CN107357263A - A kind of electronic engraving machine control system and method - Google Patents
A kind of electronic engraving machine control system and method Download PDFInfo
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- CN107357263A CN107357263A CN201710470677.5A CN201710470677A CN107357263A CN 107357263 A CN107357263 A CN 107357263A CN 201710470677 A CN201710470677 A CN 201710470677A CN 107357263 A CN107357263 A CN 107357263A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4144—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using multiplexing for control system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The present invention discloses a kind of electronic engraving machine control system and method, main shaft, the engraving member to roller engraving, the slide unit to roller cycle radial displacement, the host computer for setting engraving parameter and the upper machine information of reception for installing roller implement the slave computer of control to main shaft and engraving member, it is characterised by, the slave computer also includes the digital phase-locked loop module of control spindle motor motion and the compensation control module of control engraving member displacement.By using digital phase-locked loop and compensating control method, being precisely controlled for spindle motor large rotation and engraving member is realized.
Description
Technical field
The present invention relates to recessed plate making field, and in particular to a kind of electronic engraving machine control system and method.
Background technology
With the development of automatic technology, the technical field such as gift, Mold Making, stone inscription, advertising signboard, decoration industry,
A large amount of modes for employing mechanical engraving are to substitute hand engraving, when not only solving carver existing for hand engraving and learning
Between long, carving engraving is not fine enough, engraving when hinder very much eyes and affect one's power of vision, easily influenceed by muscle power, spirit with external environment
Problem, the Product Precision carved out is high, process velocity is fast, disclosure satisfy that the needs of era development.In terms of gravure plate-making, one
It is straight using main path of the electronic engraving machine as plate-making, the code-disc closed loop detections of most of motion controls at present is also
It is analog phase-locked look and voltage-controlled oscillator circuit, such as CD4046 chips, but in the present system because spindle motor turns on a large scale
It is dynamic, such as：Dynamically locked out of tens Hz to 20KHz frequency range, common analog phase-locked look is difficult to meet to require；The opposing party
Face, for the engraving member of engraving machine in the presence of designated displacement is not arrived for a long time, specially engraving member declines, roller different with ascent stage
There is dragging in engraving position, easily cause engraving machine to carve failure in roller and cause whole roller to be scrapped.
The content of the invention
It is an object of the invention to for above-mentioned problems of the prior art, it is proposed that a kind of electronic engraving machine control
System and control method, by using digital phase-locked loop and compensating control method, realize spindle motor large rotation and engraving
Head is precisely controlled.
To reach the purpose of foregoing invention, the present invention is achieved through the following technical solutions：
The present invention discloses a kind of electronic engraving machine control system, includes：For installing the main shaft of roller, roller being carved
Engraving member, carve to the slide unit of roller cycle radial displacement, for setting the host computer of parameter and receive upper machine information pair
Main shaft implements the slave computer of control with engraving member, is characterised by, the slave computer also includes the numeral of control spindle motor motion
Phase-locked loop module and the compensation control module of control engraving member displacement.
Invention additionally discloses a kind of electronic engraving machine control method, it is characterised in that including step：
Step 1, corresponding artistic carving is added according to picture material to be carved；
Step 2, control slide unit to originate position to roller, carry out examination engraving；
Step 3, dynamic measurement site geometry compares with standard reference value, adjusts the current value of each several part AC and DC,
Examination engraving is carried out again, until the physical dimension of examination engraving meets standard reference value；
Step 4, according to the technique set and cross, straight flow valuve by the corresponding roller of the content graver of image.
Dynamic measurement site geometry described in step 3 compares with standard reference value, adjusts the electricity of each several part AC and DC
Flow valuve, it is specific as follows：Step 31 is using digital phase-locked loop module to spindle motor adjustment control signal；Step 32 is calculated using compensation
Method adjusts engraving member actual shift and shifts adjustment to expectation；Step 33 is according to the sinusoidal motion track of engraving member, with reference to vision side
Edge detection algorithm, is fitted the geometry curve of site, and automatic measurement calculates the physical dimension of site, then with standard reference value
Compare.
A kind of the electronic engraving machine control system and method for the present invention, comprehensive integration of the present invention gravure plate-making technique, is adopted
With digital circuit technique, embedded technology, FPGA technology, by using digital phase-locked loop and compensating control method, main shaft is realized
Motor large rotation and engraving member are precisely controlled so that electronic engraving machine can reach very high precision and stability.It is right
Promoted in the domesticizing of electronic engraving machine control system, the marketization and there is good business valency in the application of Flexible-Packaging Industry
Value.
Brief description of the drawings
Fig. 1 is the structure chart of the electronic engraving machine control system of the present invention.
Fig. 2 is the control principle drawing of spindle motor of the present invention and slide unit motor.
Fig. 3 is the structure chart of the digital phase-locked loop module in Fig. 1 fpga chips.
Fig. 4 is the structure chart of the compensation control module in Figure 1A RM chips.
Fig. 5 is the curve map for multiple RC discharge and recharges trend that actual measurement engraving member physical characteristic is presented.
Fig. 6 is the schematic diagram of the hysteresis curve of theoretical calculation.
Fig. 7 is the calculation flow chart of compensation control module.
Fig. 8 is comparison diagram of the actual site photo with measuring movement locus.
The step of Fig. 9 is the electronic engraving machine control method of the present invention is schemed.
Figure 10 is the flow chart of the electronic engraving machine control method of the present invention.
Embodiment
The technical scheme in the embodiment of the present invention is clearly and completely described with reference to the accompanying drawings and examples, shown
So, described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Referring to Fig. 1 and Fig. 2, electronic engraving machine control system of the present invention is distributed control system structure, is included：For
The main shaft of roller is installed, carves parameter to the engraving member of roller engraving, to the slide unit of roller cycle radial displacement, for setting
Host computer and the upper machine information of reception implement the slave computer of control to main shaft and engraving member, and host computer is calculated with PC or Industry Control
Machine is operation platform, is developed by technological means of visible language, and lower computer system is with embedded technology and FPGA technology
For technical background.The slave computer also includes the digital phase-locked loop module of control spindle motor motion and controls engraving member displacement
Compensate control module.
The electronic engraving machine control system of the present invention, the main shaft rotary encoder through signals of wherein spindle motor make digital servo-control
The input signal of ring moulds block, sinusoidal fractional frequency signal after frequency dividing, frequency multiplication by digital phase-locked loop module and the engraving received
Control signal is superimposed, i.e., crest or trough read the engraving control signal of DC data after engraving is started, or this is carved
Engraving member is driven after control signal amplification, now engraving member starts concussion engraving；And the console after being superimposed divides to form control
The mule carriage signal of slide unit.
Referring to Fig. 3, the digital phase-locked loop module is solidificated in the fpga chip of slave computer, the digital phase-locked loop module
Include the counter of phase discriminator, digital filter, digital controlled oscillator, the frequency divider of N parameters, pulse plus-minus module and N parameters；
In the present embodiment, phase discriminator uses XOR gate phase discriminator xormy, and digital filter is the variable forward-backward counter of a modulus value
Kcont, digital controlled oscillator is a pulse plus-minus module I DCont, then adds and subtracts module to pulse with the frequency divider div_N of N parameters
IDCont output signal idout frequency dividings, the wherein parameter N of frequency divider is from counter Cont_N, the N parameter with N parameters
Counter Cont_N provides corresponding frequency division parameter to input signal, and frequency division parameter N has host computer setting.
When digital phase-locked loop module is out-of-lock condition, then digital phase-locked loop module since phase discriminator successively transmission signal from
And commencing signal adjustment process, i.e.,：
Phase difference between XOR gate phase discriminator comparator input signal fin and output signal fout, and produce K become mould can
The counting direction control signal dnup of inverse counter；K becomes mould forward-backward counter and adjusts meter according to counting direction control signal dnup
Numerical value, dnup are that height carries out subtracting counting, and when count value reaches 0, output borrow pulse signal borrow；Added to be low
Count, and when count value reaches default K modulus value, output carry pulse signal carryo；Pulse addition and subtraction circuit then enter by basis
Digit pulse signal carryo and borrow increase and deduction that pulse signal borrow enters horizontal pulse in circuit output signal idout
Operation, to adjust the frequency of output signal；
Adjustment process above is repeated, when loop enters lock-out state, the output se of XOR gate phase discriminator is a duty
Square wave than 50%, and K becomes mould forward-backward counter and then periodically produces carry pulse output signal carryo and borrow pulse
Output signal borrow, the circuit output signal idout of pulse addition and subtraction circuit is caused periodically to add and deduct half of arteries and veins
Punching.
Referring to Fig. 4, electronic engraving machine control system of the invention also includes compensation control module, and it is solidificated in slave computer
In ARM chips, including：
Initial parameter measurement module, to measure the physical parameter that hysteresis curve is presented in the engraving member rise and fall stage；
Engraving member is solved according to RC step response models and does not arrive designated displacement for a long time, actual measurement show that engraving member physical characteristic is in
Existing multiple RC discharge and recharges trend, referring to Fig. 5 and formula VC(t)=Vs (1-e-t/τ) (V), Vc (t) is step compensation rate in formula, Vs
For the step amount of engraving member displacement saltus step, τ=RC, t are compensation time span, and e is natural constant, and the net number of compensation is t/ τ；
Shift simulation module, to simulate the ascent stage and the path f of decline stage of engraving member according to physical parameter
(t), wherein t is the moment；The hysteresis curve of engraving member according to Preisach static state hysteresis models, can be calculated, is eliminated on engraving member
Rise the stage it is different from the displacement of lower depression of order algorithm realization, specifically：
F (t)=∫ ∫α≥βμ (α, β) γαβ[u(t)]dαdβ
F (t) exports for system in formula；U (t) inputs for system；μ (α, β) ' is weight function in Preisach model；α, β are
Raising and lowering threshold value；γαβ[u (t)] is Preisach magnetic hysteresis operators；Preisach model is the integration by being inputted to history
The response currently inputted is asked in computing, has the feature of global memory, and magnetic hysteresis operator value can only be+1 or -1 two kind of situation,
Final explicit expression：
When u (t) is in rising
When u (t) is in decline
N is input current sequence in formula；αkThe maximum of series is risen or fallen for electric current；βkRisen or fallen for electric current
The output that the minimum of series can try to achieve any time u (t) by above formula responds, referring to Fig. 6, f (αk, βk) value can pass through survey
The major hysteresis loop and single order foldback curve for trying engraving member obtain；
Shift compensation module, referring to Fig. 7, to input u according to system desired output y (t) reverse systems*(t) as benefit
Signal is repaid, makes reality output f (t) of the system under thermal compensation signal effect close to desired output y (t), specifically：If engraving member
Target output be y (t), reality output is f (t), and G (t) is system model function, G-1(t) be its inverse function, then thermal compensation signal
It can be expressed as：
u*(t)=G-1(y(t))
System reality output is：
F (t)=G (u*(t))=G (G-1(y(t)))
U is inputted according to system desired output y (t) reverse systems*(t) reality of the system under thermal compensation signal effect, is made
F (t) is exported as far as possible close to desired output y (t).
Referring to Fig. 8, the compensation control module also includes site measurement module, to the sinusoidal motion rail according to engraving member
Mark, and vision edge detection algorithm is combined, the geometry curve of site is fitted, automatic measurement calculates the dimensioning of site
It is very little.
Referring to Fig. 9, invention additionally discloses a kind of electronic engraving machine control method, including step：
Step 1, corresponding artistic carving is added according to picture material to be carved；
Step 2, control slide unit to originate position to roller, carry out examination engraving；
Step 3, dynamic measurement site geometry compares with standard reference value, adjusts the current value of each several part AC and DC,
Examination engraving is carried out again, until the physical dimension of examination engraving meets standard reference value；
Step 4, according to the technique set and cross, straight flow valuve by the corresponding roller of the content graver of image.
The artistic carving includes：Screen number (number of outlet every square centimeter), net angle (longitudinal diagonal of site with
Laterally cornerwise angle), curve (image intensity value measures calibration with site volume containing ink), the beading (contracting of different stocks
Expansion factor), edge sharpening (the apprehensive specific aim processing of small characters, hachure).
In in this implementation, examination engraving is in the following way：3 rows of general engraving, the highlighted site of first row 5%, second
The dark carving site of row 100%, the middle tune site of the 3rd row 50, length are 5 millimeters.
Dynamic measurement site geometry described in step 3 compares with standard reference value, adjusts the electricity of each several part AC and DC
Flow valuve, it is specific as follows：Step 31 is using digital phase-locked loop module to spindle motor adjustment control signal；Step 32 is calculated using compensation
Method adjusts engraving member actual shift and shifts adjustment to expectation；Step 33 is according to the sinusoidal motion track of engraving member, with reference to vision side
Edge detection algorithm, is fitted the geometry curve of site, and automatic measurement calculates the physical dimension of site, then with standard reference value
Compare.
The geometry includes as follows：Horizontal stroke, the longitudinal catercorner length of dark carving site；The horizontal of highlighted site, longitudinal direction are right
Diagonal length；Middle horizontal stroke, the longitudinal catercorner length for adjusting site.
The step 31, to spindle motor adjustment control signal, is specially using digital phase-locked loop module：Using phase discriminator
The phase difference of comparator input signal and output signal, and produce the counting direction control signal of digital filter；
Count value is adjusted according to counting direction control signal using digital filter, when counting direction control signal is entered for height
When row subtracts counting, when count value reduces to 0, output borrow pulse signal；When counting direction control signal is carried out plus counted to be low
When, when count value reaches default K modulus value, output carry pulse signal：
Using pulse plus-minus modular form digital controlled oscillator, according to the digital filter of reception borrow pulse signal and
Carry pulse signal, the increase of horizontal pulse is entered in circuit output signal and deducts operation, to adjust the frequency of output signal；
The output signal of digital controlled oscillator is divided using frequency divider；
Corresponding frequency division parameter N is provided to input signal using counter；
When digital phase-locked loop module is out-of-lock condition, then digital phase-locked loop module since phase discriminator successively transmission signal from
And commencing signal adjustment process；When digital phase-locked loop module enters lock-out state, the output of phase discriminator is a dutycycle 50%
Square wave, and digital filter then periodically produces and carry pulse signal and borrows pulse signal so that digital controlled oscillator
Output signal periodically adds or deducted half of pulse.
The step 32 adjusts engraving member actual shift to displacement adjustment it is expected using backoff algorithm, is specially：Measurement carving
Carve the physical parameter of head rise and fall stage presentation hysteresis curve；Solve engraving member according to RC step response models to arrive for a long time
Not designated displacement, actual measurement show that multiple RC discharge and recharges trend are presented in engraving member physical characteristic, referring to Fig. 5 and formula VC
(t)=Vs (1-e-t/τ) (V), Vc (t) is step compensation rate in formula, and Vs is the step amount of engraving member displacement saltus step, τ=RC, t
To compensate time span, e is natural constant, and the net number of compensation is t/ τ；
The ascent stage and the path f (t) of decline stage of engraving member are simulated according to physical parameter, wherein t is the moment；That is root
According to Preisach static state hysteresis models, the hysteresis curve of engraving member is calculated, eliminates the displacement of engraving member ascent stage and lower depression of order
Different algorithm realizations, specifically：
F (t)=∫ ∫α≥βμ (α, β) γαβ[u(t)]dαdβ
F (t) exports for system in formula；U (t) inputs for system；μ (α, β) ' is weight function in Preisach model；α, β are
Raising and lowering threshold value；γαβ[u (t)] is Preisach magnetic hysteresis operators；Preisach model is the integration by being inputted to history
The response currently inputted is asked in computing, has the feature of global memory, and magnetic hysteresis operator value can only be+1 or -1 two kind of situation,
Final explicit expression：
When u (t) is in rising
When u (t) is in decline
N is input current sequence in formula；αkThe maximum of series is risen or fallen for electric current；βkRisen or fallen for electric current
The output that the minimum of series can try to achieve any time u (t) by above formula responds, referring to Fig. 6, f (αk, βk) value can pass through survey
The major hysteresis loop and single order foldback curve for trying engraving member obtain；
Referring to Fig. 7, thermal compensation signal is used as according to the input of system desired output y (t) reverse systems, system is believed in the compensation
Reality output f (t) under number effect is close to desired output y (t)；Specifically：If the target output of engraving member is y (t), actual defeated
Go out for f (t), G (t) is system model function, G-1(t) it is its inverse function, then thermal compensation signal can be expressed as：
u*(t)=G-1(y(t))
System reality output is：
F (t)=G (u*(t))=G (G-1(y(t)))
U is inputted according to system desired output y (t) reverse systems*(t) reality of the system under thermal compensation signal effect, is made
F (t) is exported as far as possible close to desired output y (t).
Above-described embodiment only not limits technical scheme described in the invention to illustrate the present invention；Therefore, although
This specification is with reference to above-mentioned each embodiment to present invention has been detailed description, still, the ordinary skill of this area
Personnel should be appreciated that and still the present invention can be modified or equivalent substitution；And all do not depart from the present invention spirit and
The technical scheme of scope and its improvement, it all should cover among scope of the presently claimed invention.
Claims (9)
1. a kind of electronic engraving machine control system, includes：For installing the main shaft of roller, the engraving member, right to roller engraving
The slide unit of roller cycle radial displacement, the host computer for setting engraving parameter and the upper machine information of reception are to main shaft and engraving member
Implement control slave computer, be characterised by, the slave computer also include control spindle motor motion digital phase-locked loop module and
Control the compensation control module of engraving member displacement.
2. electronic engraving machine control system according to claim 1, it is characterised in that the digital phase-locked loop module solidification
In the fpga chip of slave computer, the digital phase-locked loop module includes phase discriminator, digital filter, digital controlled oscillator, N ginsengs
The counter of several frequency divider, pulse plus-minus module and N parameters；
The phase discriminator produces the counting direction of digital filter to comparator input signal and the phase difference of output signal
Control signal；
The digital filter adjusts count value according to counting direction control signal, when counting direction control signal is that height is subtracted
During counting, when count value reduces to 0, output borrow pulse signal；When counting direction control signal for it is low carry out plus count when,
When count value reaches default K modulus value, output carry pulse signal：
The digital controlled oscillator is a pulse plus-minus module, and pulse signal and carry are borrowed according to the digital filter of reception
Pulse signal, the increase of horizontal pulse is entered in circuit output signal and deducts operation, to adjust the frequency of output signal；
Frequency divider, to be divided to the output signal of digital controlled oscillator；
Counter, to provide corresponding frequency division parameter N to input signal.
3. electronic engraving machine control system according to claim 2, it is characterised in that when digital phase-locked loop module is losing lock
State, then digital phase-locked loop module since phase discriminator successively transmission signal so as to commencing signal adjustment process；Work as digital servo-control
When ring moulds block enters lock-out state, the output of phase discriminator is the square wave of a dutycycle 50%, and digital filter is then periodic
Produce carry pulse signal and borrow pulse signal so that the output signal of digital controlled oscillator is periodically added or deducted half
Pulse.
4. electronic engraving machine control system according to claim 1, it is characterised in that the compensation control module is solidificated in
In the ARM chips of slave computer, including：
Initial parameter measurement module, to measure the physical parameter that hysteresis curve is presented in the engraving member rise and fall stage；
Shift simulation module, to simulate the ascent stage and the path f (t) of decline stage of engraving member according to physical parameter, its
Middle t is the moment；
Shift compensation module, to input u according to system desired output y (t) reverse systems*(t) thermal compensation signal is used as, makes system
Reality output f (t) under thermal compensation signal effect is close to desired output y (t).
5. electronic engraving machine control system according to claim 4, it is characterised in that the compensation control module also includes
Site measurement module, to the sinusoidal motion track according to engraving member, and vision edge detection algorithm is combined, be fitted the several of site
What pattern curve, automatic measurement calculate the physical dimension of site.
6. a kind of electronic engraving machine control method, it is characterised in that including step：
Step 1, corresponding artistic carving is added according to picture material to be carved；
Step 2, control slide unit to originate position to roller, carry out examination engraving；
Step 3, dynamic measurement site geometry compares with standard reference value, adjusts the current value of each several part AC and DC, then enters
Row examination engraving, until the physical dimension of examination engraving meets standard reference value；
Step 4, according to the technique set and cross, straight flow valuve by the corresponding roller of the content graver of image.
7. electronic engraving machine control method according to claim 6, it is characterised in that the dynamic measurement net described in step 3
Point geometry shape compares with standard reference value, adjusts the current value of each several part AC and DC, specific as follows：Step 31 is using numeral
Phase-locked loop module is to spindle motor adjustment control signal；Step 32 adjusts engraving member actual shift using backoff algorithm and moved to expectation
Position adjustment；Step 33 is according to the sinusoidal motion track of engraving member, with reference to vision edge detection algorithm, is fitted the geometry of site
Curve, automatic measurement calculates the physical dimension of site, then is compared with standard reference value.
8. electronic engraving machine control method according to claim 7, it is characterised in that the step 31 uses digital servo-control
Ring moulds block is specially to spindle motor adjustment control signal：Using phase discriminator comparator input signal and the phase difference of output signal
It is different, and produce the counting direction control signal of digital filter；
Count value is adjusted according to counting direction control signal using digital filter, when counting direction control signal is that height is subtracted
During counting, when count value reduces to 0, output borrow pulse signal；When counting direction control signal for it is low carry out plus count when,
When count value reaches default K modulus value, output carry pulse signal：
Using the digital controlled oscillator of pulse plus-minus modular form, pulse signal and carry are borrowed according to the digital filter of reception
Pulse signal, the increase of horizontal pulse is entered in circuit output signal and deducts operation, to adjust the frequency of output signal；
The output signal of digital controlled oscillator is divided using frequency divider；
Corresponding frequency division parameter N is provided to input signal using counter；
When digital phase-locked loop module is out-of-lock condition, then digital phase-locked loop module since phase discriminator successively transmission signal so as to opening
Beginning signal adjusts process；When digital phase-locked loop module enters lock-out state, the output of phase discriminator is the side of a dutycycle 50%
Ripple, and digital filter then periodically produces carry pulse signal and borrows pulse signal so that the output of digital controlled oscillator
Half of pulse is deducted in the addition of signal period property.
9. electronic engraving machine control method according to claim 7, it is characterised in that the step 32 uses backoff algorithm
Engraving member actual shift is adjusted to displacement adjustment it is expected, is specially：Measure engraving member rise and fall stage presentation hysteresis curve
Physical parameter；The ascent stage and the path f (t) of decline stage of engraving member are simulated according to physical parameter, wherein t is the moment；
U is inputted according to system desired output y (t) reverse systems*(t) thermal compensation signal is used as, makes system under thermal compensation signal effect
Reality output f (t) is close to desired output y (t).
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111572168A (en) * | 2020-05-12 | 2020-08-25 | 东莞固高自动化技术有限公司 | Carving control method of carving head, carving head driving module and electric carving machine |
| CN111605290A (en) * | 2020-05-12 | 2020-09-01 | 固高科技(深圳)有限公司 | Electric carving control system and electric carving machine |
| CN111722584A (en) * | 2020-05-28 | 2020-09-29 | 固高科技(深圳)有限公司 | Fast knife servo system, electric carving system and electric carving control method |
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| CN112172391A (en) * | 2020-08-18 | 2021-01-05 | 固高科技(深圳)有限公司 | Carving method and device based on encoder signals and computer equipment |
| CN112356559A (en) * | 2020-11-23 | 2021-02-12 | 固高科技(深圳)有限公司 | Carving control method and device for adjusting positions of net holes and electric carving control system |
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| CN111605290B (en) * | 2020-05-12 | 2022-05-31 | 固高科技股份有限公司 | Electric carving control system and electric carving machine |
| CN111572168A (en) * | 2020-05-12 | 2020-08-25 | 东莞固高自动化技术有限公司 | Carving control method of carving head, carving head driving module and electric carving machine |
| CN111722584A (en) * | 2020-05-28 | 2020-09-29 | 固高科技(深圳)有限公司 | Fast knife servo system, electric carving system and electric carving control method |
| CN111907189A (en) * | 2020-06-19 | 2020-11-10 | 固高科技(深圳)有限公司 | Calibration method, calibration device, electronic carving control system and computer-readable storage medium |
| CN111791574A (en) * | 2020-06-19 | 2020-10-20 | 固高科技(深圳)有限公司 | Electric engraving equipment and detection method |
| CN112172391A (en) * | 2020-08-18 | 2021-01-05 | 固高科技(深圳)有限公司 | Carving method and device based on encoder signals and computer equipment |
| CN112158016B (en) * | 2020-08-18 | 2021-11-05 | 固高科技股份有限公司 | Engraving method and device based on frequency division and frequency multiplication, computer equipment and storage medium |
| CN112158016A (en) * | 2020-08-18 | 2021-01-01 | 固高科技(深圳)有限公司 | Engraving method and device based on frequency division and frequency multiplication, computer equipment and storage medium |
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| CN112356559A (en) * | 2020-11-23 | 2021-02-12 | 固高科技(深圳)有限公司 | Carving control method and device for adjusting positions of net holes and electric carving control system |
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| CN112621198A (en) * | 2020-12-16 | 2021-04-09 | 歌尔光学科技有限公司 | Screw locking machine control method, device, equipment and storage medium |
| CN113031517A (en) * | 2021-03-16 | 2021-06-25 | 固高科技(深圳)有限公司 | Method, device and equipment for compensating engraving control signal and storage medium |
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