CN106426941B - 3D printer extruder head Orthogonal Decomposition motion control method and device - Google Patents
3D printer extruder head Orthogonal Decomposition motion control method and device Download PDFInfo
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- CN106426941B CN106426941B CN201611015369.5A CN201611015369A CN106426941B CN 106426941 B CN106426941 B CN 106426941B CN 201611015369 A CN201611015369 A CN 201611015369A CN 106426941 B CN106426941 B CN 106426941B
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Abstract
The invention discloses a kind of 3D printer extruder head motion control method and devices, include a kind of completely new 3D printer extruder head motion control mechanism.The movement of extruder head is realized that control is different by firmware program from traditional needs, and the present invention is based on FPGA hardware platforms to propose a kind of extruder head motion control mechanism of Orthogonal Decomposition.It has abandoned former solution and has needed defect by firmware program time-division operation, the design of Hardware is so that four kinematic axis of driving extruder head operation can accelerate print speed simultaneously and independent operating.And, the motion control mechanism based on Bresenham algorithm is generally used in original solution, this is to cause the principal element that precision is not high enough in actual 3D printing, in the present invention, using the extruder head motion control mechanism of Orthogonal Decomposition, the running track of extruder head is more bonded theoretical path, largely improves the not high enough problem of extruder head walking precision.The present invention suffers from remarkable result on improving 3D printing speed and printing precision.
Description
Technical field
The present invention relates to 3D printing technique, the motion control method and device of extruder head in especially a kind of 3D printer.
Background technique
In recent years, attention of the research of 3D printer technology with application increasingly by academia and business circles, its quilt
The referred to as one of the important signs that of the third time industrial revolution.3D printing is a kind of manufacturing technology of rapid shaping, different from traditional
" subtraction " manufacture, it is that layering superposition " addition " is carried out using adhesive materials such as special wax material, powdery metal or plastics
Manufacture.Its working mechanism is to handle designed threedimensional model using the section software (such as skeinforge) of computer end, raw
It is sent to 3D printer at G code, 3D printer generates corresponding control instruction after receiving G code, and control extruder head is done
Correct printing operation out.In general, the movement of 3D printer is actually the movement of print head, in printing 3D model
When, printer is printing in layer, and extruder head is when printing a certain layer, be according to specific motion profile (straight line or
Curve) print point by point.But in traditional solution, the movement of extruder head and speed control have been come in firmware program
At, this four kinematic axis for allowing for driving extruder head operation needs time-division operation, this there is centainly in physical characteristic
Print time it is poor, influence print speed and precision.And traditional solution is usually using squeezing based on Bresenham algorithm
Lift one's head motion control mechanism, as shown in Figure 1, with the solution of existing 3D printer extruder head motion control, actual
In print procedure, due to the characteristic that firmware program timesharing executes, X, Y-axis need first according to the control strategy of Bresenham algorithm
After run, and E axis is fed in carrying out feeding process in dotted form, this makes the actual motion track of extruder head in sawtooth
Shape causes printing workpiece surface rough, the not high enough problem of printing precision.
Traditional 3D printer extruder head motion control is realized in firmware program, and traditional squeeze is illustrated in figure 2
Motion process of lifting one's head process.Kinematic parameter required for each stage in extruder head operational process has been obtained as other processing modules,
The speed of displacement and speed, constant velocity stage including boost phase and displacement, the speed in decelerating phase and displacement, acceleration, with
And initial velocity and rate of withdraw etc..Using based on very typically picture straight line is calculated in traditional graph in traditional solution
Method Bresenham executes the movement of extruder head.Since firmware is to run on monolithic machine platform, therefore the movement of extruder head is walked
Step is realized using timer interrupt service program.Interrupt service routine is come in fact by the Timer Controlling in single-chip microcontroller
The walking of existing extruder head, when entering interrupt service routine, first by 200 judge currently performed block block whether be sky (i.e.
Whether current block is executed into), if it is empty, then needs to take out next piece from Buffer block caching by 201 and reset and determine
When device；After the pin outbound course signal to the stepper motor for driving each axis, core processing part is just executed, i.e.,
There is a cyclic process herein, that is, three-level needed to judge the walking of extruder head at which in Bresenham walking algorithm 202
Stage.If the distance that extruder head is walked is less than the distance of boost phase, illustrate still in boost phase, if more than, then illustrate by
Into second stage, and speed reaches peak value；Finally judge whether extruder head distance covered is more than or equal to total distance, says condition
Meet, illustrates that this block block has been carried out completion, if not satisfied, then continuing cycling through walking.
This extruder head motion control mechanism used by traditional solution largely affects 3D printing
Speed and precision, firmware program need the characteristic of time-division operation that four kinematic axis for driving extruder head operation are beaten actual
There are the regular hour is poor during print, print speed is affected, and the extruder head operating mechanism based on Bresenham algorithm makes
The actual motion track for obtaining extruder head is serrated, and affects printing precision.
Summary of the invention
The present invention provides a kind of 3D printer extruder head Orthogonal Decomposition motion control method and device, can improve printing speed
Degree and printing precision.
To achieve the above object, technical scheme is as follows:
A kind of 3D printer extruder head Orthogonal Decomposition motion control method, includes the following steps:
Step 1: obtaining the step curve of extruder head resultant motion；
Step 2: calculating the proportionality coefficient between X, Y, Z, E axis and extruder head total displacement；
Step 3: finding out the matrix trapezoid rate curve of X, Y, Z, E axis according to above-mentioned two step；
Step 4: the speed parameter that output step 3 obtains, to four kinematic axis while and independent control.
Wherein, in step 3, speed parameter includes: in the matrix trapezoid rate curve of X-axis
Wherein axis_steps_per_unit_x is the step number walked needed for X-direction unit distance,For the ratio of X-axis
Coefficient, VsFor extruder head resultant motion speed, asFor resultant acceleration, accelerate_until_s is the displacement for closing boost phase,
Decelerate_after_s is the displacement that resultant motion reduces speed now；VxFor the component velocity of X-axis, axFor the component of acceleration,
Accelerate_until_x is that boost phase walks step number, decelerate_after_x be reduce speed now walk step number；Y,Z,E
The decomposition of axis is similar with X-axis.
The present invention also provides a kind of 3D printer extruder head Orthogonal Decomposition motion control devices, including orthogonal point of kinematic parameter
Solve device, the stage exports state of a control 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 axis Orthogonal Decomposition, what kinematic parameter Orthogonal Decomposition device was used to obtain
Input data carries out the preliminary operation of Orthogonal Decomposition to X, Y, Z, E tetra- movements, and stage output state of a control machine is defeated for controlling
The kinematic parameter in which stage of rate curve out, 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 curve each stages.
Wherein, the calculation of the associ-ated motion parameters in four axle speed curve each stages are as follows:
Wherein axis_steps_per_unit_x is the step number walked needed for X-direction unit distance,For the ratio of X-axis
Coefficient, VsFor extruder head resultant motion speed, asFor resultant acceleration, accelerate_until_s is the displacement for closing boost phase,
Decelerate_after_s is the displacement that resultant motion reduces speed now；VxFor the component velocity of X-axis, axFor the component of acceleration,
Accelerate_until_x is that boost phase walks step number, decelerate_after_x be reduce speed now walk step number；Y,Z,E
The decomposition of axis is similar with X-axis.
Wherein, the control mode of stage output state of a control machine specifically: state is in S0 when starting, this state is pair
Accelerate, at the uniform velocity, the output in these three stages of slowing down complete signal carry out Initialize installation, device start execute when, state machine turn
S1 is shifted to, by the processing of boost phase beginning parameter transform model device, executes the data output of boost phase；Output is completed to add
Fast stage output completes signal and is set to 1, and state machine is just converted to S2, by the processing of constant velocity stage's beginning parameter transform model device, is held
The data of row constant velocity stage export；It is set to very likewise, constant velocity stage is exported completion signal after output is completed, state machine
Conversion executes the last stage by the processing of decelerating phase beginning parameter transform model device to S3, i.e. the data in decelerating phase are defeated
Out, output is completed, then it is that very, state machine returns to S0 that signal is completed in decelerating phase output, orthogonal point for completing extruder head resultant motion
Solution and output services.
The beneficial effects of the present invention are: 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 movement Orthogonal Decomposition is utilized, effectively increases 3D printing speed and beats
Precision is printed, the complexity of data processing is reduced.The invention can allow four kinematic axis of driving extruder head operation simultaneously and only
Vertical operation, improves print speed, and can effectively improve 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, the present invention can according to the resultant motion parameter of extruder head by resultant motion Orthogonal Decomposition at four
The componental movement of a kinematic axis reduces the complexity of data processing.
Detailed description of the invention
Fig. 1 is the extruder head actual motion path schematic diagram of existing 3D printer solution.
Fig. 2 is that existing 3D printer squeezes out cephalomotor process flow diagram.
Fig. 3 is to squeeze out cephalomotor Orthogonal Decomposition schematic diagram in three-dimensional space.
Fig. 4 is the module frame chart of 3D printer of embodiment of the present invention extruder head Orthogonal Decomposition motion control device.
Fig. 5 is the state transition diagram that the stage exports state of a control machine in control device shown in Fig. 4.
Specific embodiment
With reference to the accompanying drawing and example, the present invention will be further described.
In physics, an object is either moved in two dimension or three-dimensional, and the parameters such as speed and displacement are all deposited
Can Orthogonal Decomposition physical characteristic.In 3D printer, the movement of extruder head is built upon to be realized in three-dimensional, and in order to change
The defect that running track of the extruder head movement driving in actual print procedure is serrated in kind traditional solution, and
X, the shortcomings that tri- axis of Y, Z need time-division operation, enables them independently, not to be run with being influenced by other axis, and drive
The movement of extruder head is more bonded theoretical running track.The embodiment of the present invention proposes the resolution of velocity thought based on Orthogonal Decomposition
3D printer extruder head motion control method is held by the Kinematic Decomposition of extruder head at the self-movement of four axis having parallel
Realize that four axis are run simultaneously in the FPGA hardware platform of row characteristic.
The Orthogonal Decomposition schematic diagram being illustrated in figure 3 in three-dimensional space.If the extruder head of 3D printer is according to such rail
Mark operation can set Δ s as the total displacement of 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.Using displacement and speed all meet Orthogonal Decomposition physical characteristic it can be concluded that, the component velocity of each axis with
It closes and all there is a proportionate relationship between speed.For the movement of extruder head driving, the movement of extruder head is dependent on trapezoidal
Rate curve, each trapezoidal rate curve include extruder head all parameters required for origin-to-destination, including initial speed
Degree, acceleration, acceleration displacement, normal speed, the displacement and rate of withdraw to reduce speed now, and the thought based on Orthogonal Decomposition,
Only need to be calculated the step curve of extruder head resultant motion, so that it may point of X, Y, Z axis is found out according to the thought of Orthogonal Decomposition
Trapezoidal rate curve is solved, the speed parameter of three axis, which is passed to stepper motor driver, can respectively drive the fortune of three axis
It is dynamic.As for feed axis E axis, it is to provide consumptive material for tri- axis of X, Y, Z, and the length after the consumptive material melting that E axis is squeezed out is just
The sum of the shift length of tri- axis of X, Y, Z, and Δ s be these three axis and moving displacement, therefore between Δ s and E axis naturally also
There are certain proportionate relationships.
The decomposition of 1.X axis
If extruder head resultant motion speed is Vs, resultant acceleration as, the displacement for closing boost phase is accelerate_
Until_s, the displacement that resultant motion reduces speed now are decelerate_after_s；The component velocity of X-axis is Vx, component of acceleration ax,
It is accelerate_until_x that boost phase, which walks step number, and the step number of walking to reduce speed now is decelerate_after_x, then X-axis
Decomposition are as follows:
Wherein axis_steps_per_unit_x is the step number walked needed for X-direction unit distance (millimeter), proportionality coefficient
For
According to above formula, on the basis of resultant motion trapezoidal speed, the trapezoidal rate curve of X-axis can be obtained, by it
Independent control is branched away, print speed is effectively improved.
The decomposition of 2.Y axis
The component velocity of Y-axis can equally be set as Vy, component of acceleration ay, boost phase walks step number accelerate_until_
Y, the step number of walking to reduce speed now is decelerate_after_y, the then decomposition of Y-axis are as follows:
Wherein axis_steps_per_unit_y is the step number walked needed for Y direction unit distance (millimeter), proportionality coefficient
For
The decomposition of 3.Z axis
From the movement of Z axis still can be decomposed by extruder head resultant motion, if the component velocity of Z axis is Vz, component of acceleration az,
It is accelerate_until_z that boost phase, which walks step number, and the step number of walking to reduce speed now is decelerate_after_z, then Z axis
Decomposition are as follows:
Wherein axis_steps_per_unit_z is the step number walked needed for Z-direction unit distance (millimeter), proportionality coefficient
For
The decomposition of 4.E axis
There are close relationships to beat because E axis is feed axis actual for the movement of E axis and the movement of tri- axis of X, Y, Z
During print, the consumptive material that E axis squeezes out is the movement filling for tri- axis of X, Y, Z, therefore the length after the consumptive material melting of E axis extrusion
Degree is equal to the sum of the shift length of X, Y, Z axis, so there is also proportionate relationships for the resultant motion of E axis and extruder head, if point speed of E axis
Degree is Ve, component of acceleration ae, it is accelerate_until_e that boost phase, which walks step number, and the step number of walking to reduce speed now is
Decelerate_after_e, the then decomposition of E axis are as follows:
Wherein axis_steps_per_unit_e is the step number walked needed for E axis direction unit distance (millimeter), proportionality coefficient
For
Hardware realization is carried out in FPGA platform, and extruder head resultant motion is completed to can be realized four after Orthogonal Decomposition
Kinematic axis simultaneously and independent operating, print speed and precision are provided.
Fig. 4 is 3D printer of embodiment of the present invention 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 axis.
The data of input are obtained from RAM buffer, and kinematic parameter obtained is that the speed of extruder head resultant motion is bent
The related data of line and the walked shift length of each axis, and input data is latched into (as indicated at 400).Obtaining input data
Afterwards, it is sent in kinematic parameter Orthogonal Decomposition device 401, X, Y, Z, E tetra- movements is carried out with the preliminary operation of Orthogonal Decomposition, i.e.,
Using the displacement of four axis divided by the total displacement of extruder head resultant motion, the decomposition coefficient of each axis Orthogonal Decomposition is obtained, is such as set crowded
The total displacement lifted 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 Z, and the displacement of E axis is Δ
E, then the Orthogonal Decomposition coefficient of each axis is respectively Δ X/ Δ S, Δ Y/ Δ S, Δ Z/ Δ S, Δ E/ Δ S.It below can be according to this decomposition
Coefficient calculates the associ-ated motion parameters of four axle speed curves.
Orthogonal Decomposition device 401 its it is practical 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 can only in order successively for hardware device of the invention
Export some motion stage, when should which stage of output speed curve kinematic parameter this just need to use mould
Stage in block exports state of a control machine 402 to realize.Fig. 5 is the state transition graph for exporting state of a control machine 402 in the stage.It is transporting
After the resultant motion of extruder head to be decomposed into the componental movement of each axis in dynamic parameter Orthogonal Decomposition device, state of a control is exported by the stage
Machine 402 come complete each axis acceleration, at the uniform velocity, the output of the data in these three stages of slowing down (including 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 carry out Initialize installation.When hardware device of the invention starts to execute, state machine is converted to S1, by adding
The processing of fast course movement parameter calculator 403 executes the data output of boost phase；Output completes that boost phase can be exported
It completes signal and is set to 1, state machine is just converted to S2, by the processing of constant velocity stage's beginning parameter transform model device 404, executes at the uniform velocity rank
The data output of section；Likewise, output complete after by constant velocity stage export complete signal be set to very, state machine convert to
S3 executes the last stage, i.e. the data output in decelerating phase by the processing of decelerating phase beginning parameter transform model device 405,
Output is completed, then decelerating phase output complete signal is it is true, state machine returns to S0, complete extruder head resultant motion Orthogonal Decomposition and
Output services.
Claims (3)
1. a kind of 3D printer extruder head Orthogonal Decomposition motion control method, which comprises the steps of:
Step 1: obtaining the step curve of extruder head resultant motion；
Step 2: calculating the proportionality coefficient between X, Y, Z, E axis and extruder head total displacement；
Step 3: finding out the matrix trapezoid rate curve of X, Y, Z, E axis according to above-mentioned two step, the matrix trapezoid speed of X-axis is bent
Speed parameter includes: in line
Wherein axis_steps_per_unit_x is the step number walked 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,
Decelerate_after_s is the displacement that resultant motion reduces speed now；VxFor the component velocity of X-axis, axFor the component of acceleration,
Accelerate_until_x is that boost phase walks step number, decelerate_after_x be reduce speed now walk step number；Y,Z,E
The decomposition of axis is similar with X-axis；
Step 4: the speed parameter that output step 3 obtains, to four kinematic axis while and independent control.
2. a kind of 3D printer extruder head Orthogonal Decomposition motion control device, which is characterized in that including kinematic parameter Orthogonal Decomposition
Device, stage export state of a control 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 axis Orthogonal Decomposition, and kinematic parameter Orthogonal Decomposition device is used for defeated by what is obtained
Enter the preliminary operation that data carry out Orthogonal Decomposition to X, Y, Z, E tetra- movements, the stage exports state of a control machine for controlling output
The kinematic parameter in which stage of rate curve, boost phase beginning parameter transform model device, subtract constant velocity stage's beginning parameter transform model device
Fast course movement parameter calculator is respectively used to calculate the associ-ated motion parameters in four axle speed curve each stages, four axle speeds
The calculation of the associ-ated motion parameters in line of writing music each stage are as follows:
Wherein axis_steps_per_unit_x is the step number walked 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,
Decelerate_after_s is the displacement that resultant motion reduces speed now；VxFor the component velocity of X-axis, axFor the component of acceleration,
Accelerate_until_x is that boost phase walks step number, decelerate_after_x be reduce speed now walk step number；Y,Z,E
The decomposition of axis is similar with X-axis.
3. 3D printer extruder head Orthogonal Decomposition motion control device according to claim 2, which is characterized in that the stage is defeated
The control mode of state of a control machine out specifically: state start when be in S0, this state be to accelerate, at the uniform velocity, slow down this three
The output in a stage completes signal and carries out Initialize installation, and when device starts to execute, state machine is converted to S1, by boost phase
The processing of beginning parameter transform model device executes the data output of boost phase；Output, which completes that boost phase can be exported, completes signal
It is set to 1, state machine is just converted to S2, and by the processing of constant velocity stage's beginning parameter transform model device, the data for executing constant velocity stage are defeated
Out；It is set to very likewise, constant velocity stage is exported completion signal after output is completed, state machine is converted to S3, by slowing down
The processing of course movement parameter calculator executes the last stage, i.e. the data output in decelerating phase, output is completed, then subtracted
It is that very, state machine returns to S0 that signal is completed in fast stage output, completes the Orthogonal Decomposition and output services of extruder head resultant motion.
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