A motion planning method for galvanometer motors that shortens the positioning time of idle strokes

Abstract

The invention discloses a galvanometer motor motion planning method for shortening the positioning time of idle running. The method comprises the following steps of establishing an assembly finite element model and a nonlinear dynamic response finite element model including a kinematic degree of freedom; setting a parameterized motion function which is applied as a boundary condition to the nonlinear assembly finite element model including the kinematic degree of freedom; solving the non-linear finite element model of the galvanometer mechanism to obtain a motion response curve of the galvanometer mechanism; calculating displacement and velocity information relative to a positioning end position in real time, and determining whether the galvanometer mechanism satisfies the positioning accuracy requirement and obtaining the residual vibration decay time length; obtaining the overall movement positioning time, and taking the minimized overall movement time as an optimization target; and obtaining an optimal parameter of motion planning parameters. Compared with the methods in the prior art, the optimization result obtained by the invention takes into account the dual requirements of the final positioning accuracy and the minimization of the positioning time.

Description

technical field [0001] The invention relates to the field of motion planning of a vibrating mirror mechanism, in particular to a motion planning method of a vibrating mirror motor that shortens the idle stroke positioning time. Background technique [0002] In the field of laser processing such as laser marking, the galvanometer motor is a common driving component. A galvo motor is a special swing motor that can only perform deflection motions. In the field of laser processing, the vibrating lens is fixed on the shaft of the vibrating mirror motor, and the adjustment of the optical path direction is realized through the swing of the vibrating mirror motor, and laser processing is realized. Because in the laser processing process, the laser processing spot path is not necessarily a global continuous path, there are often some discontinuous parts that do not require laser processing. The above discontinuous part that does not require laser processing belongs to the idle stro...

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Problems solved by technology

Since the allowable positioning error ε in the above patent is only a relative index, the ε used by the motion mechanism with the same positioning accuracy requirements in the actual complex working conditions may not be the same, that is, the ε in the judgment criterion used in the above patent is the same as the real allowable The positioning error does not have a clear functional relationship, which will lead to the final motion planning optimization results of the above patents not necessarily being the optimal motion planning that matches the real positioning accuracy requirements

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