Method and equipment for automatically triggering original point by desktop printing system motor and storage medium

Abstract

The invention discloses a method and equipment for automatically triggering an original point by a desktop printing system motor, and a storage medium. The method comprises the following steps: S1, designing a separation blade; s2, mounting a separation blade; s3, a limiting stopper is installed; s4, testing the motion process of the motor; s5, optimization and adjustment are carried out; s6, implementing the simplified model; the automatic positioning of the motor is realized by designing the separation blade and the automatic triggering limiting stopper, the dependence on manual operation is reduced, the automation degree is improved, the limiting stopper is automatically triggered through the separation blade, the positioning is completed without intervention of an operator, the operation efficiency is improved, materials which are low in cost and easy to obtain and a simple fixing method are used, and the cost is reduced. The method is simple in structure, easy to implement and low in cost, adjustment can be performed according to different configurations of the motor and the limiter through optimization and adjustment steps, and triggering accuracy and reliability are ensured.

Description

Technical Field

[0001] The invention relates to the field of printing technology, and in particular to a method, a device and a storage medium for automatically triggering an origin of a motor of a desktop printing system. Background Art

[0002] With the development of technology, desktop printing systems are becoming more and more popular in the market due to their flexibility and portability. These systems are usually equipped with motors and limiters to achieve precise motion control and positioning. However, existing desktop printing systems have some limitations under multi-motor configurations.

[0003] In traditional desktop printing systems, the motor is used to drive the movement, while the limiter is used to detect the end point of the movement and feedback a signal to stop the motor. The two usually work independently, requiring the operator to manually trigger the limiter to complete the positioning.

[0004] Desktop printing systems are designed with flexibility and compactness in mind, so they are usually not equipped with complex transmission mechanisms. This design makes the triggering of the limiter rely on manual operation to accommodate the possible replacement, addition, or reduction of motors and limiters at any time; although manual triggering provides a certain degree of flexibility, its efficiency is significantly reduced in a multi-motor configuration. In this case, the one-to-one correspondence between motors and limiters becomes difficult to manage, resulting in complex operations and low efficiency. Summary of the invention

[0005] In order to solve the above-mentioned technical problems, the present invention provides a method, a device and a storage medium for automatically triggering an origin of a motor in a desktop printing system.

[0006] The technical solution of the present invention is achieved in this way:

[0007] A method for automatically triggering an origin of a motor in a desktop printing system comprises the following steps:

[0008] S1. Design a baffle connected to the motor's rotating axis to ensure that the baffle can trigger the limiter every time the motor rotates one circle;

[0009] S2. Fix the baffle to the motor shaft by fixing materials to ensure that it is in the correct position and can trigger the limiter when the motor rotates;

[0010] S3. Fix the limiter to a proper position to ensure that it can be triggered by the baffle;

[0011] S4, testing the movement process of the motor;

[0012] S5. Optimize and adjust the position of the baffle and the setting of the stopper according to the test results to ensure the accuracy and reliability of the automatic triggering origin;

[0013] S6. Build a simplified model to demonstrate the process of automatically triggering the origin, so as to further verify and demonstrate the technical solution;

[0014] Furthermore, the baffle in S1 is a sheet iron product or other sheet-like object with strength, or an object composed of a plurality of iron nails of appropriate sizes arranged side by side;

[0015] Furthermore, the simplified model in S6 simulates the working mode of the motor and the limiter in the actual system.

[0016] A desktop printing system based on any of the above methods includes a motor and a controller, wherein a baffle is arranged on the rotating axis of the motor, a limiter is arranged outside the motor, the output end of the controller is connected to the motor signal, and the input end of the controller is connected to the encoder signal.

[0017] A storage medium comprises a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed by a processor, the processor executes any of the above methods.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention realizes automatic positioning of the motor by designing a baffle and an automatic triggering limiter, thereby reducing the reliance on manual operation and improving the degree of automation. The baffle automatically triggers the limiter to complete the positioning without the intervention of the operator, thereby improving the operating efficiency, especially in a multi-motor configuration;

[0020] 2. Use low-cost and readily available materials and simple fixing methods, which are easy to implement and low-cost. Through optimization and adjustment steps, it can be adjusted according to the configuration of different motors and limiters to ensure the accuracy and reliability of the trigger;

[0021] 3. The design allows the motor and limiter to be replaced or added or removed at any time, maintaining flexibility. Through testing and optimization adjustment, the accuracy and reliability of the automatic triggering origin can be ensured;

[0022] 4. Building a simplified model helps to further verify the technical solution and show the working process of the system to users. It can intuitively show the process of automatically triggering the origin, which is convenient for verification and demonstration and also helps further optimization;

[0023] In summary, the present invention realizes the function of automatic triggering limiter and solves the problem of low efficiency of manual triggering. Especially in multi-motor systems, the automatic triggering origin reduces the need for manual operation, allowing developers to focus more on other tasks, thereby improving overall development efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a flow chart of a method for automatically triggering an origin point of a motor in a desktop printing system according to Example 1;

[0025] Figure 2 Schematic diagram of the positional relationship between the motor and the limiter in Example 3. DETAILED DESCRIPTION

[0026] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Example 1

[0028] like Figure 1 As shown, a method for automatically triggering an origin of a motor in a desktop printing system comprises the following steps:

[0029] S1. Design a baffle connected to the motor's rotating axis to ensure that the baffle can trigger the limiter every time the motor rotates one circle;

[0030] S2. Fix the baffle to the motor shaft by fixing materials to ensure that it is in the correct position and can trigger the limiter when the motor rotates;

[0031] S3. Fix the limiter to a proper position to ensure that it can be triggered by the baffle;

[0032] S4, testing the movement process of the motor;

[0033] Specifically, by setting an encoder on the motor, the motor's motion data, including rotation speed, rotation angle, and running time, is collected to identify the motor's motion mode and abnormalities;

[0034] S5. Optimize and adjust the position of the baffle and the setting of the stopper according to the test results to ensure the accuracy and reliability of the automatic triggering origin;

[0035] Use a proportional-integral-derivative (PID) controller to adjust the position of the flap and the setting of the stop:

[0036]

[0037] Where u(t) is the control input, e(t) is the error, that is, the difference between the desired position and the actual position, and K p , K i and K dThey are proportional, integral and derivative gains respectively;

[0038] Particle swarm optimization (PSO) is used to find the optimal PID parameters to achieve the best control effect. Specifically, a certain number of particles are randomly generated, each particle represents a potential PID parameter combination (K p , K i , K d ), randomly initialize the speed for each particle; use the PID control rule to apply the parameters of each particle to the system model and calculate the system performance indicators (such as the sum of squared errors, overshoot, rise time, etc.);

[0039] If the performance index of the current particle is better than the previously recorded personal best performance, the personal best position is updated; if the performance index of the current particle is better than the current best performance of all particles, the global best position is updated;

[0040] Update particle positions and velocities:

[0041] Speed ​​Update:

[0042] Position update: x i (t+1)=x i (t)+v i (t+1)

[0043] Among them, v i (t) is the velocity of the ith particle in generation t;

[0044] w is the inertia weight, which controls how well the particle maintains its current velocity;

[0045] c1 and c2 are learning factors that control the strength of the particle moving toward the personal best and global best positions;

[0046] r 1i and r 2i is a random number in the range [0,1][0,1];

[0047] is the personal best position of particle i;

[0048] is the global optimal position of the particle swarm;

[0049] x i (t) is the position of particle i in generation t;

[0050] If the maximum number of iterations is reached or other termination conditions are met, such as the performance index reaches a predetermined threshold, the iteration is stopped and the PID parameters corresponding to the global optimal position are used as the parameters of the controller.

[0051] S6. Build a simplified model to demonstrate the process of automatically triggering the origin, so as to further verify and demonstrate the technical solution;

[0052] Use computer-aided design software to build 3D models of the motor, baffle, and limiter. Use simulation software to simulate the movement of the motor and the process of automatically triggering the origin. During the simulation process, Monte Carlo simulation can be used to evaluate the performance of the system under different conditions, and the response surface method (RSM) can be used to optimize the system design. In Monte Carlo simulation, the mean and standard deviation can be calculated to evaluate the system performance:

[0053] average value:

[0054] Standard Deviation:

[0055] Among them, x i is the result of each simulation, and n is the number of simulations;

[0056] Through the application of the above steps and algorithms, it can be ensured that the method of automatically triggering the origin of the motor of the desktop printing system is not only reasonable in theory, but also efficient and reliable in practical application;

[0057] Furthermore, the baffle in S1 is a sheet iron product or other sheet-like object with strength, or an object composed of a plurality of iron nails of appropriate sizes arranged side by side;

[0058] Furthermore, the simplified model in S6 simulates the working mode of the motor and the limiter in the actual system.

[0059] This embodiment realizes precise control of motor movement by designing baffles and limiters, collects data through encoders for pattern recognition and anomaly detection, and further optimizes parameter settings using PID controller and particle swarm optimization algorithm to ensure the accuracy and reliability of origin triggering. In addition, by implementing simplified models and simulation technologies, not only the effectiveness of the technical solution is verified, but also the automation level and operational efficiency of the system are improved, ultimately achieving efficient, stable and flexible operation of the desktop printing system under a multi-motor configuration.

[0060] Example 2

[0061] A method for automatically triggering an origin of a motor in a desktop printing system comprises the following steps:

[0062] S1. Design a baffle connected to the motor's rotating axis to ensure that the baffle can trigger the limiter every time the motor rotates one circle;

[0063] S2. Fix the baffle to the motor shaft by fixing materials to ensure that it is in the correct position and can trigger the limiter when the motor rotates;

[0064] S3. Fix the limiter to a proper position to ensure that it can be triggered by the baffle;

[0065] S4, testing the movement process of the motor;

[0066] Specifically, by setting an encoder on the motor, the motor's motion data, including rotation speed, rotation angle, and running time, is collected to identify the motor's motion mode and abnormalities;

[0067] S5. Optimize and adjust the position of the baffle and the setting of the stopper according to the test results to ensure the accuracy and reliability of the automatic triggering origin;

[0068] Use a proportional-integral-derivative (PID) controller to adjust the position of the flap and the setting of the stop:

[0069]

[0070] Where u(t) is the control input, e(t) is the error, that is, the difference between the desired position and the actual position, and K p , K i and K d They are proportional, integral and derivative gains respectively;

[0071] Particle swarm optimization (PSO) is used to find the optimal PID parameters to achieve the best control effect. Specifically, a certain number of particles are randomly generated, each particle represents a potential PID parameter combination (K p , K i , K d ), randomly initialize the speed for each particle; use the PID control rule to apply the parameters of each particle to the system model and calculate the system performance indicators (such as the sum of squared errors, overshoot, rise time, etc.);

[0072] If the performance index of the current particle is better than the previously recorded personal best performance, the personal best position is updated; if the performance index of the current particle is better than the current best performance of all particles, the global best position is updated;

[0073] Update particle positions and velocities:

[0074] Speed ​​Update:

[0075] Position update: x i (t+1)=x i (t)+v i (t+1)

[0076] Among them, v i (t) is the velocity of the ith particle in generation t;

[0077] w is the inertia weight, which controls how well the particle maintains its current velocity;

[0078] c1 and c2 are learning factors that control the strength of the particle moving toward the personal best and global best positions;

[0079] r 1i and r 2i is a random number in the range [0,1][0,1];

[0080] is the personal best position of particle i;

[0081] is the global optimal position of the particle swarm;

[0082] x i (t) is the position of particle i in generation t;

[0083] If the maximum number of iterations is reached or other termination conditions are met, such as the performance index reaches a predetermined threshold, the iteration is stopped and the PID parameters corresponding to the global optimal position are used as the parameters of the controller.

[0084] S6. Build a simplified model to demonstrate the process of automatically triggering the origin, so as to further verify and demonstrate the technical solution;

[0085] Use computer-aided design software to build 3D models of the motor, baffle, and limiter. Use simulation software to simulate the movement of the motor and the process of automatically triggering the origin. During the simulation process, Monte Carlo simulation can be used to evaluate the performance of the system under different conditions, and the response surface method (RSM) can be used to optimize the system design. In Monte Carlo simulation, the mean and standard deviation can be calculated to evaluate the system performance:

[0086] average value:

[0087] Standard Deviation:

[0088] Among them, x i is the result of each simulation, and n is the number of simulations;

[0089] Through the application of the above steps and algorithms, it can be ensured that the method of automatically triggering the origin of the motor of the desktop printing system is not only reasonable in theory, but also efficient and reliable in practical application;

[0090] Furthermore, the baffle in S1 is a sheet iron product or other sheet-like object with strength, or an object composed of a plurality of iron nails of appropriate sizes arranged side by side;

[0091] The S4 also includes a motor movement test and a motor limit finding test, specifically:

[0092] Motor movement process test process:

[0093] ① Prepare the test environment and ensure that the motor and limiter have been correctly installed according to steps S1 to S3;

[0094] ② Define the test parameters and determine the motor's rotation direction, speed, number of revolutions, etc.;

[0095] ③ Carry out a preliminary test, start the motor manually or automatically, and observe whether the baffle can trigger the limiter within the expected number of turns;

[0096] ④Data recording, recording the number of revolutions of the motor, speed and accuracy of triggering the limiter;

[0097] ⑤ Error analysis: analyze the test data to determine whether there are errors or inconsistencies;

[0098] ⑥ Adjust the position of the baffle. If the baffle fails to trigger the limiter at the correct number of turns, fine-tune the position of the baffle until the desired effect is achieved;

[0099] ⑦ Repeat the test and repeat steps ③ to ⑥ until the baffle can accurately trigger the stopper every time it rotates.

[0100] Motor movement test, including the following steps:

[0101] ① Start the motor: under the instruction of the control program, start the motor and gradually increase it to the set working speed;

[0102] ②Monitor speed and acceleration: Use sensors to monitor the real-time speed and acceleration of the motor to ensure that they meet the expected values;

[0103] ③ Record data: record the motion data of the motor at different speeds, including speed curve and acceleration curve;

[0104] ④Evaluate stability: Check whether the motor remains stable during continuous motion without abnormal vibration or noise;

[0105] ⑤ Adjust parameters: If the speed or acceleration is not as expected, adjust the motor drive parameters or PID controller parameters;

[0106] ⑥ Repeated testing: Repeated testing under different loads and conditions to ensure that the motor can work stably under various working conditions.

[0107] The motor limit test includes the following steps:

[0108] ① Set the target position: set a target position close to the limiter for the motor;

[0109] ② Start the motor to move to the target position: under the instruction of the control program, start the motor to move to the target position;

[0110] ③ Monitor the proximity limiter: When the motor approaches the target position, closely monitor the position and speed of the motor;

[0111] ④ Triggering the limiter: When the baffle triggers the limiter, the final position and triggering time of the motor are recorded;

[0112] ⑤Verify accuracy: Check whether the motor stops accurately at the predetermined position or returns to the origin;

[0113] ⑥ Adjust the limiter sensitivity: If the trigger position is deviated, adjust the limiter sensitivity or the position of the baffle;

[0114] ⑦ Repeat test: Repeat the test several times to verify the consistency and reliability of the trigger origin signal;

[0115] ⑧Data analysis: Analyze the test data and evaluate the system’s performance during the limit finding phase, such as repeatability and accuracy.

[0116] Furthermore, the simplified model in S6 simulates the working mode of the motor and the limiter in the actual system.

[0117] Example 3

[0118] This embodiment provides a desktop printing system based on any of the methods described above, including a motor and a controller, a baffle is provided on the rotating axis of the motor, a limiter is provided outside the motor, the output end of the controller is connected to the motor signal, and the input end of the controller is connected to the encoder signal.

[0119] Among them, the motor, as the source of driving force, is responsible for the movement of the printing device;

[0120] The encoder is installed on the motor to monitor and record the motor's rotation speed, angle and running time in real time;

[0121] The baffle is connected to the rotating shaft of the motor and is used to trigger the limiter every time the motor rotates one circle;

[0122] When the limiter is triggered by the baffle, a signal is sent to stop the motor movement;

[0123] The controller contains a PID control algorithm that receives encoder signals and regulates motor motion to ensure precise positioning;

[0124] This embodiment also provides a storage medium, including a computer-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor executes the method for automatically triggering the origin of a desktop printing system motor described in Example 1.

Claims

1. A method for automatically triggering the origin of a motor in a desktop printing system, characterized in that: The following steps are involved: S1. Design a baffle connected to the motor's rotating axis to ensure that the baffle can trigger the limiter every time the motor rotates one circle; S2. Fix the baffle to the motor shaft by fixing materials to ensure that it is in the correct position and can trigger the limiter when the motor rotates; S3. Fix the limiter to a proper position to ensure that it can be triggered by the baffle; S4, testing the movement process of the motor; S5. Optimize and adjust the position of the baffle and the setting of the stopper according to the test results to ensure the accuracy and reliability of the automatic triggering origin; S6. Build a simplified model to demonstrate the process of automatically triggering the origin in order to further verify and demonstrate the technical solution.

2. The method for automatically triggering the origin of a motor in a desktop printing system according to claim 1, characterized in that: The baffle in S1 is a sheet iron product or other sheet objects with strength, or an object composed of a plurality of iron nails of appropriate sizes arranged side by side.

3. The method for automatically triggering the origin of a motor in a desktop printing system according to claim 1, characterized in that: The simplified model in S6 simulates the working mode of the motor and the limiter in the actual system.

4. The method for automatically triggering the origin of a motor in a desktop printing system according to claim 1, characterized in that: In S4, an encoder is set on the motor to collect the movement data of the motor, including the rotation speed, rotation angle, and running time, and identify the movement mode and abnormality of the motor.

5. The method for automatically triggering the origin of a motor in a desktop printing system according to claim 1, characterized in that: The S5 uses a proportional-integral-derivative controller to adjust the position of the flap and the setting of the stopper: Where u(t) is the control input, e(t) is the error, that is, the difference between the desired position and the actual position, and K p , K i and K d They are proportional, integral and derivative gains respectively.

6. The method for automatically triggering the origin of a motor in a desktop printing system according to claim 1, characterized in that: In S5, particle swarm optimization is applied to find the optimal PID parameters to achieve the best control effect. Specifically, a certain number of particles are randomly generated, each particle represents a potential PID parameter combination (K p , K i , K d ), randomly initialize the speed for each particle; use the PID control rule to apply the parameters of each particle to the system model and calculate the system performance indicators; Specifically, if the performance index of the current particle is better than the previously recorded personal best performance, the personal best position is updated; if the performance index of the current particle is better than the current best performance of all particles, the global best position is updated; Update particle positions and velocities: Speed ​​update: v i (t+1)=w·v i (t)+c1·r 1i (p besti -x i (t))+c2·r 2i (g besti -x i (t))Position update: x i (t+1)=x i (t)+v i (t+1) Among them, v i (t) is the velocity of the ith particle in generation t; w is the inertia weight, which controls how well the particle maintains its current velocity; c1 and c2 are learning factors that control the strength of the particle moving toward the personal best and global best positions; r 1i and r 2i is a random number in the range [0,1][0,1]; is the personal best position of particle i; is the global optimal position of the particle swarm; x i (t) is the position of particle i in generation t; If the maximum number of iterations is reached or other termination conditions are met.

7. The method for automatically triggering the origin of a motor in a desktop printing system according to claim 1, characterized in that: The S4 also includes a motor movement test and a motor limit finding test, specifically, Motor movement process test process: ① Prepare the test environment and ensure that the motor and limiter have been correctly installed according to steps S1 to S3; ② Define the test parameters and determine the motor's rotation direction, speed and number of revolutions; ③ Carry out a preliminary test, start the motor manually or automatically, and observe whether the baffle can trigger the limiter within the expected number of turns; ④Data recording; ⑤ Error analysis, analyze test data; ⑥Adjust the position of the baffle; ⑦ Repeat the test, repeat steps ③ to ⑥, until the baffle can accurately trigger the limiter every time it rotates; Motor movement test, including the following steps: ① Start the motor: under the instruction of the control program, start the motor and gradually increase it to the set working speed; ②Monitor speed and acceleration: Use sensors to monitor the real-time speed and acceleration of the motor; ③Record data: record the movement data of the motor at different speeds; ④Evaluate stability: Check whether the motor remains stable during continuous motion without abnormal vibration or noise; ⑤ Adjust parameters: If the speed or acceleration is not as expected, adjust the motor drive parameters or PID controller parameters; ⑥ Repeated testing: Repeated testing under different loads and conditions to ensure that the motor can work stably under various working conditions; The motor limit test includes the following steps: ① Set the target position: set a target position close to the limiter for the motor; ② Start the motor to move to the target position: under the instruction of the control program, start the motor to move to the target position; ③ Monitor the proximity limiter: When the motor approaches the target position, closely monitor the position and speed of the motor; ④ Triggering the limiter: When the baffle triggers the limiter, the final position and triggering time of the motor are recorded; ⑤Verify accuracy: Check whether the motor stops accurately at the predetermined position or returns to the origin; ⑥ Adjust the limiter sensitivity: If the trigger position is deviated, adjust the limiter sensitivity or the position of the baffle; ⑦ Repeat test: Repeat the test several times to verify the consistency and reliability of the trigger origin signal; ⑧Data analysis: Analyze test data and evaluate the performance of the system in the limit finding stage.

8. The method for automatically triggering the origin of a motor in a desktop printing system according to claim 3, characterized in that: In the S6, computer-aided design software is used to construct a 3D model of the motor, baffle and stopper, and simulation software is used to simulate the movement of the motor and the process of automatically triggering the origin. During the simulation process, Monte Carlo simulation can be used to evaluate the performance of the system under different conditions, and the response surface method (RSM) can be used to optimize the system design; in the Monte Carlo simulation, the average value and standard deviation can be calculated to evaluate the system performance: average value: Standard Deviation: Among them, x i is the result of each simulation, and n is the number of simulations; Through the application of the above steps and algorithms, the method of automatically triggering the origin of the desktop printing system motor is ensured to be reasonable, efficient and reliable.

9. A desktop printing system based on the method according to any one of claims 1 to 8, characterized in that: It comprises a motor and a controller, wherein a baffle is arranged on the rotating shaft of the motor, a limiter is arranged outside the motor, an output end of the controller is connected with a motor signal, and an input end of the controller is connected with an encoder signal.

10. A storage medium, characterized in that: The method comprises a computer-readable storage medium having instructions stored thereon, which, when executed by a processor, causes the processor to execute the method according to any one of claims 1 to 8.

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