CN106426941A - Orthogonal decomposition motion control method and device for extrusion head of 3D printing machine - Google Patents

Orthogonal decomposition motion control method and device for extrusion head of 3D printing machine Download PDF

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CN106426941A
CN106426941A CN201611015369.5A CN201611015369A CN106426941A CN 106426941 A CN106426941 A CN 106426941A CN 201611015369 A CN201611015369 A CN 201611015369A CN 106426941 A CN106426941 A CN 106426941A
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motion
centerdot
delta
stage
extruder head
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CN106426941B (en
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张俊
刘卫祥
宋朝霞
李丽娇
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Central South University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • 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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers

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  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
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Abstract

The invention discloses a motion control method and device for an extrusion head of a 3D printing machine. The motion control method comprises a novel motion control mechanism for the extrusion head of the 3D printing machine. The motion control method is different from a traditional method that motion of the extrusion head needs to be controlled by a firmware program. The invention provides an orthogonal decomposition motion control mechanism for the extrusion head based on an FPGA hardware platform. The motion control method is characterized in that the defect that in an original solution, the firmware program requires time-sharing running is overcome, four motion shafts driving the extrusion head to operate can operate independently at the same time through the hardware design, and the printing speed is increased; besides, the fact that in the original solution, the motion control mechanism based on the Bresenham algorithm is widely utilized is a main factor of the problem that the precision in practical 3D printing is not high, the orthogonal decomposition motion control mechanism for the extrusion head is adopted, a motion track of the extrusion head conforms to a theoretical route better, and the problem that the travelling precision of the extrusion head is not high is greatly improved; and the motion control method has a remarkable effect on improving the 3D printing speed and printing precision.

Description

3D printer extruder head Orthogonal Decomposition motion control method and device
Technical field
The present invention relates to the motion control method of extruder head and device in 3D printing technique, especially a kind of 3D printer.
Background technology
In recent years, the research of 3D printer technology was increasingly paid attention to by academia and business circles with application, its quilt Referred to as one of important symbol of the third time industrial revolution.3D printing is a kind of manufacturing technology of rapid shaping, different from traditional " subtraction " is manufactured, it be using special wax material, powdery metal or plastics etc. can jointing material carry out being layered superposition " addition " Manufacture.Its working mechanism is to process the threedimensional model for designing using the tangent plane software (as skeinforge) of computer end, raw G code is become to be sent to 3D printer, 3D printer produces corresponding control instruction after G code is received, control extruder head does Go out correct printing action.In general, the motion of 3D printer is actually the motion of printhead, is printing 3D model When, printer is printing in layer, and extruder head print a certain layer when, be according to specific movement locus (straight line or Curve) pointwise printing.But in traditional solution, the motion of extruder head and speed controlling have been come in firmware program Become, this allows for driving four kinematic axiss of extruder head operation to need time-division operation, and this there is necessarily in physical characteristics Time-write interval poor, impact print speed and precision.And traditional solution is usually used squeezing based on Bresenham algorithm Lift one's head motor control mechanism, as shown in figure 1, with the solution of existing 3D printer extruder head motor control, actual In print procedure, due to the characteristic that firmware program timesharing is executed, X, Y-axis need the control strategy elder generation according to Bresenham algorithm After run, and E axle is fed in the form of the point-like in feeding process is carried out, and this causes the actual motion track of extruder head in sawtooth Shape, causes printing surface of the work rough, the not high enough problem of printing precision.
Traditional 3D printer extruder head motor control is realized in firmware program, is illustrated in figure 2 traditional squeezing Motion process of lifting one's head flow process.Kinematic parameter required for each stage in extruder head running is obtained by other processing modules, Displacement and speed, the speed of constant velocity stage and displacement, the speed in decelerating phase and displacement, acceleration including boost phase, with And initial velocity and rate of withdraw etc..Adopt in traditional solution based on very typically picture straight line calculation in the middle of traditional graph Method Bresenham is executing the motion of extruder head.As firmware is run on monolithic machine platform, therefore the motion of extruder head is walked Step is realized using timer interrupt service program.Interrupt service routine is to rely on the Timer Controlling in single-chip microcomputer to come in fact The walking of existing extruder head, when interrupt service routine is entered, first by 200 judge currently performed block block be whether empty (i.e. Whether current block is performed completes), if it is empty, then need next block to be taken out from Buffer block caching and is reset by 201 and determine When device；After the pin outbound course signal to the motor for driving each axle, core processing part is just executed, i.e., , there is a cyclic process here, that is, need three-level to judge the walking of extruder head at which in Bresenham walking algorithm 202 Stage.If the distance walked by extruder head is illustrated still in boost phase less than the distance of boost phase, if being more than, illustrating will Second stage is entered, and speed reaches peak value；Finally judge that extruder head distance covered, whether more than or equal to total distance, says condition Meet, illustrating that this block block has been carried out completing, if being unsatisfactory for, continuing cycling through walking.
This extruder head motor control mechanism adopted by traditional solution have impact on 3D printing to a great extent Speed and precision, firmware program needs the characteristic of time-division operation to cause to drive four kinematic axiss of extruder head operation to beat in actual It is poor to there is the regular hour during print, have impact on print speed, and is made based on the extruder head operating mechanism of Bresenham algorithm The actual motion track indentation of extruder head is obtained, have impact on printing precision.
Content of the invention
The present invention provides a kind of 3D printer extruder head Orthogonal Decomposition motion control method and device, and which can improve printing speed Degree and printing precision.
For achieving the above object, technical scheme is as follows：
A kind of 3D printer extruder head Orthogonal Decomposition motion control method, comprises the steps：
Step one, the step curve of acquisition extruder head resultant motion；
Proportionality coefficient between step 2, calculating X, Y, Z, E axle and extruder head total displacement；
Step 3, obtain the matrix trapezoid rate curve of X, Y, Z, E axle according to above-mentioned two step；
The speed parameter that step 4, output step 3 draw, to four kinematic axiss while and independent control.
Wherein, in step 3, the matrix trapezoid rate curve medium velocity parameter of X-axis includes：
Wherein axis_steps_per_unit_x is the step number that walks needed for X-direction unit distance,Ratio for X-axis Coefficient, VsFor extruder head resultant motion speed, asFor resultant acceleration, accelerate_until_s is the displacement for closing boost phase, The displacement that decelerate_after_s is reduced speed now for resultant motion；VxFor the component velocity of X-axis, axFor the component of acceleration, Accelerate_until_x walks step number for boost phase, decelerate_after_x be reduce speed now walk step number；Y、Z、E The decomposition of axle is similar with X-axis.
The present invention also provides a kind of 3D printer extruder head Orthogonal Decomposition motion control device, including orthogonal point of kinematic parameter Solution device, stage output control state machine, boost phase beginning parameter transform model device, constant velocity stage's beginning parameter transform model device, deceleration rank Section beginning parameter transform model device, obtains the decomposition coefficient of each axle Orthogonal Decomposition, and kinematic parameter Orthogonal Decomposition device is used for obtaining Input data carries out the preliminary computing of Orthogonal Decomposition to tetra- motions of X, Y, Z, E, and stage output control state machine is defeated for controlling Go out the kinematic parameter in which stage of rate curve, boost phase beginning parameter transform model device, constant velocity stage's beginning parameter transform model device, Decelerating phase beginning parameter transform model device is respectively used to calculate the associ-ated motion parameters in four axle speed curves each stage.
Wherein, the calculation of the associ-ated motion parameters in four axle speed curves each stage is：
Wherein axis_steps_per_unit_x is the step number that walks needed for X-direction unit distance,Ratio for X-axis Coefficient, VsFor extruder head resultant motion speed, asFor resultant acceleration, accelerate_until_s is the displacement for closing boost phase, The displacement that decelerate_after_s is reduced speed now for resultant motion；VxFor the component velocity of X-axis, axFor the component of acceleration, Accelerate_until_x walks step number for boost phase, decelerate_after_x be reduce speed now walk step number；Y、Z、E The decomposition of axle is similar with X-axis.
Wherein, the control mode of stage output control state machine is specially：State is in S0 when starting, and this state is right Accelerate, at the uniform velocity, the output in these three stages of slowing down completes signal carries out Initialize installation, when device starts to execute, state machine turns S1 is shifted to, through the process of boost phase beginning parameter transform model device, executes the data output of boost phase；Output completes to add Fast stage output completes signal and is set to 1, and state machine is just changed to S2, through the process of constant velocity stage's beginning parameter transform model device, is held The data output of row constant velocity stage；Likewise, after output is completed, constant velocity stage's output is completed signal being set to very, state machine Change to S3, through the process of decelerating phase beginning parameter transform model device, the data for executing the last stage, i.e. decelerating phase are defeated Go out, output is completed, then it is true that decelerating phase output completes signal, and state machine returns to S0, completes orthogonal point of extruder head resultant motion Solution and output services.
The invention has the beneficial effects as follows：3D printer extruder head Orthogonal Decomposition motion control method of the present invention and device are effective The characteristic of hardware concurrent processing data, and the characteristic of motion Orthogonal Decomposition is make use of, is effectively increased 3D printing speed and beat Print precision, reduces the complexity of data processing.The invention can allow four kinematic axiss for driving extruder head operation while and solely Vertical operation, improves print speed, and can be effectively improved 3D printing precision.And other modules in the electronic system of 3D printer are only Demand goes out the resultant motion parameter of extruder head, and resultant motion Orthogonal Decomposition can be become four according to the resultant motion parameter of extruder head by the present invention The componental movement of individual kinematic axiss, reduces the complexity of data processing.
Description of the drawings
Fig. 1 is the extruder head actual motion path schematic diagram of existing 3D printer solution.
Fig. 2 extrudes cephalomotor process chart for existing 3D printer.
Fig. 3 is to extrude cephalomotor Orthogonal Decomposition schematic diagram in three dimensions.
Fig. 4 is the module frame chart of embodiment of the present invention 3D printer extruder head Orthogonal Decomposition motion control device.
Fig. 5 is the state transition diagram of stage output control state machine in control device shown in Fig. 4.
Specific embodiment
Below in conjunction with the accompanying drawings and example, the present invention will be further described.
In physicss, no matter an object is moved in two dimension or three-dimensional, the parameter such as its speed and displacement is all deposited Can Orthogonal Decomposition physical characteristics.In 3D printer, the motion of extruder head is built upon realization in three-dimensional, and in order to change In kind traditional solution, extruder head motion drives the defect of the running orbit indentation in actual print procedure, and Tri- axles of X, Y, Z need the shortcoming of time-division operation so that they can independently, do not run by other axles, and drive with being affected The motion of extruder head is more fitted theoretical running orbit.The embodiment of the present invention proposes the resolution of velocity thought based on Orthogonal Decomposition 3D printer extruder head motion control method, the Kinematic Decomposition of extruder head is become the self-movement of four axles, is held having parallel Four axles are realized on the FPGA hardware platform of row characteristic while operation.
The Orthogonal Decomposition schematic diagram being illustrated in figure 3 in three dimensions.If the extruder head of 3D printer is according to such rail Mark runs, and can set total displacement of the Δ s as extruder head, and the displacement of X-axis is x, and the displacement of Y-axis is y, and the displacement of Z axis is z.I.e.The physical characteristics for all meeting Orthogonal Decomposition using displacement and speed can draw, the component velocity of each axle with All there is a proportionate relationship between sum velocity.For the motion of extruder head drives, the motion of extruder head depends on trapezoidal Rate curve, each trapezoidal rate curve includes all parameters required for extruder head from origin-to-destination, including initial speed Degree, acceleration, acceleration displacement, normal speed, the displacement for reducing speed now and rate of withdraw, and the thought based on Orthogonal Decomposition, Only need to calculate the step curve of extruder head resultant motion, it is possible to which the thought according to Orthogonal Decomposition obtains dividing for X, Y, Z axis Trapezoidal rate curve is solved, by the speed parameter of three axles is passed to stepper motor driver, drives the fortune of three axles respectively Dynamic.As for feed axle E axle, it is to provide consumptive material for tri- axles of X, Y, Z, and the length after the consumptive material melting extruded by E axle is just The shift length sum of tri- axles of X, Y, Z, and Δ s be these three axles and moving displacement, therefore between Δ s and E axle naturally also There is certain proportionate relationship.
The decomposition of 1.X axle
If extruder head resultant motion speed is Vs, resultant acceleration is as, the displacement for closing boost phase is accelerate_ Until_s, the displacement that resultant motion reduces speed now is decelerate_after_s；The component velocity of X-axis is Vx, the component of acceleration is ax, Boost phase walks step number for accelerate_until_x, and reduced speed now walks step number for decelerate_after_x, then X-axis Be decomposed into：
Wherein axis_steps_per_unit_x is the step number that walks needed for X-direction unit distance (millimeter), proportionality coefficient For
According to above formula, on the basis of the trapezoidal speed of resultant motion, you can obtain the trapezoidal rate curve of X-axis, by which Independent control is branched away, is effectively improved print speed.
The decomposition of 2.Y axle
The component velocity of Y-axis can equally be set as Vy, the component of acceleration is ay, boost phase walks step number accelerate_until_ Y, reduced speed now walks step number for decelerate_after_y, then being decomposed into of Y-axis：
Wherein axis_steps_per_unit_y is the step number that walks needed for Y direction unit distance (millimeter), proportionality coefficient For
The decomposition of 3.Z axle
The motion of Z axis still can be decomposed by extruder head resultant motion, if the component velocity of Z axis is Vz, the component of acceleration is az, Boost phase walks step number for accelerate_until_z, and reduced speed now walks step number for decelerate_after_z, then Z axis Be decomposed into：
Wherein axis_steps_per_unit_z is the step number that walks needed for Z-direction unit distance (millimeter), proportionality coefficient For
The decomposition of 4.E axle
Be present close relationship with the motion of tri- axles of X, Y, Z in the motion of E axle, because E axle is feed axle, beat in actual During print, the consumptive material of E axle extrusion is the motion filling for tri- axles of X, Y, Z, therefore the length after the consumptive material melting of E axle extrusion The shift length sum equal to X, Y, Z axis is spent, so E axle there is also proportionate relationship with the resultant motion of extruder head, if point speed of E axle Spend for Ve, the component of acceleration is ae, it is accelerate_until_e that boost phase walks step number, and the step number of walking for reducing speed now is Decelerate_after_e, then being decomposed into of E axle：
Wherein axis_steps_per_unit_e is the step number that walks needed for E direction of principal axis unit distance (millimeter), proportionality coefficient For
Hardware realization is carried out in FPGA platform, can achieve four complete Orthogonal Decomposition to extruder head resultant motion after Kinematic axiss while and independent operating, print speed and precision are provided.
Fig. 4 is embodiment of the present invention 3D printer extruder head Orthogonal Decomposition motion control device module frame chart.To extruder head The Orthogonal Decomposition of resultant motion is completed by kinematic parameter Orthogonal Decomposition device, completes the decomposition of X, Y, Z, E axle.
The data of input are obtained from RAM buffer, and the kinematic parameter for being obtained is the speed song of extruder head resultant motion Line and the related data of the walked shift length of each axle, and input data is latched (as indicated at 400).Obtaining input data Afterwards, it is sent in kinematic parameter Orthogonal Decomposition device 401, tetra- motions of X, Y, Z, E is carried out with the preliminary computing of Orthogonal Decomposition, i.e., Using four axles displacement divided by the total displacement of extruder head resultant motion, obtain the decomposition coefficient of each axle Orthogonal Decomposition, such as set crowded The total displacement that lifts one's head is Δ S, and the displacement of X-axis is Δ X, and the displacement of Y-axis is Δ Y, and the displacement of Z axis is Δ for the displacement of Δ Z, E axle E, then the Orthogonal Decomposition coefficient of each axle be respectively Δ X/ Δ S, Δ Y/ Δ S, Δ Z/ Δ S, Δ E/ Δ S.Below can be according to this decomposition Coefficient calculates the associ-ated motion parameters of four axle speed curves.
Orthogonal Decomposition device 401 its actual be exactly decomposition to extruder head resultant motion rate curve, rate curve is divided into three Stage, i.e. boost phase, constant velocity stage and decelerating phase, for the hardware unit of the present invention, can only in order successively Export some motion stage, when should which stage of output speed curve kinematic parameter this be accomplished by using mould Stage output control state machine 402 in block is realizing.Fig. 5 is the state transition graph of stage output control state machine 402.In fortune In dynamic parameter Orthogonal Decomposition device, the resultant motion of extruder head is decomposed into after the componental movement of each axle, by stage output control state Machine 402 come complete each axle acceleration, at the uniform velocity, the data output in these three stages of slowing down (include to walk the step number, direction of motion, initial Speed, rate of withdraw, acceleration etc.).State start when be in S0, this state be to accelerate, at the uniform velocity, slow down these three stages Output complete signal and carry out Initialize installation.When the hardware unit of the present invention starts to execute, state machine is changed to S1, Jing Guojia The process of fast course movement parameter calculator 403, executes the data output of boost phase；Output completes to export boost phase Complete signal and 1 is set to, state machine is just changed to S2, through the process of constant velocity stage's beginning parameter transform model device 404, execute at the uniform velocity rank The data output of section；Likewise, constant velocity stage's output is completed signal and is set to very after output is completed, state machine change to S3, through the process of decelerating phase beginning parameter transform model device 405, executes the data output in the last stage, i.e. decelerating phase, Output is completed, then to complete signal is true for decelerating phase output, and state machine returns to S0, complete extruder head resultant motion Orthogonal Decomposition and Output services.

Claims (5)

1. a kind of 3D printer extruder head Orthogonal Decomposition motion control method, it is characterised in that comprise the steps：
Step one, the step curve of acquisition extruder head resultant motion；
Proportionality coefficient between step 2, calculating X, Y, Z, E axle and extruder head total displacement；
Step 3, obtain the matrix trapezoid rate curve of X, Y, Z, E axle according to above-mentioned two step；
The speed parameter that step 4, output step 3 draw, to four kinematic axiss while and independent control.
2. 3D printer extruder head Orthogonal Decomposition motion control method according to claim 1, it is characterised in that step 3 In, the matrix trapezoid rate curve medium velocity parameter of X-axis includes：
V x = Δ x Δ s · V s · a x i s _ s t e p s _ p e r _ u n i t _ x
a x = Δ x Δ s · a s · a x i s _ s t e p s _ p e r _ u n i t _ x
a c c e l e r a t e _ u n t i l _ x = Δ x Δ s · a c c e l e r a t e _ u n t i l _ s · a x i s _ s t e p s _ p e r _ u n i t _ x
d e c e l e r a t e _ a f t e r _ x = Δ x Δ s · d e c e l e r a t e _ a f t e r _ s · a x i s _ s t e p s _ p e r _ u n i t _ x
Wherein axis_steps_per_unit_x is the step number that walks needed for X-direction unit distance,For the proportionality coefficient of X-axis, VsFor extruder head resultant motion speed, asFor resultant acceleration, accelerate_until_s is the displacement for closing boost phase, The displacement that decelerate_after_s is reduced speed now for resultant motion；VxFor the component velocity of X-axis, axFor the component of acceleration, Accelerate_until_x walks step number for boost phase, decelerate_after_x be reduce speed now walk step number；Y、Z、E The decomposition of axle is similar with X-axis.
3. a kind of 3D printer extruder head Orthogonal Decomposition motion control device, it is characterised in that including kinematic parameter Orthogonal Decomposition Device, stage output control state machine, boost phase beginning parameter transform model device, constant velocity stage's beginning parameter transform model device, decelerating phase Beginning parameter transform model device, obtains the decomposition coefficient of each axle Orthogonal Decomposition, and kinematic parameter Orthogonal Decomposition device is used for defeated by obtained Enter data carries out the preliminary computing of Orthogonal Decomposition to tetra- motions of X, Y, Z, E, and stage output control state machine is used for controlling output The kinematic parameter in which stage of rate curve, boost phase beginning parameter transform model device, constant velocity stage's beginning parameter transform model device, subtracts Fast course movement parameter calculator is respectively used to calculate the associ-ated motion parameters in four axle speed curves each stage.
4. 3D printer extruder head Orthogonal Decomposition motion control device according to claim 3, it is characterised in that four axles The calculation of the associ-ated motion parameters in rate curve each stage is：
V x = Δ x Δ s · V s · a x i s _ s t e p s _ p e r _ u n i t _ x
a x = Δ x Δ s · a s · a x i s _ s t e p s _ p e r _ u n i t _ x
a c c e l e r a t e _ u n t i l _ x = Δ x Δ s · a c c e l e r a t e _ u n t i l _ s · a x i s _ s t e p s _ p e r _ u n i t _ x
d e c e l e r a t e _ a f t e r _ x = Δ x Δ s · d e c e l e r a t e _ a f t e r _ s · a x i s _ s t e p s _ p e r _ u n i t _ x
Wherein axis_steps_per_unit_x is the step number that walks needed for X-direction unit distance,For the proportionality coefficient of X-axis, VsFor extruder head resultant motion speed, asFor resultant acceleration, accelerate_until_s is the displacement for closing boost phase, The displacement that decelerate_after_s is reduced speed now for resultant motion；VxFor the component velocity of X-axis, axFor the component of acceleration, Accelerate_until_x walks step number for boost phase, decelerate_after_x be reduce speed now walk step number；Y、Z、E The decomposition of axle is similar with X-axis.
5. 3D printer extruder head Orthogonal Decomposition motion control device according to claim 3, it is characterised in that the stage is defeated The control mode for going out controlled state machine is specially：State start when be in S0, this state be to accelerate, at the uniform velocity, slow down this three The output in individual stage completes signal and carries out Initialize installation, and when device starts to execute, state machine is changed to S1, through boost phase The process of beginning parameter transform model device, executes the data output of boost phase；Output completes boost phase output to be completed signal 1 is set to, state machine is just changed to S2, through the process of constant velocity stage's beginning parameter transform model device, the data for executing constant velocity stage are defeated Go out；Likewise, after output is completed, constant velocity stage's output is completed signal being set to very, state machine is changed to S3, through slowing down The process of course movement parameter calculator, executes the data output in the last stage, i.e. decelerating phase, and output is completed, then subtract It is true that fast stage output completes signal, and state machine returns to S0, completes Orthogonal Decomposition and the output services of extruder head resultant motion.
CN201611015369.5A 2016-11-18 2016-11-18 3D printer extruder head Orthogonal Decomposition motion control method and device Active CN106426941B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110879568A (en) * 2019-12-31 2020-03-13 南京工程学院 Motion control method of multi-axis linkage economical numerical control system
CN111026041A (en) * 2019-12-31 2020-04-17 南京工程学院 Reconfigurable system and reconfigurable method for multi-axis linkage economic numerical control

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110879568A (en) * 2019-12-31 2020-03-13 南京工程学院 Motion control method of multi-axis linkage economical numerical control system
CN111026041A (en) * 2019-12-31 2020-04-17 南京工程学院 Reconfigurable system and reconfigurable method for multi-axis linkage economic numerical control
CN111026041B (en) * 2019-12-31 2022-12-13 南京工程学院 Reconfigurable system and reconfigurable method for multi-axis linkage numerical control

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