A printing control system based on dual-motor driven stencil motion

Abstract

This invention relates to a printing control system based on dual-motor driven stencil motion, comprising: a host computer and a motion mechanism system; the motion mechanism system includes a motion mechanism control subsystem and various motion mechanisms; the motion mechanism control subsystem is used to parse and convert control commands from the host computer, and then control the various motion mechanisms in the motion mechanism system to perform mechanical motion to complete the printing work; the motion mechanism control subsystem includes a microcontroller, a drive controller, and sensors; the microcontroller is used to receive and process control commands from the host computer, and obtain various drive control signals based on temperature information, motor speed information, liquid level information, and stroke information collected by the sensors, and issue control commands to control the motion of each motion mechanism through the corresponding drive controller; wherein, the stencil motion mechanism adopts dual-motor drive, and the microcontroller synchronously controls it based on the stencil drive control signals. This enables the rapid fabrication of large-size, highly complex structural parts.

Description

Technical Field

[0001] This invention relates to the field of printing control technology, and in particular to a printing control system based on dual-motor driven stencil motion. Background Technology

[0002] Additive manufacturing is a technology that uses digital model files as a basis and employs powdered metals or plastics and other bondable materials to construct objects layer by layer through printing. Also known as moldless manufacturing, it differs from traditional material forming in that it has a higher material utilization rate and can manufacture parts of arbitrary shapes without the need for molds. Therefore, additive manufacturing technology is widely used in various fields. However, existing printing control systems generally suffer from the drawback of difficulty in coordinating printing speed and forming quality. Therefore, how to effectively shorten the manufacturing cycle of structural components and realize the fabrication of large-size, highly complex structural components has become an urgent problem to be solved in this field. Summary of the Invention

[0003] Based on the above analysis, the present invention aims to provide a printing control system based on dual-motor driven stencil motion to solve the problems of slow printing speed and poor forming quality of existing large-size and highly complex structural parts.

[0004] The objective of this invention is mainly achieved through the following technical solutions:

[0005] This invention provides a printing control system based on dual-motor driven stencil motion, comprising: a host computer and a motion mechanism system;

[0006] The motion mechanism system includes a motion mechanism control subsystem, a scraper motion mechanism, a screen plate motion mechanism, a sinker motion mechanism, and a slurry tank motion mechanism; the motion mechanism control subsystem is used to parse and convert control commands from the host computer, and then control each motion mechanism in the motion mechanism system to perform mechanical movements to complete the printing work;

[0007] The motion mechanism control subsystem includes a microcontroller, a drive controller, and sensors. The microcontroller receives and processes control commands from the host computer, obtains various drive control signals based on temperature, motor speed, liquid level, and stroke information collected by the sensors, and issues control commands through the corresponding drive controllers to control the motion of each motion mechanism. The mesh plate motion mechanism is driven by dual motors, and the microcontroller synchronously controls it based on the mesh plate drive control signals.

[0008] Furthermore, based on the temperature information, motor speed information, liquid level information, and stroke information collected by the sensors, various drive control signals are obtained, and control commands are issued by the corresponding drive controllers to control the movement of each motion mechanism.

[0009] The sensors include a temperature sensor, a mesh plate motion mechanism speed sensor, a slurry tank level sensor, a sediment displacement sensor, and a scraper displacement sensor.

[0010] The temperature sensor is installed in the printer's forming chamber to collect the temperature of the forming chamber. This is used by the microcontroller to monitor the printer's operating status and control the temperature of the forming chamber during printing.

[0011] The speed sensor of the mesh plate motion mechanism collects the speed of the dual motors of the mesh plate motion, which is used by the microcontroller to drive the mesh plate driver to control the motion speed of the dual motors and control the synchronous motion of the dual motors;

[0012] The slurry tank level sensor collects the position of the slurry in the slurry tank, which is used by the microcontroller to control the mesh plate movement mechanism to move to the slurry position for material retrieval and to control the sinking block movement mechanism to move up and down according to the slurry position.

[0013] The block displacement sensor collects the block displacement of the block movement mechanism, which is used by the microcontroller to control the block movement mechanism to move to a set position.

[0014] The scraper displacement sensor collects the displacement of the scraper movement mechanism, which is used by the microcontroller to control the scraper of the scraper movement mechanism to move to a set position.

[0015] Furthermore, the microcontroller controller is synchronously controlled based on the network board drive control signal, including:

[0016] The microcontroller samples the rotational speed of the two motors to obtain the speed ω1 of the first motor and the speed ω2 of the second motor.

[0017] Based on the proportional relationship of the speeds of the two motors, the following error e is determined. 12 ;

[0018] According to the following error e 12 The speed compensator output e1 of the first motor is obtained by performing feedforward fuzzy PI control on the first motor.

[0019] Based on the speed ω1 of the first motor and the speed evaluation function The evaluation speed following error ε1 of the first sub-motor is obtained;

[0020] The speed compensator output e1 of the first motor, the evaluated speed following error ε1 of the first sub-motor, and the speed ω1 of the first motor are input into the fuzzy PID controller for fuzzy PID control to obtain the control signal u1 to control the speed of the first sub-motor.

[0021] Furthermore, the following error e 12 The formula is as follows:

[0022] e 12 =ω1 / λ1-ω2 / λ2

[0023] Where λ1 is the synchronization ratio coefficient of the first motor; λ2 is the synchronization ratio coefficient of the second motor.

[0024] Furthermore, the step based on the following error e 12 The speed compensator output e1 is obtained by performing feedforward fuzzy PI control on the first motor, and its formula is as follows:

[0025] e1 = K 12 *e 12 +I 12 ∫e 12 *dt

[0026] Among them, K 12 The proportional increment of the first motor relative to the second motor; I 12 This is the integral increment of the first motor relative to the second motor;

[0027] The proportional increment K of the first motor relative to the second motor 12 The integral increment I of the first motor relative to the second motor 12 The speed deviation level between the first motor and the second motor is determined.

[0028] Furthermore, the formula for evaluating the speed following error ε1 is as follows:

[0029]

[0030] Where ω1 is the speed of the first motor; For speed evaluation.

[0031] Furthermore, the speed evaluation The formula is as follows:

[0032]

[0033] Among them, a i is the weighting coefficient; i is the motor serial number, which can be 1 or 2.

[0034] Furthermore, the input to the fuzzy PID controller is the deviation value e. The initial control parameters of the fuzzy PID controller are corrected using the deviation value e and the deviation change rate ec to obtain the corrected control parameters.

[0035] The control signal u1 is obtained using the corrected control parameters and the amplification factor K1 that amplifies the deviation value e.

[0036] Furthermore, the deviation value e is calculated using the following formula:

[0037] e = e1 + ε1 - ω1

[0038] Where e1 is the output of the speed compensator of the first motor; ε1 is the evaluation speed following error of the first motor; ω1 is the speed of the first motor;

[0039] The rate of change of deviation ec is the derivative of the deviation value e, denoted as

[0040] Furthermore, the control parameters include a proportional coefficient k. p Integral coefficient k i and differential coefficient k d ;

[0041] The step of correcting the initial control parameters of the fuzzy PID controller using the deviation value e and the deviation change rate ec to obtain the corrected control parameters includes:

[0042] The dynamic value of the control parameter is determined based on the deviation level of the deviation value e and the deviation change rate ec;

[0043] The corrected control parameter is the sum of the initial control parameter and the dynamic value of the control parameter.

[0044] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0045] 1. The motion mechanism of the printing control system of the present invention uses a dual-motor drive for the screen plate motion mechanism used for picking up materials, which can ensure printing speed and printing larger sized structural parts.

[0046] 2. The dual-motor speed control of the present invention adopts an improved deviation coupling control structure and introduces feedforward PI control. When the load changes suddenly during the operation of the motor, targeted compensation is performed to achieve synchronization between the motors while maintaining good dynamic and static performance of the motors.

[0047] 3. This invention provides real-time correction of speed fluctuations in dual motors through dynamic compensation, combined with a speed evaluation function. The difference between the reference value and the motor feedback speed is used for fuzzy PID control, and finally used as the control signal for the motor driver to achieve high-precision synchronous control.

[0048] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0049] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0050] Figure 1 This is a schematic diagram of a printing control system based on dual-motor driven stencil motion in an embodiment of the present invention;

[0051] Figure 2 This is a flowchart of the printing control system in an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of a printing synchronization control method according to an embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram of the dual-motor control speed compensation structure in an embodiment of the present invention;

[0054] Figure 5 This is a schematic diagram of fuzzy PID control in an embodiment of the present invention. Detailed Implementation

[0055] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0056] One specific embodiment of the present invention discloses a printing control system based on dual-motor driven stencil motion. For example... Figure 1 As shown, the printing control system includes a host computer, a multi-optical system, and a motion mechanism system.

[0057] Specifically, the host computer is a PC and a form program with a human-computer interaction interface, used to control the printer; the host computer is connected to the microcontroller controller of the motion mechanism system via a network port.

[0058] The multi-optical-mechanical system is a DLP-based optical-mechanical control system that connects to the host computer via a network port. It is used to perform projection exposure processing on the printed model to obtain the printed structural parts.

[0059] The motion mechanism system includes a motion mechanism control subsystem, a scraper motion mechanism, a screen plate motion mechanism, a slurry block motion mechanism, and a slurry tank motion mechanism. The motion mechanism control subsystem is used to parse and convert control commands from the host computer, and then control each motion mechanism in the motion mechanism system to perform mechanical movements to complete the printing work.

[0060] Furthermore, the motion mechanism control subsystem includes a microcontroller controller, a drive controller, and sensors; wherein, the microcontroller controller is used to receive and process the control commands from the host computer, obtain various drive control signals based on the temperature information, motor speed information, liquid level information, and stroke information collected by the sensors, and issue control commands through the corresponding drive controllers to control the movement of each motion mechanism; wherein, the mesh plate motion mechanism adopts dual-motor drive, and the microcontroller controller synchronously controls it based on the mesh plate drive control signals.

[0061] Furthermore, the sensors include a temperature sensor, a mesh plate motion mechanism speed sensor, a slurry tank level sensor, a sediment displacement sensor, and a scraper displacement sensor;

[0062] The temperature sensor is installed in the printer's forming chamber to collect the temperature of the forming chamber. This is used by the microcontroller to monitor the printer's operating status and control the temperature of the forming chamber during printing.

[0063] Specifically, temperature control during the printing process is crucial, directly affecting print results and quality. The printing material is heated to a molten state and extruded from the print head at the start of printing. Since different materials have different melting points, different temperatures must be set. Simultaneously, the printing material must remain in a molten state throughout the printing process; otherwise, print quality will be affected. If the temperature is too high, the nozzle exit will become viscous, impacting print quality and potentially causing deformation of the printed object; conversely, if the temperature is too low, the material will solidify too quickly, failing to bond properly with other materials, or even preventing the material from being extruded, thus hindering successful printing.

[0064] The speed sensor of the mesh plate motion mechanism collects the speed of the dual motors of the mesh plate motion, which is used by the microcontroller to drive the mesh plate driver to control the motion speed of the dual motors and control the synchronous motion of the dual motors;

[0065] Specifically, in this embodiment, printing requires a large amount of power. Therefore, the traditional single-motor drive for screen movement cannot meet the needs of the printing system in this embodiment. It is necessary to use a dual-motor drive for screen movement for printing.

[0066] The slurry tank level sensor collects the position of the slurry in the slurry tank, which is used by the microcontroller to control the mesh plate movement mechanism to move to the slurry position for material retrieval and to control the sinking block movement mechanism to move up and down according to the slurry position.

[0067] The block displacement sensor collects the block displacement of the block movement mechanism, which is used by the microcontroller to control the block movement mechanism to move to a set position.

[0068] Specifically, since the movement distance of the sediment is limited, the rise of the slurry level is also limited. Therefore, the single-chip microcomputer controller controls the movement of the slurry tank mechanism according to the slurry position.

[0069] The scraper displacement sensor collects the displacement of the scraper movement mechanism, which is used by the microcontroller to control the scraper of the scraper movement mechanism to move to a set position.

[0070] Furthermore, the scraper movement mechanism, the screen movement mechanism, the sink movement mechanism, and the slurry tank movement mechanism all include limit switches to prevent each movement mechanism from exceeding its travel range during movement, which could affect the printing effect and damage the printer.

[0071] Furthermore, the microcontroller controller hardware platform features 24 digitally isolated inputs, 12 digitally isolated outputs, 4 relay outputs (expandable), 2 CAN interfaces (1 interface controlling 4 servo motors via the CANopen protocol), 1 interface for communication with level and limit sensors, 1 Ethernet interface implementing TCP / IP and UDP protocols via the LWIP protocol stack for communication with the host computer interface, and 3 serial interfaces (2 RS232 and 1 RS485 for communication with other sensors). This ensures high system integration and centralized control.

[0072] Furthermore, the printing process of the printing control system is as follows: Figure 2 As shown, after the printing equipment is powered on, each motion mechanism completes its initialization and zero-return action. The host computer establishes a communication link with the main control system and the optomechanical system. After successful linking, the scraper stroke and the speed of each motion mechanism are set. Simultaneously, the power density, exposure time, and correction magnification X and Y of the optomechanical system are set, and then the SLC slice file is sent to the optomechanical system. The SLC slice file is a data storage file format proposed for obtaining data after layering and slicing a rapid prototyping 3D model.

[0073] Furthermore, the screen uses a scooping method to pick up the material during the printing process. After clicking to start printing, the screen movement mechanism descends into the paste tank to scoop up the material. After scooping, the screen rises to a set distance, the squeegee performs a cutting process, and the optical engine performs exposure processing according to a specific image. After exposure, the screen continues to descend into the paste tank to scoop up the material, and then rises again to the optical engine exposure position. After the squeegee performs a cutting process, the optical engine performs exposure again according to a specific layer. This cycle repeats until printing is complete.

[0074] It should be noted that the motion trajectory of the mesh plate is calculated using the following formula:

[0075] P setdown =P0 + 65536 * P d +65536*C d *T h

[0076] P setup =P0+65536*n*T h

[0077] Among them, P setdown P is the distance the stencil descends. setup P is the distance the stencil rises; P0 is the initial position of the stencil after power-on; P d The base position for the page layout to drop; C d For the reciprocating rise counter of the stencil; T h The thickness of each layer of the printed model is denoted as n; n is an integer, calculated based on experimental values ​​of slurry depth, and in this embodiment, n is taken as 10.

[0078] In this embodiment, the dual-motor synchronous control of the mesh plate motion mechanism ensures good synchronization performance when the speed of one of the sub-motor systems changes due to external disturbances such as sudden load changes. This is because the controllers of the other motors also receive information about the speed change of this motor. However, this sub-motor system does not receive information about speed asynchrony between the other sub-motors, nor does it include information about the speed following error of the other sub-motors.

[0079] Specifically, the traditional deviation-coupled control structure has a superior control effect compared to other control structures, mainly due to the addition of a speed deviation compensator. However, the traditional deviation-coupled control structure only considers the speed deviation information between the controlled sub-motor system and other sub-motor systems. This information does not include the asynchrony information between the speeds of other sub-motors or the speed following errors of other sub-motors. When the speed following error of other sub-motor systems is large, the time required for the speed controller of that sub-motor system to eliminate its own speed following error is also relatively long, which can also lead to large synchronization errors between the sub-motor systems.

[0080] This invention discloses a control method for synchronously controlling the speeds of two motors, addressing the shortcomings of traditional deviation-coupled control structures. The control approach involves subtracting the speed feedback from one sub-motor system from the speed feedback from other sub-motor systems, using this difference as the speed compensation value for that sub-motor system. This ensures that all sub-motor systems have the same speed output, improving the system's synchronous control performance. The microcontroller controller serves as the motion control center of the printing control system, synchronously controlling the movement of the two motors based on the stencil drive control signal. Figure 3 As shown, it includes:

[0081] Step S1: Sample the rotational speed of the dual motors to obtain the speed ω1 of the first motor and the speed ω2 of the second motor, wherein the microcontroller controller acts as the motion mechanism control center to sample the rotational speed of the dual motors;

[0082] Furthermore, if all motors operate synchronously, then according to Figure 4 For the structure shown, the speed relationship between the two motors must meet the following conditions:

[0083] ω1=λ1ω *

[0084] ω2=λ2ω *

[0085] That is, the proportional relationship of the speeds of the two motors is ω1 / ω2=λ1 / λ2; where λ1 is the synchronization proportional coefficient of the first motor; and λ2 is the synchronization proportional coefficient of the second motor.

[0086] Step S2: Determine the following error e based on the proportional relationship of the speeds of the two motors. 12 for:

[0087] e 12 =ω1 / λ1-ω2 / λ2

[0088] It should be noted that, in order for all motors to operate synchronously, the following relationship must be satisfied: The following relationship must be met to ensure that the following relationship is met:

[0089]

[0090] Step S3, based on the following error e 12 The speed compensator output e1 of the first motor is obtained by performing feedforward fuzzy PI control on the first motor.

[0091] In this embodiment, the speed compensation compensator is particularly important when implementing motor control. During the operation of multiple motors, when the load changes abruptly, the differences in the operating parameters of each motor will lead to inconsistent speeds. To eliminate the asynchrony caused by speed fluctuations, targeted compensation is required. This type of motor interference is analyzed and fedforward control is introduced. When interference occurs, it is eliminated through fuzzy PI control, achieving synchronization between motors while maintaining good dynamic and static performance.

[0092] Specifically, the speed compensator outputs e1 in the first motor subsystem, and its formula is as follows:

[0093] e1 = K 12 *e 12 +I 12 ∫e 12 *dt

[0094] Among them, K 12 The proportional increment of the first motor relative to the second motor; I 12 This is the integral increment of the first motor relative to the second motor.

[0095] Furthermore, the proportional increment K of the first motor relative to the second motor 12 The integral increment I of the first motor relative to the second motor 12 The speed deviation level is determined by the speed deviation levels of the first motor and the second motor; wherein the speed deviation levels of the first motor and the second motor include: large positive deviation, small positive deviation, zero deviation, small negative deviation, and large negative deviation.

[0096] Specifically, the proportional increment K 12 With integral increment I 12 The possible values ​​are shown in Table 1:

[0097] Table 1 Proportional Increment K 12 With integral increment I 12 The value of

[0098]

[0099] Step S4, based on the speed ω1 of the first motor and the speed evaluation function The evaluation speed following error ε1 of the first sub-motor is obtained.

[0100] Specifically, define an evaluation function that can characterize the speed of all motors:

[0101]

[0102] Among them, a i is the weighting coefficient; i is the i-th motor, in this embodiment i = 1, 2.

[0103] Specifically, the evaluation function is a function related to the speed of each motor, which can effectively characterize the speed of all motors. In this embodiment, the evaluation function is related to the speed of each motor and is a function that can effectively characterize the speed of all motors. For example, when the weighting coefficients a1 = 1 / 2 and a2 = 1 / 2, then...

[0104] The formula for evaluating the speed following error ε1 of the first motor is as follows:

[0105]

[0106] It should be noted that in control systems, the actual errors and their rates of change are typically considered, followed by a series of data adjustments. Since fixed gain only includes the motor's moment of inertia, significant load fluctuations will result in corresponding errors. Fluctuations in the speed of any one motor will interfere with the speeds of the others, indicating a constantly changing state. In this embodiment, a fuzzy PID controller replaces the fixed gain. If motor fluctuations occur, the fuzzy PID controller will take effect, quickly reducing the following errors between motors and bringing them towards a stable state, approaching zero.

[0107] Step S5, as follows Figure 5 As shown, the speed compensator output e1 of the first motor, the evaluation speed following error ε1 of the first sub-motor, and the speed ω1 of the first motor are input into the fuzzy PID controller for fuzzy PID control, and the resulting control signal u1 is used to control the speed of the first sub-motor.

[0108] Specifically, in step S51, the input of the fuzzy PID controller is the deviation value e. The initial control parameters of the fuzzy PID controller are corrected using the deviation value e and the deviation change rate ec to obtain the corrected control parameters.

[0109] Furthermore, the deviation value e is calculated using the following formula:

[0110] e = e1 + ε1 - ω1

[0111] Where e1 is the output of the speed compensator of the first motor; ε1 is the evaluation speed following error of the first motor; ω1 is the speed of the first motor;

[0112] The rate of change of deviation ec is the derivative of the deviation value e, denoted as The rate of change of deviation includes a continuously changing independent variable and an indication of future control trends.

[0113] It should be noted that, as with the control principle of fuzzy PID, the precise values ​​of the obtained deviation value e and the rate of change of deviation ec are fuzzified. Through membership functions, they fall into the corresponding universe of discourse and are assigned fuzzy linguistic values. Then, fuzzy inference is performed using fuzzy rules. Finally, the results are defuzzified using a proportional factor to obtain the control parameter K. p K i and K d .

[0114] Specifically, the control parameter K p The proportional control coefficient is used to accelerate the system's response speed and improve its control accuracy; control parameter K i This represents the integral adjustment coefficient, used to eliminate residuals; control parameter K d This represents the differential adjustment coefficient, used to improve the dynamic performance of the system.

[0115] Furthermore, to ensure the global stability of the control system under the fuzzy self-tuning PID control law, fuzzy adjustment K should be used. p K i and K d The deviation strategy involves obtaining the initial PID parameters K before implementing control. p0 K i0 and K d0 In this embodiment, K p0 K i0 and K d0 The values ​​are 20, 1, and 0.5 respectively. During control, the dynamic values ​​ΔK of the three parameters of the PID controller are continuously calculated based on the deviation value e and the rate of change of deviation ec. p ΔK i and ΔK d Finally, the PID control parameters are calculated using the following formula:

[0116] K p =K p0 +ΔK p

[0117] K i =K i0 +ΔK i

[0118] K d =K d0 +ΔK d

[0119] Specifically, determine the proportionality coefficient K. p When considering the dynamic value, the deviation levels of the deviation value e and the deviation change rate ec include: large positive deviation, small positive deviation, zero deviation, small negative deviation, and large negative deviation; in this embodiment, the dynamic value ΔK pThe reference values ​​are shown in Table 2:

[0120] Table 2 K p Dynamic value reference

[0121]

[0122] Furthermore, the integral coefficient K is determined. i When the dynamic value is defined, the deviation level of the deviation value e includes: large positive deviation, small positive deviation, zero deviation, small negative deviation, and large negative deviation; the deviation level of the deviation change rate ec includes: small positive deviation, zero deviation, small negative deviation, and large negative deviation; in this embodiment, the dynamic value ΔK i The reference values ​​are shown in Table 3:

[0123] Table 3 K i Dynamic value reference

[0124]

[0125] Furthermore, the differential coefficient K is determined. d When the dynamic value is defined, the deviation level of the deviation value e includes: large positive deviation, small positive deviation, zero deviation, small negative deviation, and large negative deviation; the deviation level of the deviation change rate ec includes: small positive deviation, zero deviation, small negative deviation, and large negative deviation; in this embodiment, the dynamic value ΔK d The reference values ​​are shown in Table 4:

[0126] Table 4 K d Dynamic value reference

[0127]

[0128] Step S52: Use the corrected control parameters and the amplification factor K1 to amplify the deviation value e to obtain the control signal u1.

[0129] Specifically, the amplification factor K1 is a proportional coefficient obtained through experiments; for small deviation values ​​e of the motor, adding the amplification factor makes it easier to detect and correct errors.

[0130] In step S53, the control signal u1 controls the speed of the first sub-motor, so that the mesh plate motors achieve synchronization.

[0131] Finally, the speed synchronization motors are made to track the given reference speed through the controllers of each sub-motor system, thereby improving the control performance of the mesh plate and ensuring that the mesh plate motion mechanism can reach the designated position in real time, synchronously and with high precision.

[0132] The motion mechanism of the printing control system of this invention employs a dual-motor drive for the stencil motion mechanism used for material handling, ensuring printing speed and the ability to print larger structural parts. The dual-motor speed control utilizes an improved deviation-coupled control structure, introducing feedforward PI control. During motor operation, when sudden load changes occur, targeted compensation is performed to achieve synchronization between the motors while maintaining good dynamic and static performance. For speed fluctuations in the dual motors, real-time correction is achieved through dynamic compensation, combined with a speed evaluation function. The difference between the reference value and the motor feedback speed is used for fuzzy PID control, and the result is used as the control signal for the motor driver, achieving high-precision synchronous control. This can effectively shorten the manufacturing cycle of structural components and enable the fabrication of large-size, highly complex structural components.

[0133] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A printing control system based on dual-motor driven stencil motion, characterized in that, include: Host computer and motion mechanism system; The motion mechanism system includes a motion mechanism control subsystem, a scraper motion mechanism, a screen plate motion mechanism, a sinker motion mechanism, and a slurry tank motion mechanism; the motion mechanism control subsystem is used to parse and convert control commands from the host computer, and then control each motion mechanism in the motion mechanism system to perform mechanical movements to complete the printing work; The motion mechanism control subsystem includes a microcontroller, a drive controller, and sensors. The microcontroller receives and processes control commands from the host computer, obtains various drive control signals based on temperature, motor speed, liquid level, and stroke information collected by the sensors, and issues control commands through the corresponding drive controllers to control the motion of each motion mechanism. The mesh plate motion mechanism is driven by dual motors, and the microcontroller synchronously controls it based on the mesh plate drive control signals. The microcontroller controller is based on synchronous control using the PCB drive control signal, including: The microcontroller samples the rotational speed of the two motors to obtain the speed of the first motor. and the speed of the second motor ; Based on the proportional relationship of the speeds of the two motors, the following error is determined. ; According to the following error The speed compensator output of the first motor is obtained by performing feedforward fuzzy PI control on the first motor. ; Based on the speed of the first motor Speed ​​evaluation The evaluation speed following error of the first sub-motor was obtained. ; Output of the speed compensator of the first motor The evaluation speed following error of the first sub-motor and the speed of the first motor Input the fuzzy PID controller to perform fuzzy PID control and obtain the control signal. The speed of the first sub-motor is controlled; The speed evaluation The formula is as follows: ； in, These are weighting coefficients; i This is the motor serial number, which can be either 1 or 2. The input to the fuzzy PID controller is the deviation value. The formula is as follows: ； in, Output for the speed compensator of the first motor; The evaluation speed following error for the first motor; This represents the speed of the first motor.

2. The system according to claim 1, characterized in that, The drive control signals are obtained based on the temperature, motor speed, liquid level, and stroke information collected by the sensors. Control commands are then issued by the corresponding drive controllers to control the movement of each motion mechanism. The sensors include a temperature sensor, a mesh plate motion mechanism speed sensor, a slurry tank level sensor, a sediment displacement sensor, and a scraper displacement sensor. The temperature sensor is installed in the printer's forming chamber to collect the temperature of the forming chamber. This is used by the microcontroller to monitor the printer's operating status and control the temperature of the forming chamber during printing. The speed sensor of the mesh plate motion mechanism collects the speed of the dual motors of the mesh plate motion, which is used by the microcontroller to drive the mesh plate driver to control the motion speed of the dual motors and control the synchronous motion of the dual motors; The slurry tank level sensor collects the position of the slurry in the slurry tank, which is used by the microcontroller to control the mesh plate movement mechanism to move to the slurry position for material retrieval and to control the sinking block movement mechanism to move up and down according to the slurry position. The block displacement sensor collects the block displacement of the block moving mechanism, which is used by the microcontroller to control the block of the block moving mechanism to move to a set position. The scraper displacement sensor collects the displacement of the scraper movement mechanism, which is used by the microcontroller to control the scraper of the scraper movement mechanism to move to a set position.

3. The system according to claim 1, characterized in that, The following error The formula is as follows: ； in, This is the synchronization proportional coefficient for the first motor; This is the synchronization proportional coefficient for the second motor.

4. The system according to claim 3, characterized in that, According to the following error The speed compensator output is obtained by performing feedforward fuzzy PI control on the first motor. The formula is as follows: ； in, This represents the proportional increment of the first motor relative to the second motor. This is the integral increment of the first motor relative to the second motor; The proportional increment of the first motor relative to the second motor Integral increment of the first motor relative to the second motor The speed deviation level between the first motor and the second motor is determined.

5. The system according to claim 1, characterized in that, The evaluation speed following error The formula is as follows: ； in, The speed of the first motor; For speed evaluation.

6. The system according to claim 1, characterized in that, The input to the fuzzy PID controller is the deviation value. Using the deviation value and rate of change of deviation The initial control parameters of the fuzzy PID controller are corrected to obtain the corrected control parameters; Using the corrected control parameters and the deviation value Magnification factor for magnification Get control signal ; The rate of change of deviation The deviation value The differential is denoted as .

7. The system according to claim 6, characterized in that, The control parameters include a proportional coefficient. Integral coefficient and differential coefficients ; The use of the deviation value and rate of change of deviation The initial control parameters of the fuzzy PID controller are corrected to obtain the corrected control parameters, including: According to the deviation value and rate of change of deviation The deviation level is used to determine the dynamic value of the control parameter; The corrected control parameter is the sum of the initial control parameter and the dynamic value of the control parameter.

Images