining control system includes a laser cutting head, an elevation box, and an encoder.
As an example, the encoder is arranged on a motor, the motor is linked with a follower shaft, and the laser cutting head is arranged on the follower shaft, so that when the motor drives the follower shaft to move, the laser cutting head is driven to move, and laser processing is carried out on the board to be processed.
As an example, the height adjusting box is used for processing a height signal in a laser processing process, and the processed signal is transmitted to the height sensor, so that the laser processing control system acquires the signal of the height sensor for control, and controls the laser cutting head to perform laser processing on the board surface to be processed.
As an example, the height signal collected by the height adjustment box refers to height information or distance information between the laser cutting head and the board surface to be processed.
As an example, the surface of the plate to be processed refers to a metal surface to be processed.
As an example, the laser machining control system may also read the encoder position (motor end) of the follower shaft for determining the height of the commanded position of the follower shaft from the plate surface, and the trending speed of the plate surface for enhancing the control effect of the follower. The command position of the follow-up shaft refers to a height signal of the height adjusting box, namely height information between the laser cutting head and the plate surface to be processed. When the command position of the follow-up shaft is consistent with the command height set by the user, the precision of the heightening box is high, the height value acquired by the heightening box is extremely small compared with the actual height, and the accuracy of the plate surface position or speed information can be maintained.
The method comprises the following specific steps:
s10, acquiring first height information between the laser cutting head and the board surface to be processed, which is acquired by the heightening box based on the response characteristic of the heightening box;
as an example, the component in the height-adjusting box for height signal acquisition is a sensor, typically a capacitive sensor, which is prone to generate a lot of noise. Therefore, a special filtering process is added to the height adjustment box during manufacturing, which causes the height value acquired by the system to deviate from the actual height. That is, the height information (actual height) collected by the height-adjusting box enters the response of a transfer function H(s), and essentially H(s) is generated due to the processing of filtering and the like inside the height-adjusting box.
As an example, first height information output after H(s) response in the height adjustment box is acquired, and the first height information refers to height information between the laser cutting head and the board surface to be processed.
Step S20, processing the height information of the encoder according to a preset compensation function to obtain second height information, wherein the compensation function is determined according to the response characteristic of the height adjusting box;
as an example, the ideal position of the board surface to be processed = encoder position of the follower shaft-actual height. The encoder position refers to a coordinate position of the encoder in a mechanical coordinate system of the laser processing. The actual height refers to the height information between the laser cutting head and the plate surface to be processed.
In practice, however, the actual height is obtained from the response of the transfer function H(s) of the set-up box, which distorts the signal of the set-up box sensor to some extent. That is, the height information collected by the height adjustment box deviates from the actual height. And the position of the follow-up shaft code collected by the encoder is not distorted, namely the position is an accurate numerical value. Therefore, when the information on the surface of the board to be processed is determined, a deviation between the position of the board and the speed of the board is formed.
In order to compensate the deviation, a compensation function is set for the data output processing of the encoder, so that after information in the encoder is subjected to response of the compensation function, the response characteristic of the encoder after the information is subjected to the compensation function is consistent with the response characteristic of the heightening box, and the deviation of the information between the encoder and the heightening box is reduced.
As an example, the compensation function refers to a function which is established according to the response characteristic of the turn-up box and acts on the encoder to perform response output on information. The characteristic of the compensation function in response to the information acquired by the encoder is identical to the characteristic of the transfer function H(s) in response to the information acquired by the height box.
As an example, the height information of the encoder is processed according to a preset compensation function, and the encoder position information output by the encoder is obtained. Since the position of the board surface to be processed is determined based on the longitudinal direction in the machine coordinate system, the encoder position information is also the second height information.
And S30, determining the board surface information of the board surface to be processed according to the first height information and the second height information so that the laser cutting head can cut the board surface based on the board surface information.
As an example, the board surface information of the board surface to be processed includes target height information and speed information, where the target height refers to position information of the board surface to be processed, that is, a position of the board surface in a mechanical coordinate system where the laser processing is located. The speed information refers to the board speed trend calculated according to the position information of the board to be processed, and is used for controlling the synchronization of the laser cutting head and the board to be processed and avoiding the problem of poor processing effect caused by the jitter of the laser cutting head.
As an example, the plate surface information is determined by first height information after response of a transfer function H(s) of the heightening box and second height information after response of a compensation function of the encoder, the accuracy of the heightening box is compensated, and the information accuracy of processing of the encoder and the heightening box is improved.
As an example, the board surface information of the board surface to be processed is determined according to the first height information and the second height information.
As an example, the determining the board surface information of the board surface to be processed according to the first height information and the second height information includes:
step S31, determining target height information of the board surface to be processed based on the first height information and the second height information;
and S32, carrying out differential processing on the target height information based on a differential function to obtain the speed information of the board surface to be processed.
As an example, the target height information of the board surface to be processed is a height difference between the second height information output by the encoder and the first height information output by the height adjustment box, that is, a value corresponding to the first height information is subtracted from a value corresponding to the second height information to obtain a height difference, where the height difference is position information of the board surface to be processed in a mechanical coordinate system, that is, the target height information.
As an example, differentiation is a linear main part of the change amount of a variable in a certain change process, and after the position information of the board to be processed is subjected to differentiation processing based on a differential function, the speed information of the board to be processed is obtained. The target height information and the speed information obtained according to the first height information and the second height information processed by the height adjusting box and the encoder are more accurate, and the follow-up control device has a certain promotion effect on indexes such as follow-up performance and overshoot for follow-up control through the target height information and the speed information.
Compared with the problems that the conventional plate surface processing information is inaccurate, so that the following shaft is easy to shake during processing, and the following control effect is influenced, the plate surface information determining method, the device, the equipment and the storage medium have the advantages that first height information between the laser cutting head and the plate surface to be processed, which is acquired by the height adjusting box based on the response characteristic of the height adjusting box, is acquired; processing the height information of the encoder according to a preset compensation function to obtain second height information, wherein the compensation function is determined according to the response characteristic of the height adjusting box; and determining the board surface information of the board surface to be processed according to the first height information and the second height information so that the laser cutting head can cut the board surface based on the board surface information. In the application, a compensation function of an encoder is obtained by an off-line identification method, so that the encoder is consistent with the response characteristic of a height adjustment box through the compensation function, the aim that the plate surface position (target height information) and the plate surface speed are more accurate in the dynamic process of laser processing is achieved, and the problem that plate surface processing information is inaccurate due to large height deviation obtained by the conventional height adjustment box is solved (in the process of height signal acquisition of the height adjustment box, a capacitance sensor of the height adjustment box has the characteristic of easily generating a large amount of noise points, so that specific means such as filtering can be added to the conventional height adjustment box manufacturer to process, and the noise of height signals is reduced. That is, acquire the high box based on the first altitude information between the laser cutting head that its response characteristic gathered and the face of waiting to process, will discern the encoder and increase the response characteristic utilization of box altitude output on the encoder, acquire and handle the altitude information of encoder according to predetermined compensation function, obtain the second altitude information to make the response characteristic of encoder behind this compensation function unanimous with the response characteristic of increasing the box, compensated the precision of increasing the box. Therefore, the target height information and the speed information of the board surface to be processed are determined to be more accurate according to the first height information and the second height information, and the follow-up control effect is better.
Based on the first embodiment of the board surface information determining method, a second embodiment of the board surface information determining method is provided.
Referring to fig. 2, fig. 2 is a control block diagram of the on-precision compensation. In order to compensate the deviation between the position of the plate surface to be processed and the speed of the plate surface caused by the response of the transfer function H(s) of the heightening box, a response of a compensation function G(s) is added on the position of an encoder of the follow-up shaft, when G(s) = H(s), the encoder can be consistent with the transfer function H(s) of the heightening box through the compensation function G(s), so that the position of the plate surface to be processed and the speed of the plate surface to be processed are compensated.
As an example, before processing the height information of the encoder according to the preset compensation function, the method includes:
step S40, obtaining an initial function;
and S50, identifying the initial function by adopting an off-line identification technology according to the response characteristic of the heightening box to obtain a compensation function.
As an example, in the process of identifying the compensation function by the off-line identification technology, the user needs to ensure that the board surface to be processed is not moved in the whole process.
As an example, the initial function is a function designed according to the attribute of a filter for reducing height signal noise in the height-adjusting box, so that the compensation function obtained through the initial function is consistent with the response characteristic of the filter of the height-adjusting box, and is used for compensating the precision of the height-adjusting box and improving the accuracy of the board surface information of the board surface to be processed.
As an example, the initialization function is set to G(s) ', G(s)'Obtaining G (Z) after discretization -1 ) If the structure is assumed to be a FIR filter, G (Z) -1 ) The formula (c) is as follows:
wherein n refers to the filtering order, and n is a self-defined variable and can be specified by a user according to actual requirements. z is the encoder position information (i.e. the position of the laser cutting head in the mechanical coordinate system) after the extension of the i-th cycle. Therefore, only a is determined i Determine G (Z) -1 ) Expression of (2).
As an example, the initial function G(s)' is identified using an offline identification technique, resulting in a compensation function.
As an example, the identifying the initial function by using an offline identification technique according to the response characteristic of the turn-up box to obtain a compensation function includes:
step S51, obtaining motion information of a follow-up shaft during excitation motion based on a motion signal, wherein the motion information comprises a third height information set acquired by the encoder and a fourth height information set acquired by the height adjusting box, and the follow-up shaft is used for controlling the laser cutting head to move;
step S52, based on the motion information, calculating a response coefficient initial value set of the initial function by adopting a phase delay mode;
s53, solving and obtaining a target coefficient of the initial function based on the initial value set of the response coefficient and a preset plate surface speed function by using a least square method;
and S54, inputting the target coefficient into the initial function to obtain the compensation function.
As an example, the motion signal refers to a signal or designation for controlling the follower shaft to perform an excitation motion.
As an example, excitation refers to a specific motion signal, excitation motion refers to sine and cosine motion of the follower shaft, and the motion attribute of the follower shaft, that is, sine motion or cosine motion of the follower shaft, can be determined by the motion frequency specified by the user.
As one example, the back and forth motion has a range. The lowest point of the range is a preset numerical value, and the highest point is half of the maximum follow-up range. Wherein, the preset value is set according to the requirement of laser processing and can be 1mm.
As an example, motion information of the follower shaft when performing excitation motion based on the motion signal is obtained, and the motion information is used to instantiate the initial function, so as to obtain the compensation function.
As an example, the acquired motion information refers to the position of the follower shaft encoder (third height information) and the height of the elevation box feedback (fourth height information) stored according to the controller period (typically 1 ms), a plurality of the stored third height information forming a third height information set, and a plurality of the fourth height information forming a fourth height information set. That is, the motion information includes a third set of height information collected by the encoder and a fourth set of height information collected by the set-up box. The controller cycle refers to a signal acquisition cycle for controlling the motion of the follow-up shaft in the laser processing control system.
As an example, the obtaining of the motion information when the follower shaft performs the excitation motion based on the motion signal includes:
step S511, acquiring the motion frequency of the follow-up shaft when the follow-up shaft performs excitation motion based on the motion signal;
and S512, acquiring the motion information in real time based on the motion frequency and the acquisition cycle for acquiring the motion information.
As an example, the user designates the movement frequency of the follower shaft so that the follower shaft reciprocates in accordance with the movement frequency. Therefore, the motion frequency of the follow-up shaft when the follow-up shaft performs excitation motion based on the motion signal is obtained, and sine and cosine motion of the follow-up shaft is determined.
As an example, the controller period refers to a signal acquisition period of control for controlling the movement of the follower shaft in the laser processing control system.
As an example, the period of the excitation motion may be set according to actual requirements, if an excitation motion is set to move according to a preset number of motion frequency periods. Then a complete excitation movement is completed and n x f1/f2 sets of movement information are obtained, where n is a preset number, which can be default or customized, for example, n =5, which means that the whole excitation movement moves according to 5 user-specified movement frequency cycles f1, and f2 is a controller cycle.
As an example, based on the motion information, the response coefficient value set a of the initial function is calculated in a phase delay manner i 。
As an example, the calculating the initial value set of the response coefficients of the initial function by using a phase delay method based on the motion information includes:
step S521, calculating a phase difference between the height information in the third height information set and the height information in the fourth height information set;
step S522, determining a delay time of the height adjustment box based on the motion frequency and the phase difference;
step S523, determining the number of cycles of the delay of the height adjusting box according to the delay time and the acquisition cycle of acquiring the motion information;
step S524, determining the initial value set of response coefficients based on the number of cycles.
As an example, if the motion frequency specified by the user is f, the third height information of the encoder obtained by the acquisition controller is actPos (t) and the fourth height information obtained by the height-adjusting box is sysSensor (t), and the phase difference between actPos (t) and sysSensor (t) is calculated as
Suppose that
Wherein N is 1 (t) is the encoder noise, N 2 (t) to turn up the box noise,
for increasing the amplitude attenuation of the box>
For delaying, or for masking, the third height information actPos (t) in the third height information set of the encoder>
Delay of the fourth height information sysSensor (t) in the fourth height information set acquired for the set-up box.
The phase of actPos (t) at f frequency can be obtained using the DFT algorithm:
the phase of the sysSensor (t) at the f frequency is calculated in the same manner as the phase of the actPos (t) at the f frequency, and thus the phase of the sysSensor (t) at the f frequency is obtained.
The phase difference between the height information in the third height information set and the corresponding height information in the fourth height information set at the time t is as follows:
thus, by
The acquisition period of the controller can obtain the delay time of the heightening box>
Dividing the delay of the heightening box by the acquisition period of the controller to obtain the period number k of the delay of the heightening box, then a k =1, and all other values are 0, and such a value is regarded as a i The initial value of (c). I.e. the initial value a of the response coefficient i {a 0 、a 1 、a 2 ……a i The initial value set of the method is {0, 0 \8230, 1, 0 \8230, 82300 }, the kth a i Has an initial value of 1.
As an example, a least square method is used, and based on the initial value set of the response coefficient and a preset plate surface speed function, a target coefficient of the initial function is obtained by solving, so that an initial function determined by the coefficient is obtained, that is, the compensation function.
As an example, the obtaining, by using a least square method, a target coefficient set of the initial function based on the initial value set of the response coefficients and a preset plate surface velocity function by solving includes:
step S531, constructing a board surface speed function based on the initial function;
and step S532, determining a target coefficient set which enables the plate surface speed function to be minimum based on the initial value set of the response coefficient and the least square method.
And S54, inputting the target coefficient into the initial function to obtain the compensation function.
As an example, the board speed function is constructed based on an initial function, which is the sum of squares of the acquisition cycles of the movement information of each controller after the third height information set of the encoder passes the set initial function G(s)' and after the fourth height information set of the take-up box passes H(s).
As an example, the sheet speed function F (a) i ) The following were used:
wherein,
for the encoder, the resulting encoder position (i.e. the third height information) is expressed via the initial function G(s)'. sysSensor (nT) is the original height signal of the height-adjusted box, i.e., the fourth height information.
The speed of the plate surface is 0 when the plate surface to be processed is kept still. Therefore, if a i A is obtained when F (ai) is minimized i Is the optimal solution. Wherein the plate surface speed function F (a) i ) And the middle T is the acquisition cycle time of the controller for acquiring the motion information, and the N is the number of motion information groups which are acquired to finish a complete excitation motion in the process of carrying out the excitation motion on the follow-up shaft based on the motion frequency in the motion signal.
Obtaining an equation set by using a least square principle:
solving the equation set to obtain the target coefficient set a i The value of (c). When the target coefficient set a i After the determination of the value of (c), the compensation function G(s) can be completely determined based on the initial function G(s)'. And during normal laser processing, responding to the height information acquired by the encoder by using the compensation function G(s) to acquire second height information consistent with the response characteristic of the height adjusting box, thereby realizing dynamic precision compensation of the height adjusting box. Through first height information with second height information, obtain more accurate face information, for the laser cutting head cuts based on face information.
In the embodiment, the compensation function of the encoder is obtained by utilizing the information of the encoder and the height sensor and by an off-line identification method, so that the response characteristic of the encoder after passing through the compensation function is consistent with the response characteristic of the heightening box, and the aim of more accurate plate position and plate speed in the dynamic process is fulfilled. The method has certain promotion effect on indexes such as follow-up control follow-up performance, overshoot and the like for follow-up control.
As an example, referring to fig. 3, fig. 3 is a graph of the effects of precision compensation and uncompensation, and the ordinate value represents the speed of the board surface to be processed.
The measured result is as follows, the movement frequency f =15H is selected Z The excitation signal of (2). Obtaining a target coefficient a through off-line identification i Has a value of [0, 0.199, -0.019,1.346, -0.526%]. As can be seen from fig. 3, when the actual physical board surface speed is 0 at the time of recognition, the compensation is closer to the theoretical value as the board surface speed is smaller. Obviously, the compensated speed fluctuation is smaller, and the effect is better.
Referring to fig. 4, fig. 4 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application.
As shown in fig. 4, the board surface information determination device may include: a processor 1001, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to enable connection communication between the processor 1001 and the memory 1005.
Optionally, the board information determining device may further include a user interface, a network interface, a camera, an RF (Radio Frequency) circuit, a sensor, a WiFi module, and the like. The user interface may comprise a Display screen (Display), an input sub-module such as a Keyboard (Keyboard), and the optional user interface may also comprise a standard wired interface, a wireless interface. The network interface may include a standard wired interface, a wireless interface (e.g., WI-FI interface).
It will be appreciated by those skilled in the art that the configuration of the board information determination device shown in fig. 4 does not constitute a limitation of the board information determination device and may include more or less components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 4, a memory 1005 as a storage medium may include an operating system, a network communication module, and a board information determination program. The operating system is a program for managing and controlling hardware and software resources of the board surface information determination device, and supports the operation of the board surface information determination program and other software and/or programs. The network communication module is used for realizing communication among the components in the memory 1005 and communication with other hardware and software in the board information determination system.
In the board surface information determining apparatus shown in fig. 4, the processor 1001 is configured to execute a board surface information determining program stored in the memory 1005 to implement the steps of any one of the above-described board surface information determining methods.
The specific implementation of the board surface information determining apparatus of the present application is substantially the same as that of each embodiment of the board surface information determining method, and is not described herein again.
The present application also provides a board information determination apparatus, referring to fig. 5, the apparatus includes:
the information acquisition module 10 is configured to acquire first height information between the laser cutting head and the board surface to be processed, which is acquired by the height adjustment box based on the response characteristic of the height adjustment box;
the precision compensation module 20 is configured to process the height information of the encoder according to a preset compensation function to obtain second height information, where the compensation function is determined according to a response characteristic of the height adjustment box;
and the information determining module 30 is configured to determine the board surface information of the board surface to be processed according to the first height information and the second height information, so that the laser cutting head performs cutting based on the board surface information.
In one possible embodiment of the present application, the apparatus further comprises:
the function acquisition module is used for acquiring an initial function;
and the function identification module is used for identifying the initial function by adopting an off-line identification technology according to the response characteristic of the heightening box to obtain a compensation function.
And/or, the function identification module further comprises:
the information acquisition submodule is used for acquiring motion information of a follow-up shaft during excitation motion based on a motion signal, wherein the motion information comprises a third height information set acquired by the encoder and a fourth height information set acquired by the height adjusting box, and the follow-up shaft is used for controlling the laser cutting head to move;
the information calculation submodule is used for calculating a response coefficient initial value set of the initial function by adopting a phase delay mode based on the motion information;
the coefficient solving submodule is used for solving and obtaining a target coefficient of the initial function based on the response coefficient initial value set and a preset plate surface speed function by using a least square method;
and the function determining submodule is used for inputting the target coefficient into the initial function to obtain the compensation function.
And/or, the information acquisition sub-module further comprises:
the first acquisition unit is used for acquiring the motion frequency of the follow-up shaft when the follow-up shaft performs excitation motion based on the motion signal; the follow-up shaft carries out excitation motion based on motion frequency in the motion signal;
and the second acquisition unit is used for acquiring the motion information in real time based on the motion frequency and the acquisition cycle for acquiring the motion information.
And/or, the information calculation sub-module further comprises:
a calculating unit, configured to calculate a phase difference between the height information in the third height information set and the height information in the fourth height information set;
a first determination unit configured to determine a delay time of the turn-up box based on the motion frequency and the phase difference; the second determining unit is used for determining the number of cycles of the delay of the height-adjusting box according to the delay time and the acquisition cycle for acquiring the motion information;
a third determining unit, configured to determine the initial value set of response coefficients based on the number of cycles.
And/or the coefficient solving submodule further comprises:
the function building unit is used for building a board surface speed function based on the initial function;
and the coefficient determining unit is used for determining a target coefficient set which enables the plate surface speed function to be minimum based on the initial value set of the response coefficient and the least square method.
And/or, the information determination module further comprises:
the height information determining submodule is used for determining target height information of the board surface to be processed based on the first height information and the second height information;
and the speed information determining submodule is used for carrying out differential processing on the target height information based on a differential function to obtain the speed information of the board surface to be processed.
The specific implementation of the board information determining apparatus of the present application is substantially the same as that of each embodiment of the above board information determining method, and is not described herein again.
The embodiment of the application provides a computer-readable storage medium, and the computer-readable storage medium stores one or more programs, and the one or more programs can be further executed by one or more processors to realize the steps of any one of the above board surface information determination methods.
The specific implementation of the storage medium of the present application is substantially the same as that of each embodiment of the foregoing board surface information determination method, and details are not described here.
The present application also provides a computer program product, comprising a computer program, which when executed by a processor, performs the steps of the above-described method of determining board surface information.
The specific implementation of the computer program product of the present application is substantially the same as that of each embodiment of the above board surface information determining method, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by a software plus hardware platform, and may also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for determining plate surface information is applied to a laser processing control system, the system comprises a laser cutting head, an heightening box and an encoder, and the method comprises the following steps:
acquiring first height information between the laser cutting head and the board surface to be processed, which is acquired by the height adjusting box based on the response characteristic of the height adjusting box;
processing the height information of the encoder according to a preset compensation function to obtain second height information, wherein the compensation function is determined according to the response characteristic of the height adjusting box;
and determining the board surface information of the board surface to be processed according to the first height information and the second height information so that the laser cutting head can cut the board surface based on the board surface information.
2. The method of determining board information according to claim 1, wherein before processing the height information of the encoder according to a predetermined compensation function, the method comprises:
obtaining an initial function;
and identifying the initial function by adopting an off-line identification technology according to the response characteristic of the heightening box to obtain a compensation function.
3. The method for determining board surface information according to claim 2, wherein the identifying the initial function by using an off-line identification technology according to the response characteristic of the heightening box to obtain a compensation function comprises:
acquiring motion information of a follow-up shaft during excitation motion based on a motion signal, wherein the motion information comprises a third height information set acquired by the encoder and a fourth height information set acquired by the height adjusting box, and the follow-up shaft is used for controlling the laser cutting head to move;
calculating a response coefficient initial value set of the initial function by adopting a phase delay mode based on the motion information;
solving to obtain a target coefficient of the initial function based on the initial value set of the response coefficient and a preset plate surface speed function by using a least square method;
and inputting the target coefficient into the initial function to obtain the compensation function.
4. The method for determining the plate surface information according to claim 3, wherein the following shaft performs the excitation motion based on the motion frequency in the motion signal, and the obtaining of the motion information when the following shaft performs the excitation motion based on the motion signal comprises:
acquiring the motion frequency of the follow-up shaft when the follow-up shaft carries out excitation motion based on the motion signal;
and acquiring the motion information in real time based on the motion frequency and the acquisition cycle for acquiring the motion information.
5. The method for determining board surface information according to claim 4, wherein the calculating the initial value set of the response coefficient of the initial function by using a phase delay method based on the motion information comprises:
calculating a phase difference between the height information in the third height information set and the fourth height information set;
determining a delay time of the turn-up box based on the motion frequency and the phase difference;
determining the number of cycles of the delay of the heightening box according to the delay time and the acquisition cycle of acquiring the motion information;
based on the number of cycles, the set of initial values of the response coefficients is determined.
6. The method for determining the information on the board surface according to claim 5, wherein the step of solving the target coefficient set of the initial function based on the initial value set of the response coefficient and a preset board surface speed function by using a least square method comprises the following steps:
constructing a plate speed function based on the initial function;
and determining a target coefficient set which enables the board surface speed function to be minimum based on the initial value set of the response coefficients and the least square method.
7. The method of determining board surface information according to claim 1, wherein the board surface information includes target height information and speed information, and the determining the board surface information of the board surface to be processed according to the first height information and the second height information includes:
determining target height information of the board surface to be processed based on the first height information and the second height information;
and carrying out differential processing on the target height information based on a differential function to obtain the speed information of the plate surface to be processed.
8. A panel information determining apparatus, characterized by comprising:
the information acquisition module is used for acquiring first height information between the laser cutting head and the board surface to be processed, which is acquired by the height adjusting box based on the response characteristic of the height adjusting box;
the precision compensation module is used for processing the height information of the encoder according to a preset compensation function to obtain second height information, wherein the compensation function is determined according to the response characteristic of the height adjusting box;
and the information determining module is used for determining the board surface information of the board surface to be processed according to the first height information and the second height information so as to enable the laser cutting head to cut based on the board surface information.
9. A board surface information determination device, characterized in that the board surface information determination device comprises a memory, a processor and a board surface information determination program stored on the memory and operable on the processor, and the processor implements the steps of the board surface information determination method according to any one of claims 1 to 7 when executing the board surface information determination program.
10. A computer-readable storage medium, characterized in that it has stored thereon a board surface information determination program, which when executed by a processor, carries out the steps of the board surface information determination method according to any one of claims 1 to 7.
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