CN117826687A - Multi-laser galvanometer synchronous control method and device, electronic equipment and storage medium - Google Patents
Multi-laser galvanometer synchronous control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application relates to a multi-laser galvanometer synchronous control method, a multi-laser galvanometer synchronous control device, electronic equipment, a storage medium and a programmable logic program product. The method comprises the following steps: receiving an interrupt enabling signal of a control terminal; controlling all the shafts according to the interrupt enabling signals to sequentially generate control loop interrupt signals, and counting based on control loop period counters corresponding to the shafts; when the control loop period counter of the target shaft counts to a half position of the control loop period, the control target shaft outputs a synchronous signal and sequentially sends the synchronous signal to all shafts except the target shaft; when all the shafts except the target shaft receive the synchronizing signal, determining the value of the current shaft control loop period counter, comparing the intermediate counting value of the current shaft control loop period with the value of the current shaft control loop period counter to obtain a deviation value, and synchronizing the current shaft control loop period time according to the deviation value. The synchronization performance of the multi-laser galvanometer control system can be improved, and the expandability of the system is improved.
Description
Technical Field
The application relates to the technical field of laser galvanometer processing, in particular to a multi-laser galvanometer synchronous control method, a device, electronic equipment, a storage medium and a programmable logic program product.
Background
The laser processing technology is widely applied to industries such as aerospace, medical equipment, 3C, new energy sources and the like at present, such as laser 3D printing, laser cutting, laser welding, laser ablation and the like. With the rapid development of photoelectric technology and computer technology in recent years, laser processing technology is mature, is more efficient, clean and flexible compared with the traditional mechanical processing mode, and is suitable for synchronous and collaborative processing of multiple laser processing parts.
In a multiple laser control system, beam steering control is typically achieved using multiple laser galvanometers. The synchronization method in the multi-laser galvanometer control system achieves the aim of synchronous control by reducing the communication delay from the position instruction of the control end to each galvanometer end or adjusting the synchronization signal of the control end instruction according to the response sequence of the galvanometer end receiving instruction, but the method has poorer synchronization and the synchronization precision is more than tens of microseconds, and the control card needs to be provided with special synchronization control software and hardware, so that the expandability of the system is limited.
Disclosure of Invention
Based on this, it is necessary to provide a method, an apparatus, an electronic device, a readable storage medium and a programmable logic program product for controlling synchronization of multiple laser galvanometers, which can improve synchronization accuracy of multiple laser galvanometers and system scalability, in combination with bandwidth and real-time requirements of laser galvanometer control loops.
In a first aspect, the present application provides a method for synchronously controlling multiple laser galvanometers, including:
step S1, receiving an interrupt enabling signal of a control end;
step S2, all the shafts are controlled to sequentially generate control loop interrupt signals according to the interrupt enable signals, and counting is performed based on a control loop period counter corresponding to the shafts;
step S3, when the control loop period counter of the target shaft counts to a half position of the control loop period, the control target shaft outputs a synchronous signal and sequentially sends the synchronous signal to all shafts except the target shaft;
and S4, when all the shafts except the target shaft receive the synchronous signals, determining the value of a current shaft control loop period counter, comparing the intermediate count value of the current shaft control loop period with the value of the current shaft control loop period counter, obtaining a deviation value, and synchronizing the current shaft control loop period time according to the deviation value.
In one embodiment, controlling all axes according to the interrupt enable signal to sequentially generate the control loop interrupt signal, and counting based on the control loop period counter corresponding to the axes includes:
when the interrupt enable signal is at a high level, the first shaft generates a control loop interrupt signal and outputs the control loop interrupt signal to the second shaft after filtering time, and meanwhile, a control loop period counter of the first shaft starts counting;
the second shaft receives the control loop interrupt signal of the first shaft, generates the control loop interrupt signal by the second shaft and outputs the control loop interrupt signal to the third shaft after filtering time, and meanwhile, the control loop period counter of the second shaft starts counting;
the steps are repeated in sequence until the target shaft outputs a control loop interrupt signal.
In one embodiment, the filtered time includes:
filtering the input signal to obtain an effective signal in the input signal; wherein the input signals include an interrupt enable signal and a control loop interrupt signal.
In one embodiment, synchronizing the current axis control loop cycle time according to the offset value by comparing the current axis control loop cycle intermediate count value with the current axis control loop cycle counter value and obtaining the offset value comprises:
when the value of the current shaft control loop period counter is larger than the middle count value of the current shaft control loop period, obtaining an offset value, and increasing the current shaft control loop period time by the offset value;
and under the condition that the value of the current axis control loop period counter is smaller than the middle count value of the current axis control loop period, obtaining an offset value, and reducing the current axis control loop period time by the offset value.
In one embodiment, the method further comprises:
and repeating the steps S2, S3 and S4 to finish the resynchronization.
In a second aspect, the present application further provides a multiple laser galvanometer synchronization control system, including:
the control end is used for generating a position instruction and an interrupt enabling signal and transmitting the position instruction and the interrupt enabling signal to the galvanometer end;
the galvanometer end comprises a Field Programmable Gate Array (FPGA) and a Digital Signal Processor (DSP) and is used for performing laser control; the FPGA is used for acquiring an effective signal and synchronously processing the effective signal, and the DSP is used for receiving a position instruction and controlling the ring interrupt and driving the servo motor to rotate;
the control end is connected with the vibrating mirror ends of the target number, and the vibrating mirror ends are connected with each other.
In a third aspect, the present application further provides a multiple laser galvanometer synchronization control device, including:
the interrupt enabling signal receiving module is used for receiving an interrupt enabling signal of the control end;
the control loop interrupt signal generation module is used for controlling all the shafts to sequentially generate control loop interrupt signals according to the interrupt enable signals and counting based on control loop period counters corresponding to the shafts;
the synchronous signal transmission module is used for controlling the target shaft to output synchronous signals when the control ring period counter of the target shaft counts to a half position of the control ring period and sequentially transmitting the synchronous signals to all shafts except the target shaft;
and the deviation value acquisition module is used for determining the value of the current axis control loop period counter when all the axes except the target axis receive the synchronous signals, comparing the current axis control loop period middle count value with the current axis control loop period counter value to obtain a deviation value, and synchronizing the current axis control loop period time according to the deviation value.
In a fourth aspect, the present application further provides an electronic device, including a memory and a processor, where the memory stores a programmable logic program, and the processor implements the following steps when executing the programmable logic program:
step S1, receiving an interrupt enabling signal of a control end;
step S2, all the shafts are controlled to sequentially generate control loop interrupt signals according to the interrupt enable signals, and counting is performed based on a control loop period counter corresponding to the shafts;
step S3, when the control loop period counter of the target shaft counts to a half position of the control loop period, the control target shaft outputs a synchronous signal and sequentially sends the synchronous signal to all shafts except the target shaft;
and S4, when all the shafts except the target shaft receive the synchronous signals, determining the value of a current shaft control loop period counter, comparing the intermediate count value of the current shaft control loop period with the value of the current shaft control loop period counter, obtaining a deviation value, and synchronizing the current shaft control loop period time according to the deviation value.
In a fifth aspect, the present application further provides a programmable logic readable storage medium having stored thereon a programmable logic program which when executed by a processor performs the steps of:
step S1, receiving an interrupt enabling signal of a control end;
step S2, all the shafts are controlled to sequentially generate control loop interrupt signals according to the interrupt enable signals, and counting is performed based on a control loop period counter corresponding to the shafts;
step S3, when the control loop period counter of the target shaft counts to a half position of the control loop period, the control target shaft outputs a synchronous signal and sequentially sends the synchronous signal to all shafts except the target shaft;
and S4, when all the shafts except the target shaft receive the synchronous signals, determining the value of a current shaft control loop period counter, comparing the intermediate count value of the current shaft control loop period with the value of the current shaft control loop period counter, obtaining a deviation value, and synchronizing the current shaft control loop period time according to the deviation value.
In a sixth aspect, the present application also provides a programmable logic program product comprising a programmable logic program which when executed by a processor performs the steps of:
step S1, receiving an interrupt enabling signal of a control end;
step S2, all the shafts are controlled to sequentially generate control loop interrupt signals according to the interrupt enable signals, and counting is performed based on a control loop period counter corresponding to the shafts;
step S3, when the control loop period counter of the target shaft counts to a half position of the control loop period, the control target shaft outputs a synchronous signal and sequentially sends the synchronous signal to all shafts except the target shaft;
and S4, when all the shafts except the target shaft receive the synchronous signals, determining the value of a current shaft control loop period counter, comparing the intermediate count value of the current shaft control loop period with the value of the current shaft control loop period counter, obtaining a deviation value, and synchronizing the current shaft control loop period time according to the deviation value.
The method, the device, the electronic equipment, the storage medium and the programmable logic program product for synchronously controlling the multiple laser galvanometers are realized by receiving an interrupt enabling signal of a control end; controlling all the shafts according to the interrupt enabling signals to sequentially generate control loop interrupt signals, and counting based on control loop period counters corresponding to the shafts; when the control loop period counter of the target shaft counts to a half position of the control loop period, the control target shaft outputs a synchronous signal and sequentially sends the synchronous signal to all shafts except the target shaft; when all the shafts except the target shaft receive the synchronizing signal, determining the value of the current shaft control loop period counter, comparing the intermediate counting value of the current shaft control loop period with the value of the current shaft control loop period counter to obtain a deviation value, and synchronizing the current shaft control loop period time according to the deviation value. According to the method, the interruption period of the servo control loop in the laser galvanometer is regulated in real time, the laser tracks among the galvanometers are synchronized, the synchronization performance of the multi-laser galvanometer control system can be improved, the synchronization precision can reach nanosecond level, the deviation value of the control loop time sequence among the galvanometers is reduced, and the system expandability is improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person having ordinary skill in the art.
FIG. 1 is a flow chart of a method for synchronously controlling multiple laser galvanometers in one embodiment;
FIG. 2 is an overall timing diagram of a method for synchronous control of multiple laser galvanometers in one embodiment;
FIG. 3 is a state transition diagram of a synchronization processing part in a multi-laser galvanometer synchronization control method according to an embodiment;
FIG. 4 is a flow chart of a method for synchronously controlling multiple laser galvanometers according to another embodiment;
FIG. 5 is a flow chart of a method for synchronously controlling multiple laser galvanometers according to another embodiment;
FIG. 6 is a functional block diagram of a multiple laser galvanometer synchronization control system in one embodiment;
FIG. 7 is a functional block diagram of an FPGA in a multiple laser galvanometer synchronous control system in one embodiment;
FIG. 8 is a schematic diagram of an apparatus for controlling synchronization of multiple laser galvanometers in one embodiment.
Detailed Description
There are various synchronization methods in the conventional multiple laser galvanometer control system. For example, in a multi-galvanometer system based on CAN (Controller Area Network Communication ) communication, an upper computer analyzes a complex pattern, decomposes a pattern laser track, a control module generates a position instruction according to the decomposed pattern laser track and sends the position instruction to a galvanometer end, the galvanometer end receives the position instruction to execute, the laser printing track finishes the rotation of a conveyor belt, the control end calculates the time of all shaft conveyor belts and sends a synchronous signal to the galvanometer end, but calculates the deviation of each galvanometer according to the transmission rotating speed of each shaft, and the feedback response is slow and the synchronism is poor. In the multi-galvanometer system based on EtherMAC (Ethernet Media Access Control) communication and Ethernet media access control), a control end instruction is connected with all galvanometer end instructions in series through the Ethernet, and the synchronous deviation value among all galvanometers reaches tens of microseconds. In the gantry synchronous system, data are interacted between a main shaft and a secondary shaft through an FPGA (Field-Programmable Gate Array, field programmable gate array), the control loop interrupt period of the two-axis servo system is regulated by regulating the time of sending and receiving initial positions by two axes, but the method is only applicable to the two-axis servo system, is not applicable to multi-axis synchronization, and can achieve nanosecond synchronization precision. The encoder detects the running state of the motor and feeds back the running state to the multi-axis motion controller, the running state is compared with an expected position input signal to obtain an error value, the error value is used as the input of a multi-axis control algorithm, and the outermost position control loop of the control system is controlled.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, a method for controlling synchronization of multiple laser galvanometers is provided, and this embodiment is applied to a terminal for illustration, it is understood that the method may also be applied to a server, and may also be applied to a system including a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the steps of:
step S1, receiving an interrupt enabling signal of a control terminal.
And S2, controlling all the shafts to sequentially generate control loop interrupt signals according to the interrupt enable signals, and counting based on control loop period counters corresponding to the shafts.
And step S3, when the control loop period counter of the target shaft counts to a half position of the control loop period, the control target shaft outputs a synchronous signal and sequentially sends the synchronous signal to all shafts except the target shaft.
And S4, when all the shafts except the target shaft receive the synchronous signals, determining the value of a current shaft control loop period counter, comparing the intermediate count value of the current shaft control loop period with the value of the current shaft control loop period counter, obtaining a deviation value, and synchronizing the current shaft control loop period time according to the deviation value.
Illustratively, after the multi-laser galvanometer control system is powered on, all motors are in a standby state, and the control end gives an interrupt enabling signal. And when the interrupt enable signal is at a high level, all the axes sequentially generate control loop interrupt signals after filtering, and meanwhile, the control loop period counter corresponding to each axis starts counting. Further, when the axis n control loop period counter counts to a half position of the control loop period, the axis n outputs a synchronization signal, which is sequentially sent to other axes, wherein the axis n is the target axis. Further, when each axis receives the synchronization signal of the axis n, the value of the current axis control loop period counter is latched, the intermediate count value of the current axis control loop period is compared with the value of the current axis control loop period counter, and an offset value is calculated, and the current axis control loop period time is adjusted according to the offset value, so that the first synchronization operation after power-on reset is completed.
In the multi-laser galvanometer synchronous control method, the interrupt enabling signal of the control end is received; controlling all the shafts according to the interrupt enabling signals to sequentially generate control loop interrupt signals, and counting based on control loop period counters corresponding to the shafts; when the control loop period counter of the target shaft counts to a half position of the control loop period, the control target shaft outputs a synchronous signal and sequentially sends the synchronous signal to all shafts except the target shaft; when all the shafts except the target shaft receive the synchronizing signal, determining the value of the current shaft control loop period counter, comparing the intermediate counting value of the current shaft control loop period with the value of the current shaft control loop period counter to obtain a deviation value, and synchronizing the current shaft control loop period time according to the deviation value. Compared with the traditional scheme, other equipment or modules are not needed, the debugging cost is reduced, the synchronization method is simple, real-time synchronization is realized, and the synchronization precision is high.
In one exemplary embodiment, controlling all axes according to the interrupt enable signal to sequentially generate the control loop interrupt signal, and counting based on the control loop period counter corresponding to the axes includes: when the interrupt enable signal is at a high level, the first shaft generates a control loop interrupt signal and outputs the control loop interrupt signal to the second shaft after filtering time, and meanwhile, a control loop period counter of the first shaft starts counting; the second shaft receives the control loop interrupt signal of the first shaft, generates the control loop interrupt signal by the second shaft and outputs the control loop interrupt signal to the third shaft after filtering time, and meanwhile, the control loop period counter of the second shaft starts counting; the steps are repeated in sequence until the target shaft outputs a control loop interrupt signal.
Specifically, the overall time sequence of the multi-laser galvanometer synchronous control method is shown in fig. 2; when the interrupt enable signal is at a high level, after the filtering time t0, the shaft 1 generates a control loop interrupt signal, namely, the first shaft generates the control loop interrupt signal and outputs the control loop interrupt signal to the downstream motor shaft 2, and meanwhile, the shaft 1 controls a loop period counter to start counting; the shaft 2 receives the control loop interrupt signal of the shaft 1, and after the filtering time t0, the shaft 2 generates the control loop interrupt signal and outputs the control loop interrupt signal to the downstream motor shaft 3, and meanwhile, the shaft 2 controls a loop period counter to start counting; and similarly, sequentially generating control loop interrupt signals of all the shafts until the shaft n outputs the control loop interrupt signals.
In this embodiment, the control loop interrupt signals of all axes are sequentially generated, and the corresponding control loop period counters start to count, so that the servo control loop interrupt periods in the laser galvanometer are adjusted in real time, the laser tracks between the galvanometers are synchronized, and the synchronization performance of the multi-laser galvanometer control system can be improved.
In one exemplary embodiment, the filtered time includes: filtering the input signal to obtain an effective signal in the input signal; wherein the input signals include an interrupt enable signal and a control loop interrupt signal.
Specifically, the acquisition of the effective signal portion is divided into two cases. When the output high level of the effective signal part is obtained, the edge of the input signal changes, the filter counter starts to count, if the count value is larger than the filter parameter value, the filter counter is considered as an effective signal, and the output low level of the effective signal part is obtained; if the count value is smaller than the filter parameter value, the signal is considered as an interference signal, and the output of the obtained effective signal part is kept at a high level. When the output low level of the effective signal part is obtained, the edge of the input signal changes, the filter counter starts to count, if the count value is larger than the filter parameter value, the count value is considered as the effective signal, and the output high level of the effective signal part is obtained; if the count value is smaller than the filter parameter value, the time interference signal is considered, and the output of the effective signal acquisition part is kept unchanged at a low level.
Illustratively, the filter parameter value cannot be greater than the control loop interrupt high level duration, otherwise the control loop interrupt signal is filtered out.
In this embodiment, by performing filtering processing on the input signal, an effective signal may be obtained, and the interrupt enable signal and the interference signal in the control loop interrupt signal may be filtered.
In one exemplary embodiment, synchronizing the current axis control loop cycle time according to the offset value by comparing the current axis control loop cycle intermediate count value with the current axis control loop cycle counter value and obtaining the offset value includes: when the value of the current shaft control loop period counter is larger than the middle count value of the current shaft control loop period, obtaining an offset value, and increasing the current shaft control loop period time by the offset value; and under the condition that the value of the current axis control loop period counter is smaller than the middle count value of the current axis control loop period, obtaining an offset value, and reducing the current axis control loop period time by the offset value.
Specifically, as still shown in FIG. 2, the synchronization signal is output when the axis n control loop cycle counter counts to half the control loop cycle position, sequentially sending to a shaft 1 and a shaft 2; when each axis receives the synchronization signal of axis n, the value Tn of the current axis control loop cycle counter is latched. If Tn is greater than the control loop cycle intermediate count value Tm of the current shaft, the current shaft control loop is considered to lead the shaft n control loop, and an offset value Tn-Tm=Δt is calculated, and the current shaft control loop cycle time is increased by T=T+Δt; if Tn is smaller than the intermediate count value Tm of the control loop cycle of the current shaft, the control loop cycle of the current shaft is considered to lag the control loop cycle of the shaft n, and an offset value Tm-Tn=Δt is calculated, the control loop cycle time of the current shaft is reduced by T=T- Δt, and the first synchronization operation of the shafts 1 to n after power-on reset is completed.
Further, as shown in fig. 3, the state transition of the synchronization processing part is mainly implemented by a state machine and a counter, where st_idle represents an initial state; st_sync0 represents an interrupt synchronization enable signal of the state standby control terminal, or a control loop interrupt signal of the upstream motor shaft. When the control end interrupt enabling signal is detected, generating a current shaft control loop interrupt signal, and controlling a loop period counter to count in a circulating way; when an upstream motor shaft control loop interrupt signal is detected, generating a current shaft control loop interrupt signal, stopping counting after a control loop period counter counts the period time, and restarting counting by the counter after detecting the interrupt signal of an upstream module again; st_sync1 indicates that when the control loop cycle counter counts to the intermediate position, a synchronization signal is generated, all axes will generate the synchronization signal, but only axis n will output the synchronization signal to other axes; when the control loop synchronizing signal of the shaft n is detected, latching the value Tn of the current shaft control loop period counter, which is also called as the intermediate time of the shaft n, and then skipping to a state; st_sync2 represents the magnitude of the comparison axis n intermediate time Tn and the current axis control loop period intermediate time Tm, if Tn > Tm, the current axis control loop period is considered to lead the axis n control loop period, and the current axis control loop period is increased by t=t+tn-Tm; if Tn is smaller than Tm, the current axis control loop period is considered to lag the axis n control loop period, the current axis control loop period is reduced by T=T- (Tm-Tn), and one synchronization and state jump are completed; ST_SYNC3 indicates that when the control loop period counter counts to T, a control loop interrupt signal is generated, then the state ST_SYNC0 is jumped, and the generated interrupt signal is only sent to the DSP of the current shaft for use and is not sent to the downstream motor shaft.
In the embodiment, the period time of the current axis control loop is adjusted through the synchronous signal, so that the synchronous precision can be improved, nanosecond level is achieved, meanwhile, the deviation value of the control loop time sequence among all vibrating mirrors is reduced, and the expandability of the system is improved.
In an exemplary embodiment, the method further comprises repeating steps S2, S3, S4 to complete the resynchronization.
Illustratively, as still shown in FIG. 2, the first synchronization operation is ended, step S2 is repeated again, the control loops of axes 1 through n are sequentially activated, and the second synchronization does not require an interrupt enable signal to trigger, at which time the control loop counter is already counting; the steps S3 and S4 are repeated to synchronize the process control loop cycle.
In this embodiment, the synchronization operation may be repeated many times, since each control loop period is synchronously adjusted, the synchronization shaft is not fixed, firstly, the shaft 1 is used as the synchronization shaft to generate an interrupt at the start time of the control loop, and sequentially transmitted to the shaft n to generate an interrupt loop, then the shaft n is used as the synchronization shaft, and synchronization signals are generated at the middle position of the control loop of the shaft n, sequentially transmitted to the shafts 1 to n-1 for synchronization processing, and the interrupt signals are synchronously generated at the start time of the next control loop period, and then the next synchronization period is repeated.
In one embodiment, as shown in FIG. 4, the overall flowchart of the multiple laser galvanometer synchronization control method includes starting a first synchronization and synchronization process to calculate the offset value, wherein starting the first synchronization includes a system power-on reset; the control end gives an interrupt synchronous enabling signal; the shaft 1 starts to generate a control loop interrupt signal; each axis vibrating mirror sequentially generates a control loop interrupt signal; the periodic counter of each axis vibrating mirror control ring starts to count up; judging whether the cycle time of the control loop is counted, if not, continuing to count, if so, generating a control loop interrupt signal by each axis, and clearing and re-counting the counter. The synchronization processing calculation deviation value comprises that when an axis n control loop counter counts to a half position of a control loop period, a synchronization signal is generated; when other shafts receive the shaft n synchronizing signal, latching the value Tn of the counter, judging whether Tn is larger than the middle count value Tm of the current shaft control ring period, if so, obtaining the deviation time Deltat for the current shaft control ring leading shaft n control ring period, tn-Tm, and if not, obtaining the deviation time Deltat for the current shaft control ring period, namely T+Deltat, and if not, obtaining the deviation time Deltat for the current shaft control ring lagging the shaft n control ring period, namely T-Deltat for the current shaft control ring period, and completing the first synchronization.
In another embodiment, as shown in fig. 5, a method for synchronously controlling multiple laser galvanometers is provided, which includes:
in step S502, an interrupt enable signal of the control terminal is received.
Step S504, when the interrupt enable signal is at a high level, filtering the input signal to obtain a valid signal in the input signal, wherein the input signal comprises the interrupt enable signal; the first axis generates a control loop interrupt signal and outputs it to the second axis, while the control loop period counter of the first axis starts counting.
Step S506, the second shaft receives the control loop interrupt signal of the first shaft, and performs filtering processing on the input signal to obtain an effective signal in the input signal, wherein the input signal comprises the control loop interrupt signal; the second shaft generates a control loop interrupt signal and outputs the control loop interrupt signal to the third shaft, and at the same time, a control loop period counter of the second shaft starts counting.
Step S508, repeating the above steps in turn until the target shaft outputs a control loop interrupt signal.
In step S510, when the control loop cycle counter of the target shaft counts to the half position of the control loop cycle, the control target shaft outputs a synchronization signal and sequentially transmits the synchronization signal to all the shafts except the target shaft.
Step S512, when all axes except the target axis receive the synchronization signal, determines the value of the current axis control loop period counter.
Step S514, obtaining a deviation value and increasing the current axis control loop period time by the deviation value when the current axis control loop period counter is larger than the current axis control loop period middle count value.
In step S516, when the value of the current axis control loop period counter is smaller than the current axis control loop period middle count value, an offset value is obtained, and the current axis control loop period time is reduced by the offset value.
Step S518, steps S504-S516 are repeated to complete the resynchronization.
In one embodiment, a multiple laser galvanometer synchronization control system is provided, comprising:
the control end is used for generating a position instruction and an interrupt enabling signal and transmitting the position instruction and the interrupt enabling signal to the galvanometer end;
the galvanometer end comprises a Field Programmable Gate Array (FPGA) and a Digital Signal Processor (DSP) and is used for performing laser control; the FPGA is used for acquiring an effective signal and synchronously processing the effective signal, and the DSP is used for receiving a position instruction and controlling the ring interrupt and driving the servo motor to rotate;
the control end is connected with the vibrating mirror ends of the target number, and the vibrating mirror ends are connected with each other.
For example, as shown in fig. 6, a functional block diagram of the multi-laser galvanometer synchronous control system is that one control end is connected with a plurality of galvanometer ends, namely, galvanometer 1, galvanometer 2 … … galvanometer n-1 and galvanometer n, and a control end position command data line is connected with the plurality of galvanometer ends, and all the galvanometer ends are connected with each other. The FPGA and the DSP in the vibrating mirror end work cooperatively to realize laser control. The FPGA is mainly used for synchronizing the control loop period of each shaft, generating a servo control loop interrupt, sending the control loop interrupt of the current shaft to the DSP, and simultaneously sending an interrupt signal of the current shaft to the FPGA in the next vibrating mirror end connected with the vibrating mirror end. The DSP is mainly used for receiving a position instruction of a control end and a control loop interrupt sent by the FPGA and driving the servo motor to rotate. Specifically, after the interrupt synchronization enabling signal passes the filtering time, generating a control loop interrupt signal of the shaft 1 and outputting the control loop interrupt signal to the FPGA in the vibrating mirror 2, and the FPGA in the vibrating mirror 1 sends the control loop interrupt to the DSP of the same vibrating mirror; the control loop interrupt signal of the shaft 1 instructs the vibrating mirror 2 to generate a control loop interrupt signal of the shaft 2 and output the control loop interrupt signal to the FPGA in the vibrating mirror 3, the FPGA in the vibrating mirror 2 sends the control loop interrupt to the DSP of the same vibrating mirror, and the process is repeated until the vibrating mirror n generates a control loop interrupt signal of the shaft n; and when the axis n control loop period counter counts to a half position of the control loop period, a synchronizing signal is output and sequentially sent to the vibrating mirror 1, the vibrating mirror 2 … … vibrating mirror n-1 and the vibrating mirror n, and synchronization is carried out according to the intermediate counting value of the current axis control loop period and the value of the current axis control loop period counter.
Further, as shown in fig. 7, the FPGA functional block diagram is mainly composed of an effective signal acquisition part and a synchronous processing part, wherein the effective signal acquisition part receives a control loop interrupt signal of a previous shaft and a control loop interrupt signal of a shaft n for filtering processing; and the synchronization processing part receives the filtered control loop interrupt signal and the control loop interrupt signal of the shaft n, calculates the deviation value of the control loop and performs synchronization processing.
Optionally, CPLD (Complex Programmable Logic Device), programmable logic device, ARM (Advanced RISC Machine, advanced simple instruction set computer) and DSP (Digital Signal Processor ) can be used to realize synchronous processing, but ARM or DSP has poorer synchronous performance, and CPLD is applicable under the condition of smaller consumption of logic resources.
In the embodiment, the synchronous processing of the synchronous laser tracks can be realized only by accessing two paths of signal lines between the laser vibrating mirrors, compared with other schemes without other equipment or modules, the method reduces the debugging cost, has simple synchronous method, good expandability and low development and debugging cost; the control loop interruption of the servo motor in the laser galvanometer is given by the FPGA and is subjected to synchronous processing, and each laser galvanometer synchronizes the error nanosecond on the instruction execution time sequence, so that real-time synchronization is realized, and the synchronization precision is high; the synchronization axis is not fixed, and each period can adjust the control loop interrupt period.
It should be noted that, other implementation methods are possible in the filtering manner and the implementation of the synchronization processing software, but the principle is the same.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a multi-laser galvanometer synchronous control device for realizing the multi-laser galvanometer synchronous control method. The implementation scheme of the device for solving the problem is similar to that described in the above method, so the specific limitation in the embodiments of the device for controlling synchronization of multiple laser mirrors provided below may refer to the limitation of the method for controlling synchronization of multiple laser mirrors hereinabove, and will not be repeated here.
In an exemplary embodiment, as shown in fig. 8, there is provided a multi-laser galvanometer synchronization control apparatus, including: an interrupt enable signal receiving module 802, a control loop interrupt signal generating module 804, a synchronization signal transmitting module 806, and a bias value obtaining module 808, wherein:
an interrupt enable signal receiving module 802, configured to receive an interrupt enable signal of the control end;
the control loop interrupt signal generation module 804 is configured to control all axes to sequentially generate control loop interrupt signals according to the interrupt enable signal, and count based on a control loop period counter corresponding to the axes;
the synchronization signal transmission module 806 is configured to control the target shaft to output a synchronization signal when the control loop period counter of the target shaft counts to a half position of the control loop period, and sequentially send the synchronization signal to all shafts except the target shaft;
the deviation value obtaining module 808 is configured to determine a value of the current axis control loop period counter when all axes except the target axis receive the synchronization signal, and synchronize the current axis control loop period time according to the deviation value by comparing the current axis control loop period intermediate count value with the current axis control loop period counter value and obtaining a deviation value.
In one embodiment, the control loop interrupt signal generation module 804 includes:
the first shaft control loop interrupt signal generation module is used for generating a control loop interrupt signal by the first shaft and outputting the control loop interrupt signal to the second shaft after filtering time when the interrupt enable signal is in a high level, and meanwhile, the control loop period counter of the first shaft starts counting;
the second shaft control loop interrupt signal generation module is used for receiving the control loop interrupt signal of the first shaft by the second shaft, generating the control loop interrupt signal by the second shaft and outputting the control loop interrupt signal to the third shaft after filtering time, and simultaneously starting counting by the control loop period counter of the second shaft;
the control loop interrupt signal repetition generation module is used for sequentially repeating the steps until the target shaft outputs the control loop interrupt signal.
In one embodiment, the first and second axis control loop interrupt signal generation modules further comprise:
the filtering processing module is used for carrying out filtering processing on the input signals to obtain effective signals in the input signals; wherein the input signals include an interrupt enable signal and a control loop interrupt signal.
In one embodiment, the offset value acquisition module 808 includes:
the current shaft control loop period time increasing module is used for obtaining an offset value and increasing the current shaft control loop period time by the offset value under the condition that the value of the current shaft control loop period counter is larger than the middle count value of the current shaft control loop period;
and the current shaft control loop period time reducing module is used for obtaining the deviation value and reducing the current shaft control loop period time by the deviation value under the condition that the value of the current shaft control loop period counter is smaller than the middle count value of the current shaft control loop period.
In one embodiment, the apparatus further comprises:
and the synchronous repeating module is used for repeating the control loop interrupt signal generating module, the synchronous signal transmission module and the deviation value acquisition module to complete the resynchronization.
All or part of each module in the multi-laser galvanometer synchronous control device can be realized by software, hardware and combination thereof. The above modules may be embedded in hardware or independent of a processor in the electronic device, or may be stored in software in a memory in the electronic device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, there is also provided an electronic device including a memory and a processor, the memory storing a programmable logic program, the processor implementing the steps of the method embodiments described above when executing the programmable logic program.
In one embodiment, a readable storage medium is provided, on which a programmable logic program is stored which, when executed by a processor, implements the steps of the method embodiments described above.
In one embodiment, a programmable logic program product is provided comprising a programmable logic program that when executed by a processor performs the steps of the method embodiments described above.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use, and processing of the related data are required to meet the related regulations.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by instructing the associated hardware by a programmable logic program, which may be stored on a non-volatile readable storage medium, which when executed may include the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. The method for synchronously controlling the multiple laser galvanometers is characterized by comprising the following steps:
step S1, receiving an interrupt enabling signal of a control end;
step S2, all the shafts are controlled to sequentially generate control loop interrupt signals according to the interrupt enable signals, and counting is performed based on a control loop period counter corresponding to the shafts;
step S3, when the control loop period counter of the target shaft counts to a half position of the control loop period, the control target shaft outputs a synchronous signal, and the synchronous signal is sequentially sent to all shafts except the target shaft;
and S4, when all the shafts except the target shaft receive the synchronizing signal, determining the value of a current shaft control loop period counter, comparing the intermediate counting value of the current shaft control loop period with the value of the current shaft control loop period counter, obtaining a deviation value, and synchronizing the current shaft control loop period time according to the deviation value.
2. The method of claim 1, wherein controlling all axes according to the interrupt enable signal sequentially generates control loop interrupt signals, and counting based on the control loop period counter corresponding to the axes comprises:
when the interrupt enable signal is at a high level, the first shaft generates a control loop interrupt signal and outputs the control loop interrupt signal to the second shaft after filtering time, and meanwhile, a control loop period counter of the first shaft starts counting;
the second shaft receives the control loop interrupt signal of the first shaft, generates the control loop interrupt signal by the second shaft and outputs the control loop interrupt signal to the third shaft after filtering time, and meanwhile, the control loop period counter of the second shaft starts counting;
the steps are repeated in sequence until the target shaft outputs a control loop interrupt signal.
3. The method of claim 2, wherein the filtered time further comprises:
filtering the input signal to obtain an effective signal in the input signal; wherein the input signals include an interrupt enable signal and a control loop interrupt signal.
4. The method of claim 1, wherein synchronizing the current axis control loop cycle time based on the offset value by comparing the current axis control loop cycle intermediate count value with the current axis control loop cycle counter value and obtaining the offset value comprises:
under the condition that the value of the current shaft control loop period counter is larger than the middle count value of the current shaft control loop period, obtaining a deviation value, and increasing the current shaft control loop period time by the deviation value;
and under the condition that the value of the current axis control loop period counter is smaller than the middle count value of the current axis control loop period, obtaining a deviation value, and enabling the current axis control loop period time to be reduced by the deviation value.
5. The method according to claim 1, wherein the method further comprises:
and repeating the steps S2, S3 and S4 to finish the resynchronization.
6. A multiple laser galvanometer synchronization control system, the system comprising:
the control end is used for generating a position instruction and an interrupt enabling signal and transmitting the position instruction and the interrupt enabling signal to the galvanometer end;
the galvanometer end comprises a Field Programmable Gate Array (FPGA) and a Digital Signal Processor (DSP) and is used for performing laser control; the FPGA is used for acquiring an effective signal and synchronously processing the effective signal, and the DSP is used for receiving the position instruction and the control loop interrupt and driving the servo motor to rotate;
the control end is connected with the vibrating mirror ends of the target number, and the vibrating mirror ends are connected with each other.
7. A multiple laser galvanometer synchronization control apparatus, the apparatus comprising:
the interrupt enabling signal receiving module is used for receiving an interrupt enabling signal of the control end;
the control loop interrupt signal generation module is used for controlling all the shafts to sequentially generate control loop interrupt signals according to the interrupt enabling signals and counting based on control loop period counters corresponding to the shafts;
the synchronous signal transmission module is used for controlling the target shaft to output synchronous signals when the control ring period counter of the target shaft counts to a half position of the control ring period, and sequentially transmitting the synchronous signals to all shafts except the target shaft;
and the deviation value acquisition module is used for determining the value of the current axis control loop period counter when all the axes except the target axis receive the synchronous signal, comparing the current axis control loop period middle count value with the current axis control loop period counter value and obtaining a deviation value, and synchronizing the current axis control loop period time according to the deviation value.
8. An electronic device comprising a memory and a processor, the memory storing a programmable logic program, wherein the processor, when executing the programmable logic program, implements the steps of the method of any one of claims 1 to 5.
9. A readable storage medium having stored thereon a programmable logic program, wherein the programmable logic program, when executed by a processor, implements the steps of the method of any of claims 1 to 5.
10. A programmable logic program product comprising a programmable logic program which when executed by a processor implements the steps of the method of any one of claims 1 to 5.
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