Method and device for planning motion trajectory of scanning galvanometer

Abstract

The present invention relates to a method for planning the motion trajectory of a scanning galvanometer, the method comprising: establishing a model of the scanning galvanometer; calculating the input voltage corresponding to the model and optimizing the input voltage according to the action time corresponding to the input voltage to obtain optimal current input voltage; using the model, the current state of the scanning galvanometer and the current input voltage to calculate the next state of the scanning galvanometer to obtain multiple states of the scanning galvanometer, the states include Scanning the position of the vibrating mirror; generating a motion track of the scanning vibrating mirror according to the positions corresponding to the multiple states. By adopting the method, the scanning galvanometer can maximize its own efficiency in a manner that is simple in calculation and easy to implement. In addition, a planning device for the motion trajectory of the scanning galvanometer is provided.

Description

technical field [0001] The invention relates to the technical field of industrial control, in particular to a planning method and device for a motion track of a scanning vibrating mirror. Background technique [0002] With the development of laser technology, the laser galvanometer, also known as the scanning galvanometer, has been widely used, such as high-speed scanning through the control of the scanning galvanometer, and complex laser animation demonstrations can be performed. In the high-speed scanning process, there are two kinds of motion trajectories of the existing scanning galvanometer, one is the motion trajectory with a fixed step size, and the other is the motion trajectory planned by the traditional trajectory planning algorithm. The traditional trajectory planning algorithm Such as T speed curve acceleration and deceleration trajectory planning algorithm, S-curve acceleration and deceleration trajectory planning algorithm, etc. [0003] The motion track with ...

AI Technical Summary

Problems solved by technology

[0003] The motion trajectory with a fixed step is easy to implement and is conducive to calculation. The disadvantage is that the scanning control system has a large vibration, which is not suitable for high-speed motion and cannot fully utilize the efficiency of the scanning galvanometer.

T speed curve acceleration and deceleration trajectory planning algorithm Because it uses constant acceleration, the acceleration will have a sudden change at the start and end of the acceleration and deceleration phase, which will cause vibration and noise in the scanning control system, and the speed curve is not smooth enough, and the motion accuracy is low. resulting in less efficient scanning mirrors

The S-curve acceleration and deceleration trajectory planning algorithm minimizes the impact on the scanning control system by controlling the jerk value. It has a smooth speed and acceleration curve. The disadvantage is that the calculation is complicated and the galvanometer cannot be maximized. own efficiency

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