Vibration suppression control method and device of three-dimensional printer and three-dimensional printer

Abstract

The embodiment of the invention relates to a vibration suppression control method and device of a three-dimensional printer and the three-dimensional printer. The method comprises the steps that motion planning information of a machine tool is obtained; determining a target speed control type from a predetermined speed control type set based on the motion planning information; wherein the target speed control type is the speed control type with the minimum vibration amplitude in the speed control type set under the condition that the machine tool is controlled according to the motion planning information; and according to the target speed control type, controlling the machine tool to move indicated by the motion planning information. Therefore, the vibration amplitude in the movement process of the machine tool can be reduced.

Description

Technical Field

[0001] This application relates to the technical field of machine tools, and particularly to a vibration suppression control method, device and 3D printer for a 3D printer. Background Art

[0002] In the prior art, there are various speed control types, such as T-shaped acceleration and deceleration, S-shaped acceleration and deceleration, cosine acceleration and deceleration, etc. However, the vibration effect (i.e., vibration amplitude) of the same speed control type is different in different scenarios.

[0003] Currently, it is usually necessary for users to select the speed control type by themselves according to different processing scenarios. As a result, the vibration amplitude during the movement of the machine tool is relatively large. Summary of the Invention

[0004] In view of this, to solve the above-mentioned partial or all technical problems, embodiments of this application provide a vibration suppression control method, device and 3D printer for a 3D printer.

[0005] In a first aspect, embodiments of this application provide a vibration suppression control method for a 3D printer, the method including:

[0006] Obtain the motion planning information of the machine tool;

[0007] Based on the motion planning information, determine a target speed control type from a pre-determined set of speed control types; wherein, the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information.

[0008] Control the machine tool to perform the motion indicated by the motion planning information according to the target speed control type.

[0009] In a possible implementation manner, the determining, based on the motion planning information, a target speed control type from a pre-determined set of speed control types includes:

[0010] Input the motion planning information into a pre-trained first model, and determine the target speed control type from a pre-determined set of speed control types, where the first model is used to represent the correspondence between the motion planning information and the target speed control type in the set of speed control types.

[0011] In a possible implementation manner, the first model is trained in the following manner:

[0012] Obtain a training sample set, where the training samples in the training sample set include first motion planning information and a first target speed control type;

[0013] Using a machine learning algorithm, taking the first motion planning information as input data and the first target speed control type as expected output data, a first model is trained.

[0014] In a possible implementation manner, the step of using a machine learning algorithm, taking the first motion planning information as input data and the first target speed control type as expected output data, and training to obtain a first model includes:

[0015] For an initial model in a pre-determined set of initial models, using a machine learning algorithm, taking the first motion planning information included in the training sample as the input data of the initial model, and taking the first target speed control type included in the training sample as the expected output data of the initial model, a candidate model corresponding to the initial model is trained;

[0016] Obtain a test sample set, where the test samples in the test sample set include second motion planning information and a second target speed control type;

[0017] Based on the test sample set, determine the performance information of the candidate model;

[0018] Among the multiple candidate models obtained by training, the candidate model with the optimal performance represented by the performance information is determined as the first model.

[0019] In a possible implementation manner, the first target speed control type included in the training sample is determined in the following way:

[0020] For a speed control type in a pre-determined set of speed control types, based on the speed control type and the first motion planning information included in the training sample, determine the vibration amplitude of the machine tool when controlling the movement of the machine tool according to the first motion planning information, and obtain the vibration amplitude corresponding to the speed control type;

[0021] The speed control type with the smallest corresponding vibration amplitude in the set of speed control types is determined as the first target speed control type included in the training sample.

[0022] In a possible implementation manner, the motion planning information represents information about the motion segments planned for the machine tool; and

[0023] The step of determining the target speed control type from a pre-determined set of speed control types based on the motion planning information includes:

[0024] Based on the motion planning information, determine the target speed control type of the motion segment from a pre-determined set of speed control types.

[0025] In a possible implementation manner,

[0026] The set of speed control types includes at least two of the following speed control types: T-type acceleration and deceleration, constant Jerk acceleration and deceleration, S-type acceleration and deceleration, and trigonometric function acceleration and deceleration; and / or

[0027] The motion planning information includes at least one of the following: corner information, motion segment information, and motion mode information.

[0028] In a possible implementation manner, the motion planning information is determined as follows:

[0029] Determine the speed control type of the machine tool;

[0030] Based on the speed control type, determine the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold.

[0031] In a possible implementation manner, the determining the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold based on the speed control type includes:

[0032] Obtain the reference motion parameters of the machine tool, where when the machine tool moves according to the reference motion parameters, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold;

[0033] Based on the speed control type and the reference motion parameters, determine the motion planning information with a vibration amplitude less than or equal to the preset amplitude threshold.

[0034] In a second aspect, an embodiment of the present application provides a vibration suppression control device for a 3D printer, and the device includes:

[0035] An acquisition unit, configured to acquire the motion planning information of the machine tool;

[0036] A determination unit, configured to determine a target speed control type from a pre-determined set of speed control types based on the motion planning information; where the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information;

[0037] A control unit, configured to control the machine tool to perform the motion indicated by the motion planning information according to the target speed control type.

[0038] In a possible implementation manner, the determining the target speed control type from a pre-determined set of speed control types based on the motion planning information includes:

[0039] Input the motion planning information into a pre-trained first model to determine a target speed control type from a pre-determined set of speed control types, where the first model is used to characterize the correspondence between the motion planning information and the target speed control type in the set of speed control types.

[0040] In a possible implementation, the first model is trained in the following manner:

[0041] Obtain a training sample set, where the training samples in the training sample set include first motion planning information and a first target speed control type;

[0042] Using a machine learning algorithm, take the first motion planning information as input data and the first target speed control type as expected output data to train the first model.

[0043] In a possible implementation, the step of using a machine learning algorithm, taking the first motion planning information as input data and the first target speed control type as expected output data to train the first model includes:

[0044] For an initial model in a pre-determined set of initial models, use a machine learning algorithm, take the first motion planning information included in the training sample as the input data of the initial model, and take the first target speed control type included in the training sample as the expected output data of the initial model to train the candidate model corresponding to the initial model;

[0045] Obtain a test sample set, where the test samples in the test sample set include second motion planning information and a second target speed control type;

[0046] Based on the test sample set, determine the performance information of the candidate model;

[0047] Among the multiple candidate models obtained by training, determine the candidate model with the best performance represented by the performance information as the first model.

[0048] In a possible implementation, the first target speed control type included in the training sample is determined in the following manner:

[0049] For the speed control types in a pre-determined set of speed control types, based on the speed control type and the first motion planning information included in the training sample, determine the vibration amplitude of the machine tool when controlling the movement of the machine tool according to the first motion planning information, and obtain the vibration amplitude corresponding to the speed control type;

[0050] Determine the speed control type with the smallest corresponding vibration amplitude in the set of speed control types as the first target speed control type included in the training sample.

[0051] In a possible implementation, the motion planning information represents information about motion segments planned for the machine tool; and

[0052] Determining a target speed control type from a pre-determined set of speed control types based on the motion planning information includes:

[0053] Based on the motion planning information, determining the target speed control type of the motion segment from a pre-determined set of speed control types.

[0054] In a possible implementation,

[0055] The set of speed control types includes at least two of the following speed control types: T-type acceleration and deceleration, constant Jerk acceleration and deceleration, S-type acceleration and deceleration, trigonometric function acceleration and deceleration; and / or

[0056] The motion planning information includes at least one of the following: corner information, motion segment information, motion mode information.

[0057] In a possible implementation, the motion planning information is determined in the following manner:

[0058] Determine the speed control type of the machine tool;

[0059] Based on the speed control type, determine motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold.

[0060] In a possible implementation, the determining motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold based on the speed control type includes:

[0061] Obtain the reference motion parameters of the machine tool, where, when the machine tool moves according to the reference motion parameters, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold;

[0062] Based on the speed control type and the reference motion parameters, determine motion planning information with a vibration amplitude less than or equal to the preset amplitude threshold.

[0063] In a third aspect, an embodiment of the present application provides a 3D printer, including:

[0064] A memory for storing a computer program;

[0065] A processor for executing the computer program stored in the memory, and when the computer program is executed, implementing the method of any one of the embodiments of the vibration suppression control method of the 3D printer in the first aspect of the present application.

[0066] Fourthly, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method of any one of the vibration suppression control methods of the 3D printer in the first aspect as described above is implemented.

[0067] Fifthly, an embodiment of the present application provides a computer program, which includes computer-readable code. When the computer-readable code runs on a device, the processor in the device is caused to implement the method of any one of the vibration suppression control methods of the 3D printer in the first aspect as described above.

[0068] The vibration suppression control method of the 3D printer provided by the embodiment of the present application can obtain the motion planning information of the machine tool. Then, based on the motion planning information, a target speed control type is determined from a pre-determined set of speed control types. The target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information. Then, according to the target speed control type, the machine tool is controlled to perform the motion indicated by the motion planning information. Thus, a target speed control type that is suitable for the motion planning information of the machine tool and has the smallest vibration amplitude can be determined from multiple sets of acceleration types, and the machine tool is controlled to perform the corresponding motion according to this target speed control type. In this way, the vibration amplitude during the motion of the machine tool can be reduced. Description of the Drawings

[0069] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0071] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the drawings do not constitute a proportional limitation.

[0072] Figure 1 It is a schematic flowchart of a vibration suppression control method of a 3D printer provided by an embodiment of the present application;

[0073] Figure 2Schematic flowchart of another vibration suppression control method for a 3D printer provided by an embodiment of the present application;

[0074] Figure 3 Schematic flowchart of yet another vibration suppression control method for a 3D printer provided by an embodiment of the present application;

[0075] Figure 4 Schematic diagram of the correspondence between time and acceleration of the speed control type involved in a vibration suppression control method for a 3D printer provided by an embodiment of the present application;

[0076] Figure 5 Schematic diagram of the correspondence between the speed control type and the error coefficient involved in a vibration suppression control method for a 3D printer provided by an embodiment of the present application;

[0077] Figure 6 Schematic structural diagram of a vibration suppression control device for a 3D printer provided by an embodiment of the present application;

[0078] Figure 7 Schematic structural diagram of a 3D printer provided by an embodiment of the present application. Detailed implementation manners

[0079] Now, various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. It should be noted that: Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application.

[0080] Those skilled in the art can understand that terms such as "first", "second", etc. in the embodiments of the present application are only used to distinguish different steps, devices, or modules, etc., without representing any specific technical meaning and without indicating their logical order.

[0081] It should also be understood that in this embodiment, "a plurality of" may refer to two or more, and "at least one" may refer to one, two, or more.

[0082] It should also be understood that for any component, data, or structure mentioned in the embodiments of the present application, without clear limitation or contrary indication in the context, it is generally understood as one or more.

[0083] In addition, the term "and / or" in the present application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the present application generally represents an "or" relationship between the associated objects before and after.

[0084] It should also be understood that the description of each embodiment in the present application emphasizes the differences between the embodiments, and the same or similar parts can be referred to each other. For the sake of brevity, they will not be described one by one.

[0085] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation of the present application or its application or use.

[0086] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the above technologies, methods, and devices should be regarded as part of the specification.

[0087] It should be noted that similar reference numerals and letters denote similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0088] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. To facilitate the understanding of the embodiments of the present application, the present application will be described in detail below with reference to the drawings and in conjunction with the embodiments. Obviously, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0089] To solve the technical problem of large vibration amplitude during the movement of a machine tool in the prior art, the present application provides a vibration suppression control method for a 3D printer, which can reduce the vibration amplitude during the movement of the machine tool.

[0090] Figure 1 The figure is a schematic flowchart of a vibration suppression control method for a 3D printer provided by an embodiment of the present application. This method can be applied to one or more electronic devices such as a 3D printer, a vibration suppression control device of a 3D printer, a smart phone, a laptop computer, a desktop computer, a portable computer, a server, etc. In addition, the execution subject of this method can be hardware or software. When the above execution subject is hardware, the execution subject can be one or more of the above electronic devices. For example, a single electronic device can execute this method, or multiple electronic devices can cooperate with each other to execute this method. When the above execution subject is software, this method can be implemented as multiple software or software modules, or can be implemented as a single software or software module. No specific limitation is made here.

[0091] As Figure 1 shown, the method specifically includes:

[0092] Step 101: Obtain the motion planning information of the machine tool.

[0093] In this embodiment, the motion planning information can be used for the machine tool to perform motion planning. The motion planning information can reflect the motion scenario of the machine tool. For example, the motion planning information may include, but is not limited to, at least one of the following: corner size, motion segment length, acceleration, speed, motion mode (such as slow start, rapid start, etc.), motion segment type (such as straight line, curve), corner speed, etc.

[0094] In some alternative implementation manners of this embodiment, the motion planning information includes at least one of the following: corner information, motion segment information, motion mode information.

[0095] Among them, the corner information may include, but is not limited to: corner angle, corner curvature, corner length, etc. The motion segment information may include, but is not limited to: motion segment type (such as straight line, non - straight line), motion segment length, etc. The motion mode information includes, but is not limited to: speed, acceleration, jerk, etc.

[0096] Step 102: Based on the motion planning information, determine a target speed control type from a pre - determined set of speed control types; wherein, the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information.

[0097] In this embodiment, the above - mentioned set of speed control types may contain at least two speed control types.

[0098] In some alternative implementation manners of this embodiment, the set of speed control types includes at least two of the following speed control types: T - type acceleration and deceleration, constant Jerk acceleration and deceleration, S - type acceleration and deceleration, trigonometric function acceleration and deceleration (such as sine acceleration and deceleration).

[0099] The above - mentioned vibration amplitude can be determined by means of manual observation, can also be determined by a sensor, or can also be obtained through model calculation. Among them, the above - mentioned model can determine the vibration amplitude of the machine tool by simulating the motion process of the machine tool.

[0100] Step 103: Control the machine tool to perform the motion indicated by the motion planning information according to the target speed control type.

[0101] In this embodiment, after determining the target speed control type, the machine tool can be controlled to perform the motion indicated by the motion planning information according to the target speed control type.

[0102] As an example, if the target speed control type is "T-shaped acceleration and deceleration" and the motion planning information is "slow start", then, after controlling the machine tool to start slowly, when it is necessary to control the speed of the machine tool, the motion of the machine tool can be controlled according to the T-shaped acceleration and deceleration.

[0103] As another example, if the target speed control type is "T-shaped acceleration and deceleration" and the motion planning information is "acceleration A, constant speed B", then, the machine tool can be controlled to perform T-shaped acceleration and deceleration with acceleration A and constant speed B.

[0104] In some alternative implementation manners of this embodiment, the motion planning information represents information about a motion segment (i.e., a partial motion trajectory) planned for the machine tool.

[0105] Among them, the motion segment can be a straight line or a curved path on the motion trajectory. Its length can be a preset length value.

[0106] On this basis, the following method can be adopted to determine the target speed control type from a pre-determined set of speed control types based on the motion planning information:

[0107] Based on the motion planning information, determine the target speed control type of the motion segment from a pre-determined set of speed control types.

[0108] As an example, if the motion trajectory of the machine tool is divided into motion segment 1, motion segment 2, and motion segment 3, then, based on the motion planning information of motion segment 1, determine the target speed control type of motion segment 1 from a pre-determined set of speed control types, based on the motion planning information of motion segment 2, determine the target speed control type of motion segment 2 from a pre-determined set of speed control types, and based on the motion planning information of motion segment 3, determine the target speed control type of motion segment 3 from a pre-determined set of speed control types.

[0109] In addition, the motion planning information of the motion segment here can include at least one of the following: the motion planning information of the motion segment adjacent to this motion segment, the motion planning information of a preset number of motion segments before this motion segment, and the motion planning information of a preset number of motion segments after this motion segment. For example, if the planned path includes the following motion segment sequence: motion segment 1, motion segment 2, motion segment 3, motion segment 4, motion segment 5, motion segment 6, then, the motion planning information of motion segment 3 can include: the motion planning information of motion segment 1 (such as acceleration, speed, and the motion segment type of motion segment 1), the motion planning information of motion segment 2 (such as acceleration, speed, and the motion segment type of motion segment 2), the motion planning information of motion segment 4 (such as acceleration, speed, and the motion segment type of motion segment 4), and the motion planning information of motion segment 5 (such as acceleration, speed, and the motion segment type of motion segment 5).

[0110] It can be understood that in the above optional implementation manners, for each motion segment, the target speed control type with the smallest vibration amplitude can be determined, and according to the target speed control type, the machine tool can be controlled to perform corresponding motions in the corresponding motion segments. In this way, the vibration amplitude during the motion of the machine tool can be further reduced.

[0111] Optionally, the motion planning information can also represent the information of all the motion trajectories planned for the machine tool.

[0112] In some optional implementation manners of this embodiment, the motion planning information can be determined in the following manner:

[0113] First step, determine the speed control type of the machine tool.

[0114] Among them, the speed control type can be any one of the following: T-type acceleration and deceleration, constant Jerk acceleration and deceleration, S-type acceleration and deceleration, trigonometric function acceleration and deceleration (such as sine acceleration and deceleration).

[0115] In practice, the above speed control type can be set by the user or determined by a certain strategy.

[0116] Second step, based on the speed control type, determine the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold.

[0117] As an example, the speed control type can be input into a pre-trained artificial intelligence model to determine the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold.

[0118] Among them, the above artificial intelligence model can be used to represent the correspondence between the speed control type and the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold.

[0119] In addition, other methods can also be used to implement the above second step. For specific details, please refer to the following description and will not be elaborated here.

[0120] It can be understood that in the above optional implementation manners, the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold can be determined based on the speed control type. In this way, when moving according to the above motion planning information, it can be ensured that the vibration amplitude is less than or equal to the preset amplitude threshold.

[0121] In some application scenarios of the above optional implementation manners, the following method can be used to determine the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold based on the speed control type:

[0122] Step 1: Obtain the reference motion parameters of the machine tool. When the machine tool moves according to the reference motion parameters, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold.

[0123] Among them, the reference motion parameters can be the motion parameters under which the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold when the machine tool moves according to them.

[0124] The reference motion parameters can be determined in various ways.

[0125] For example, the reference motion parameters can be the motion parameters input by the user. In this case, the user can determine the motion parameters with a vibration amplitude less than or equal to the preset amplitude threshold observed by himself as the reference motion parameters.

[0126] For another example, the reference motion parameters can be determined from multiple motion parameters in the following way: for each motion parameter among the multiple motion parameters, determine the vibration amplitude of the machine tool when the machine tool moves according to this motion parameter. If the vibration amplitude is less than or equal to the preset amplitude threshold, this motion parameter can be determined as the reference motion parameter.

[0127] In addition, the reference motion parameters can include but are not limited to at least one of the following motion parameters: running speed, running acceleration, running jerk, speed limit, acceleration limit, jerk limit, etc.

[0128] Step 2: Based on the speed control type, determine the target motion parameters with a vibration amplitude less than or equal to the preset amplitude threshold.

[0129] Among them, the above-mentioned vibration amplitude can be determined by means of manual observation, can be determined by a sensor, or can also be obtained through model calculation. Among them, the above model can determine the vibration amplitude of the machine tool by simulating the motion process of the machine tool.

[0130] Correspondingly, the vibration amplitude can be determined by means of manual observation, sensor measurement or model calculation to determine whether the vibration amplitude is less than or equal to the preset amplitude threshold.

[0131] Here, there are various ways to implement the above-mentioned second step.

[0132] As an example, through a pre-determined correspondence table, based on the speed control type and the reference motion parameters, the target motion parameters with a vibration amplitude less than or equal to the preset amplitude threshold can be determined. Among them, the above-mentioned correspondence table includes the correspondence between the speed control type, the reference motion parameters and the target motion parameters.

[0133] As another example, based on the speed control type, the target motion parameter with the vibration amplitude less than or equal to the preset amplitude threshold can be determined through a pre-determined correspondence table. The correspondence table includes the correspondence between the speed control type and the target motion parameter.

[0134] In addition, other methods can be used to implement step 103 above. For specific details, please refer to the following description and will not be elaborated here.

[0135] It can be understood that by using the reference operating parameter as a reference to determine the target operating parameter with the vibration amplitude less than or equal to the preset amplitude threshold and controlling the movement of the machine tool based on this, the dependence on user experience can be reduced, and the suppression effect of the vibration amplitude of the machine tool can be improved.

[0136] Optionally, when the speed control type represents the speed control type of a motion segment (i.e., a part of the motion trajectory) of the machine tool, the target motion parameter is used to indicate the motion of the machine tool in the motion segment.

[0137] The motion segment can be a straight line or a curved path on the motion trajectory. Its length can be a preset length value. The speed control types of different motion segments can be the same or different. The reference motion parameters of different motion segments can be the same or different. For example, the user can set the same reference motion parameter for all motion segments and can set different speed control types for different motion segments. Or, the user can set different reference motion parameters for different motion segments and can set the same speed control type for all motion segments.

[0138] As an example, if the motion trajectory of the machine tool is divided into motion segment 1, motion segment 2, and motion segment 3, then, based on the reference motion parameter and the speed control type of motion segment 1, the target motion parameter corresponding to motion segment 1 with the vibration amplitude less than or equal to the preset amplitude threshold can be determined. Then, according to the speed control type of motion segment 1, the machine tool is controlled to perform the motion indicated by the target motion parameter in motion segment 1; based on the reference motion parameter and the speed control type of motion segment 2, the target motion parameter corresponding to motion segment 2 with the vibration amplitude less than or equal to the preset amplitude threshold can be determined. Then, according to the speed control type of motion segment 2, the machine tool is controlled to perform the motion indicated by the target motion parameter in motion segment 2; based on the reference motion parameter and the speed control type of motion segment 3, the target motion parameter corresponding to motion segment 3 with the vibration amplitude less than or equal to the preset amplitude threshold can be determined. Then, according to the speed control type of motion segment 3, the machine tool is controlled to perform the motion indicated by the target motion parameter in motion segment 3.

[0139] In addition, the reference motion parameters of the motion segment here may include at least one of the following: the reference motion parameters and / or target motion parameters of the motion segment adjacent to this motion segment, the reference motion parameters and / or target motion parameters of a preset number of motion segments before this motion segment, and the reference motion parameters and / or target motion parameters of a preset number of motion segments after this motion segment. For example, if the planned path includes the following motion segment sequence: motion segment 1, motion segment 2, motion segment 3, motion segment 4, motion segment 5, motion segment 6, then the motion planning information of motion segment 3 may include: the reference motion parameters and / or target motion parameters of motion segment 1 (such as running acceleration, running speed, the motion segment type of motion segment 1), the reference motion parameters and / or target motion parameters of motion segment 2 (such as running acceleration, running speed, the motion segment type of motion segment 2), the reference motion parameters and / or target motion parameters of motion segment 4 (such as running acceleration, running speed, the motion segment type of motion segment 4), and the reference motion parameters and / or target motion parameters of motion segment 5 (such as running acceleration, running speed, the motion segment type of motion segment 5).

[0140] It can be understood that for each motion segment, the corresponding target motion parameters are determined, and according to the speed control type, the machine tool is controlled to perform the motion indicated by the target motion parameters in the corresponding motion segment. In this way, the suppression effect of the vibration amplitude of the machine tool can be further improved.

[0141] Optionally, the following method can be adopted to determine the target motion parameters with the vibration amplitude less than or equal to the preset amplitude threshold based on the speed control type:

[0142] Step 1, determine the motion function corresponding to the speed control type, where the motion function represents the corresponding relationship between time and acceleration when the machine tool moves according to the speed control type.

[0143] Step 2, based on the motion function, determine the target motion parameters with the vibration amplitude less than or equal to the preset amplitude threshold.

[0144] Among them, after the motion function is determined, the target motion parameters with the vibration amplitude less than or equal to the preset amplitude threshold can be further determined based on the motion function.

[0145] It can be understood that through the motion function corresponding to the speed control type, the target acceleration for controlling the operation of the machine tool can be determined, and further, the suppression effect of the vibration amplitude of the machine tool can be improved by controlling the acceleration of the machine tool operation.

[0146] Optionally, the following method can be adopted to determine the target motion parameters with the vibration amplitude less than or equal to the preset amplitude threshold based on the motion function:

[0147] Step 1: Perform Laplace transform on the motion function to obtain the transformed function.

[0148] As an example, taking the motion function of T-shaped acceleration and deceleration as an example, performing Laplace transform on the motion function of T-shaped speed acceleration and deceleration can obtain the transformed function. The function curve of this function can represent the acceleration amplitude-frequency curve of T-shaped acceleration and deceleration.

[0149] Among them, ω0 in the above formula is the modal frequency, which is measured by a vibration sensor, Δω is the frequency difference, which is automatically set inside the system, and generally 3.1416 is used. t1 is the acceleration time of T-shaped speed acceleration and deceleration, t2 is the constant speed time of T-shaped speed acceleration and deceleration, ω is the frequency, and A is the acceleration.

[0150] In addition, Laplace transform can also be performed on the motion functions of other speed control types, so as to obtain the corresponding transformed functions of other speed control types, which will not be elaborated here.

[0151] Step 2: Based on the transformed function, determine the target motion parameters whose vibration amplitude is less than or equal to the preset amplitude threshold.

[0152] Here, the specific values of the reference motion parameters can be substituted into the transformed function, so as to determine the target motion parameters whose vibration amplitude is less than or equal to the preset amplitude threshold through analysis.

[0153] It can be understood that by performing Laplace transform on the motion function and then performing frequency domain analysis on the transformed function, combined with the vibration frequency of the machine tool, the target motion parameters whose vibration amplitude is less than or equal to the preset amplitude threshold can be determined. Thus, the suppression effect of the vibration amplitude of the machine tool can be further improved.

[0154] Optionally, the transformed function represents the corresponding relationship between the vibration frequency and acceleration of the machine tool.

[0155] On this basis, the following method can be adopted to determine the target motion parameters whose vibration amplitude is less than or equal to the preset amplitude threshold based on the transformed function:

[0156] The first step: Determine multiple vibration frequencies whose vibration amplitude is less than or equal to the preset amplitude threshold to obtain a target frequency set.

[0157] Among them, the target frequency set can include multiple vibration frequencies whose vibration amplitude is less than or equal to the preset amplitude threshold.

[0158] Each target frequency in the target frequency set (that is, the above-mentioned vibration frequency whose vibration amplitude is less than or equal to the preset amplitude threshold) can be measured by a vibration sensor.

[0159] In the second step, determine the integral result within the neighborhood range of the target frequency in the target frequency set for the transformed function, to obtain the integral result corresponding to the target frequency in the target frequency set.

[0160] Among them, the neighborhood range of the target frequency ω0 can be (ω0 - Δω, ω0 + Δω). Among them, Δω is the frequency difference, obtained by setting, for example, 3.1416 can be used.

[0161] The integral result corresponding to the target frequency can be the integral result of the transformed function within the neighborhood range of this target frequency.

[0162] In the third step, based on the integral result corresponding to the target frequency in the target frequency set, determine the acceleration corresponding to the target frequency in the target frequency set.

[0163] By quantifying the formula the quantization of the vibration index can be obtained as Among them, γ0, γ(ω0,Δω) are the quantization results of the vibration index. Thus, the vibration index can be obtained as To satisfy the comparison principle, it is necessary to satisfy γ(ω0,Δω,A) = γ0. Among them, the values of γ0, ω0, and Δω are obtained from the reference motion parameters or calculated from the reference motion parameters.

[0164] Thus, the above problem is transformed into solving the equation to find A, that is, the acceleration corresponding to the target frequency.

[0165] In the fourth step, based on the determined acceleration, determine the target motion parameters for which the vibration amplitude is less than or equal to the preset amplitude threshold.

[0166] In addition, in the case where the above motion function represents other functions, other target motion parameters can be correspondingly obtained. For example, if the above motion function represents the correspondence between speed and time, the target speed can be obtained, and then the target motion parameters can be obtained. For another example, if the above motion function represents the correspondence between jerk and time, the target jerk can be obtained, and then the target motion parameters can be obtained.

[0167] It can be understood that the above solution can suppress the vibration amplitude of the machine tool by determining the acceleration of the machine tool operation.

[0168] Optionally, the following method can be adopted to determine the target motion parameters for which the vibration amplitude is less than or equal to the preset amplitude threshold based on the determined acceleration:

[0169] In the first step, from the determined accelerations, determine the acceleration with the largest value to obtain the target acceleration.

[0170] Among them, the target acceleration can be the acceleration with the largest value among the determined accelerations.

[0171] In the second step, determine the target acceleration as the target motion parameter whose vibration amplitude is less than or equal to the preset amplitude threshold.

[0172] It can be understood that by determining the acceleration with the largest value among the determined multiple accelerations as the target acceleration for controlling the operation of the machine tool, the efficiency loss of the machine tool can be reduced.

[0173] Optionally, the reference motion parameter includes an acceleration upper limit.

[0174] On this basis, the following method can be adopted to determine the target motion parameter whose vibration amplitude is less than or equal to the preset amplitude threshold based on the determined acceleration:

[0175] In the first step, determine the acceleration with the largest value from the determined accelerations to obtain the target acceleration.

[0176] Among them, the target acceleration can be the acceleration with the largest value among the determined accelerations.

[0177] In the second step, determine whether the target acceleration is greater than the acceleration upper limit.

[0178] In the third step, when the target acceleration is greater than the acceleration upper limit, determine the acceleration upper limit as the target motion parameter whose vibration amplitude is less than or equal to the preset amplitude threshold.

[0179] It can be understood that by determining the acceleration with the largest value less than the acceleration upper limit among the determined multiple accelerations as the target acceleration for controlling the operation of the machine tool, the efficiency loss of the machine tool can be relatively small, and the target acceleration for controlling the operation of the machine tool does not exceed the acceleration upper limit in the reference motion parameter.

[0180] The vibration suppression control method of the 3D printer provided by the embodiments of the present application can obtain the motion planning information of the machine tool, and then, based on the motion planning information, determine the target speed control type from a pre-determined set of speed control types; wherein, the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information. Then, control the machine tool to perform the motion indicated by the motion planning information according to the target speed control type. Thus, the target speed control type that is suitable for the motion planning information of the machine tool and has the smallest vibration amplitude can be determined from multiple sets of acceleration types, and the machine tool can be controlled to perform corresponding motions according to this target speed control type. In this way, the vibration amplitude during the motion of the machine tool can be reduced.

[0181] Figure 2 This is a schematic flowchart of another vibration suppression control method for a 3D printer provided by an embodiment of the present application. As Figure 2 shown, the method specifically includes:

[0182] Step 201, obtain the motion planning information of the machine tool.

[0183] In this embodiment, step 201 is basically the same as Figure 1 step 101 in the corresponding embodiment, and will not be elaborated here.

[0184] Step 202, input the motion planning information into a pre-trained first model, and determine a target speed control type from a pre-determined set of speed control types; wherein, the first model is used to represent the correspondence between the motion planning information and the target speed control type in the set of speed control types; the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information.

[0185] In this embodiment, the first model can be a regression model or a deep neural network model.

[0186] In addition, the first model can include one or more models.

[0187] As an example, in the case where the first model includes multiple models, the motion planning information can be input into each model respectively, and the speed control type determined by each model can be obtained. Further, the speed control type with the most occurrences among the speed control types determined by each model respectively can be determined as the target speed control type.

[0188] Step 203, control the machine tool to perform the motion indicated by the motion planning information according to the target speed control type.

[0189] In this embodiment, step 203 is basically the same as Figure 1 step 103 in the corresponding embodiment, and will not be elaborated here.

[0190] In some alternative implementation manners of this embodiment, the first model is trained in the following manner:

[0191] Step one, obtain a training sample set.

[0192] Wherein, the training samples in the training sample set include first motion planning information and a first target speed control type.

[0193] The first motion planning information can be the motion planning information included in the training samples in the training sample set.

[0194] The first target speed control type can be the target speed control type included in the training samples in the training sample set.

[0195] Step 2: Using a machine learning algorithm, taking the first motion planning information as input data and the first target speed control type as the expected output data, train to obtain a first model.

[0196] It can be understood that in the above optional implementation manners, a first model can be trained using a machine learning algorithm, which can improve the accuracy of determining the target speed control type, thereby further reducing the vibration amplitude during the movement of the machine tool.

[0197] In some application scenarios of the above optional implementation manners, the first model can be trained using a machine learning algorithm by the following method, taking the first motion planning information as input data and the first target speed control type as the expected output data:

[0198] Step 1: For the initial models in a pre-determined initial model set, using a machine learning algorithm, taking the first motion planning information included in the training samples as the input data of the initial model and the first target speed control type included in the training samples as the expected output data of the initial model, train to obtain a candidate model corresponding to the initial model.

[0199] Among them, the above initial model set can contain at least two different models (i.e., initial models). The initial models can be used to train and obtain the first model.

[0200] As an example, the initial model set can include: a linear regression model, a regression tree model, a multi-layer neural network model, etc.

[0201] Step 3: Obtain a test sample set.

[0202] Among them, the test samples in the test sample set include second motion planning information and a second target speed control type.

[0203] Among them, the second motion planning information can be the motion planning information included in the test samples in the test sample set.

[0204] The second target speed control type can be the target speed control type included in the test samples in the test sample set.

[0205] Step 4: Based on the test sample set, determine the performance information of the candidate model.

[0206] Among them, the performance information may include at least one of the following: Root Mean Square Error (RMSE), Mean Absolute Error (MAE), and R-squared (also known as the coefficient of determination).

[0207] Fourth step, among the multiple candidate models obtained through training, the candidate model with the optimal performance represented by the performance information is determined as the first model.

[0208] It can be understood that in the above application scenarios, the candidate model with the optimal performance can be selected from the candidate models corresponding to multiple initial models to obtain the first model. Thus, the accuracy of determining the target speed control type can be further improved, and further reduce the vibration amplitude during the movement of the machine tool.

[0209] In some application scenarios of the above optional implementation manners, the first target speed control type included in the training samples is determined as follows:

[0210] First step, for the speed control types in the pre-determined speed control type set, based on the speed control type and the first motion planning information included in the training sample, determine the vibration amplitude of the machine tool when controlling the movement of the machine tool according to the first motion planning information, and obtain the vibration amplitude corresponding to the speed control type.

[0211] Among them, the above vibration amplitude can be determined by manual observation, can also be determined by sensors, or can also be obtained through model calculation. Among them, the above model can determine the vibration amplitude of the machine tool by simulating the movement process of the machine tool.

[0212] Second step, determine the speed control type with the smallest corresponding vibration amplitude in the speed control type set as the first target speed control type included in the training sample.

[0213] It can be understood that in the above application scenarios, the first target speed control type included in each training sample can be determined by comparing the vibration amplitudes of the machine tool for each speed control type in the speed control type set when controlling the movement of the machine tool according to the first motion planning information, so as to ensure that the vibration amplitude corresponding to the first target speed control type included in the training sample is the smallest, thereby further reducing the vibration amplitude during the movement of the machine tool.

[0214] It should be noted that in addition to the content recorded above, this embodiment may also include Figure 1 the corresponding technical features described in the corresponding embodiments, so as to achieve Figure 1For the technical effects of the vibration suppression control method of the 3D printer shown, please refer specifically to Figure 1 the relevant description. For the sake of concise description, it will not be elaborated here.

[0215] The vibration suppression control method of the 3D printer provided by the embodiments of this application can determine the target speed control type through the first model, which can improve the determination accuracy of the target speed control type, thereby further reducing the vibration amplitude during the movement of the machine tool.

[0216] The following is an exemplary description of the embodiments of this application. However, it should be noted that the embodiments of this application may have the features described below, but the following description does not constitute a limitation on the protection scope of the embodiments of this application.

[0217] For the speed control of machine tools, there are various solutions on the market, such as T-shaped acceleration and deceleration, S-shaped acceleration and deceleration, cosine acceleration and deceleration, and so on. However, the vibration effects (jitter amplitude) of the same acceleration and deceleration control scheme are different in different scenarios. Users need to select the speed control type by themselves according to different processing scenarios, and it is impossible to achieve the optimal vibration control result.

[0218] In response to this, this method combines the characteristics of different speed control types (i.e., the speed control types in the above speed control type set) for vibration with the actual motion scenario (i.e., the above motion planning information), and obtains the type with the minimum vibration for each motion segment (i.e., the target speed control type) through the empirical method or the machine learning method, and applies the result to the actual motion planning, so as to achieve the optimal vibration without changing the efficiency and accuracy.

[0219] Among them, the motion segment can be a straight line segment or an arc segment, and the motion trajectory of the machine tool is composed of an ordered plurality of such motion segments.

[0220] Specifically, the scenario information (i.e., the above motion planning information) that can travel according to the planned route, speed, acceleration, etc. can be input into the model (i.e., the above first model) to obtain the speed control type (i.e., the above target speed control type).

[0221] Among them, the speed control type includes but is not limited to T-shaped acceleration and deceleration, constant Jerk acceleration and deceleration, S-shaped acceleration and deceleration, trigonometric function acceleration and deceleration, etc. The actual motion scenario (i.e., the above motion planning information) includes but is not limited to the corner size, line segment length, set acceleration, set speed, mechanical mode (such as slow start, sudden start), motion segment type (such as straight line, curve), corner speed, etc.

[0222] Please see below Figure 3 , Figure 3 which is a schematic flow chart of another vibration suppression control method of the 3D printer provided by the embodiments of this application.

[0223] As Figure 3 shown, the method includes the following steps:

[0224] Step 0: Vibration suppression starts.

[0225] Step 1: Parameter acquisition module. This module mainly determines the parameters of the scenario (i.e., the above-mentioned motion planning information), and then inputs the scenario parameters (i.e., the above-mentioned motion planning information) into the speed planning switching module (i.e., the above-mentioned first model) to calculate the mode type (i.e., the above-mentioned target speed control type).

[0226] In addition, for the above-mentioned motion planning information (i.e., the target motion parameters described later), it can be determined in the following way:

[0227] First, let the user select a motion with appropriate mechanical vibration as the reference motion (i.e., the above-mentioned reference motion parameters). In subsequent steps, the actually planned motion is referenced according to the vibration standard of the reference motion, and the vibration index of the reference motion (i.e., the target motion parameters) is calculated.

[0228] Specifically, the user needs to select a distance specified by the system (i.e., the length of the motion segment), and the user adjusts parameters such as speed, acceleration, and jerk (i.e., the above-mentioned reference motion parameters) by himself / herself to make the current motion satisfy the customer (i.e., the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold), and then set the motion as the reference motion. After setting the reference motion, the system can calculate the vibration index according to the type and motion parameters of this motion. The type of motion (i.e., the above-mentioned speed control type) includes but is not limited to T-type speed planning, S-type speed planning, Jerk control speed planning, sine-type speed planning, etc. The motion parameters (i.e., the above-mentioned reference motion parameters) include but are not limited to the target position, maximum speed (i.e., speed upper limit), maximum acceleration (i.e., acceleration upper limit), maximum jerk (i.e., jerk upper limit), start and end speeds, etc. The vibration index is calculated according to the calculation method in the frequency domain. The time-domain expression is transformed by Laplace transform to obtain the frequency-domain function. Then, it is integrated within a certain frequency range (i.e., the neighborhood range of the above-mentioned target frequency), and thus the vibration index is obtained.

[0229] Taking T-type speed planning as an example, the acceleration and time functions of the T-type can be obtained through Laplace transform where t1 is the acceleration time, t2 is the constant-speed time, ω is the frequency, and A is the acceleration.

[0230] Therefore, the quantization of the vibration index can be obtained as where ω0 is the modal frequency, set by the user, Δω is the frequency difference, automatically set by the system internally, and generally 3.1416 is used. ω0 needs to be measured by a vibration sensor.

[0231] After that, parameters for motion planning are calculated based on the reference vibration indices for subsequent velocity planning. The parameters for motion planning include, but are not limited to, information such as velocity, acceleration, and jerk. Taking acceleration (velocity or jerk can also be used in practice) as an example, according to the vibration index calculation method in step 2, it can be obtained that, on the premise of a fixed motion length, the vibration index is To satisfy the comparison principle, it is necessary to satisfy γ(ω0,Δω,A) = γ0, and then find the maximum A. Now the problem in step 2 is transformed into solving the equation to find A. In this example, A is the parameter for motion planning (i.e., the above-mentioned target motion parameter).

[0232] The solution method for the above simulation uses a numerical method. For example, the secant method can be used to solve the equation, and the integral is calculated using the adaptive Simpson (Simpson's rule, a numerical integration method used to estimate the definite integral of a function over a given interval) method. If there are multiple solutions, the solution with the largest value is selected to ensure the minimum efficiency loss.

[0233] Then, the obtained parameters for motion planning are applied to the actual trajectory motion. Note that for each new motion segment, new parameters for motion planning need to be obtained according to the above method to meet the vibration reference for all motion segments.

[0234] It can be understood that by controlling the acceleration, the amplitude of the machine tool can be suppressed, and the amplitude of the machine tool can be accurately controlled with less efficiency loss. Moreover, a new method is proposed to realize the quantization of vibration standard indices. An amplitude reference scheme based on frequency domain indices can be used to limit the acceleration and deceleration planning parameters to achieve the effect of vibration suppression.

[0235] Step 2: Velocity planning switching module. This module is used to determine the type of velocity planning according to the scenario parameters in step 1. Assume the scenario parameters are x_1, x_2,..., x_n, and the expected output type is y.

[0236] To obtain the output type, it is necessary to determine the functional relationship y = f(x_1, x_2,..., x_n) between the output type and the scenario parameters. The determination method uses statistical thinking, and this function needs to be completed before step 2 is executed. The completion method is to first obtain factual data through a large number of experiments, and then learn through regression to obtain the functional relationship. Specifically, different x_1, x_2,..., x_n are selected as experimental cases for experiments. The output result (the output type y) of each group of experiments is recorded, and the experimental data is sent to the regression model for learning. The regression model includes, but is not limited to, models such as linear regression, regression tree, and multi-layer neural network. The optimal result is obtained through comparative learning of several models as the model for actual use, which is the final function to be used.

[0237] After determining \(y = f(x_1,x_2,\cdots,x_n)\), in step 2, the speed planning type is obtained according to the function result.

[0238] Step 3: Speed planning type switching module. In different scenarios, this module marks each motion segment with the identification of the planning type according to the speed planning type in step 2, and adopts the marked speed planning type when actually running the machining trajectory.

[0239] The following explains why this solution does not reduce the motion efficiency. As Figure 4 shown, Figure 4 is a schematic diagram of the correspondence between time and acceleration of the speed control type involved in a vibration suppression control method for a 3D printer provided by an embodiment of the present application. When selecting different types, it is achieved by changing the shape of the acceleration curve, and at the same time, it can be ensured that the time consumption is the same.

[0240] Step 4: Vibration control ends.

[0241] To illustrate the utility of this solution, the switching between T-type speed planning and S-type speed planning is taken as an example. As Figure 5 shown, Figure 5 is a schematic diagram of the correspondence between the speed control type and the error coefficient involved in a vibration suppression control method for a 3D printer provided by an embodiment of the present application. In Figure 5 , T represents T-type speed planning (that is, the above-mentioned T-type acceleration and deceleration), S represents S-type speed planning (that is, the above-mentioned S-type acceleration and deceleration), and TS represents the result of the speed planning automatically switching from T-type acceleration and deceleration and S-type acceleration and deceleration obtained by applying this solution. From the planning error caused by vibration (such as root mean square error, mean absolute error), the error of TS is the smallest, indicating that TS has better control over vibration than T-type and S-type. For example, when selecting 4 motion segments, the speed planning type of each segment obtained by applying this solution can be: S-type acceleration and deceleration, S-type acceleration and deceleration, T-type acceleration and deceleration, T-type acceleration and deceleration.

[0242] It should be noted that, in addition to the above-recorded content, this embodiment may also include the technical features described in the above embodiments, thereby achieving the technical effects of the vibration suppression control method of the 3D printer shown above. For specific details, please refer to the above description. For the sake of brevity, it will not be elaborated here.

[0243] The vibration suppression control method for a 3D printer provided by an embodiment of the present application can adaptively adjust the speed planning type according to different scenarios (such as corner size, line segment length, set acceleration, set speed, mechanical mode, etc.), so as to achieve the best vibration suppression effect without reducing the motion efficiency.

[0244] Figure 6The structural schematic diagram of a vibration suppression control device for a 3D printer provided by an embodiment of this application. Specifically, it includes:

[0245] An acquisition unit 401, configured to acquire the motion planning information of the machine tool;

[0246] A determination unit 402, configured to determine a target speed control type from a pre-determined set of speed control types based on the motion planning information; wherein, the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information;

[0247] A control unit 403, configured to control the machine tool to perform the motion indicated by the motion planning information according to the target speed control type.

[0248] In a possible implementation manner, the determining a target speed control type from a pre-determined set of speed control types based on the motion planning information includes:

[0249] Inputting the motion planning information into a pre-trained first model to determine a target speed control type from a pre-determined set of speed control types, wherein the first model is used to represent the correspondence between the motion planning information and the target speed control type in the set of speed control types.

[0250] In a possible implementation manner, the first model is trained in the following manner:

[0251] Acquiring a training sample set, wherein the training samples in the training sample set include first motion planning information and a first target speed control type;

[0252] Using a machine learning algorithm, taking the first motion planning information as input data and the first target speed control type as expected output data to train the first model.

[0253] In a possible implementation manner, the using a machine learning algorithm, taking the first motion planning information as input data and the first target speed control type as expected output data to train the first model includes:

[0254] For an initial model in a pre-determined initial model set, using a machine learning algorithm, taking the first motion planning information included in the training sample as the input data of the initial model and the first target speed control type included in the training sample as the expected output data of the initial model to train the candidate model corresponding to the initial model;

[0255] Obtain a test sample set, where the test samples in the test sample set include second motion planning information and a second target speed control type;

[0256] Based on the test sample set, determine the performance information of the candidate model;

[0257] Among the multiple candidate models obtained by training, determine the candidate model with the optimal performance represented by the performance information as the first model.

[0258] In a possible implementation manner, the first target speed control type included in the training sample is determined as follows:

[0259] For the speed control types in a pre-determined speed control type set, based on the speed control type and the first motion planning information included in the training sample, determine the vibration amplitude of the machine tool when controlling the movement of the machine tool according to the first motion planning information, and obtain the vibration amplitude corresponding to the speed control type;

[0260] Determine the speed control type with the smallest corresponding vibration amplitude in the speed control type set as the first target speed control type included in the training sample.

[0261] In a possible implementation manner, the motion planning information represents information on the motion segments planned for the machine tool; and

[0262] Determining the target speed control type from a pre-determined speed control type set based on the motion planning information includes:

[0263] Based on the motion planning information, determine the target speed control type of the motion segment from a pre-determined speed control type set.

[0264] In a possible implementation manner,

[0265] The speed control type set includes at least two of the following speed control types: T-type acceleration and deceleration, constant Jerk acceleration and deceleration, S-type acceleration and deceleration, trigonometric function acceleration and deceleration; and / or

[0266] The motion planning information includes at least one of the following: corner information, motion segment information, motion mode information.

[0267] In a possible implementation manner, the motion planning information is determined as follows:

[0268] Determine the speed control type of the machine tool;

[0269] Based on the speed control type, determine the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold.

[0270] In a possible implementation manner, determining motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold based on the speed control type includes:

[0271] Obtaining reference motion parameters of the machine tool, where when the machine tool moves according to the reference motion parameters, the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold;

[0272] Based on the speed control type and the reference motion parameters, determining motion planning information with the vibration amplitude less than or equal to the preset amplitude threshold.

[0273] The vibration suppression control device of the 3D printer provided in this embodiment may be the vibration suppression control device of the 3D printer shown in Figure 6 which can execute all steps of the above-mentioned vibration suppression control methods of various 3D printers, and thus achieve the technical effects of the above-mentioned vibration suppression control methods of various 3D printers. For specific reference, please refer to the above relevant descriptions. For the sake of brief description, it will not be elaborated here.

[0274] Figure 7 FIG. is a schematic structural diagram of a 3D printer provided in an embodiment of the present application. Figure 7 The 3D printer 500 shown includes: at least one processor 501, a memory 502, at least one network interface 504, and other user interfaces 503. Each component in the 3D printer 500 is coupled together through a bus system 505. It can be understood that the bus system 505 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 505 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clear description, in Figure 7 all kinds of buses are labeled as the bus system 505.

[0275] Among them, the user interface 503 may include a display, a keyboard, or a pointing device (such as a mouse, a trackball, a touchpad, or a touch screen, etc.).

[0276] It can be understood that the memory 502 in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synch link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM). The memory 502 described herein is intended to include but not be limited to these and any other suitable types of memory.

[0277] In some embodiments, the memory 502 stores the following elements, executable units, or data structures, or subsets thereof, or extended sets thereof: an operating system 5021 and an application program 5022.

[0278] Among them, the operating system 5021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., and is used to implement various basic services and process hardware-based tasks. The application program 5022 includes various application programs, such as a media player and a browser, etc., and is used to implement various application services. The program for implementing the method of the embodiments of the present application can be included in the application program 5022.

[0279] In this embodiment, by calling the program or instruction stored in the memory 502, specifically, the program or instruction stored in the application program 5022, the processor 501 is used to execute the method steps provided in each method embodiment, for example, including:

[0280] Obtain the motion planning information of the machine tool;

[0281] Based on the motion planning information, determine a target speed control type from a pre-determined set of speed control types; wherein, the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information.

[0282] Control the machine tool to perform the motion indicated by the motion planning information according to the target speed control type.

[0283] The method disclosed in the embodiments of the present application above can be applied to or implemented by the processor 501. The processor 501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 501 or the instructions in the form of software. The above-mentioned processor 501 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by the hardware decoding processor, or executed by the combination of the hardware and software units in the decoding processor. The software unit may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502 and combines its hardware to complete the steps of the above method.

[0284] It can be understood that the embodiments described herein can be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the above functions of the present application, or a combination thereof.

[0285] For software implementation, the above-described technologies herein can be implemented by units that execute the above functions herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented within the processor or externally to the processor.

[0286] The 3D printer provided in this embodiment can be a 3D printer as shown in Figure 7 which can execute all steps of the vibration suppression control method of the above-described 3D printers, thereby achieving the technical effects of the vibration suppression control methods of the above-described 3D printers. For specific reference, please refer to the above relevant descriptions. For the sake of brevity, it will not be elaborated here.

[0287] The embodiments of the present application also provide a storage medium (computer-readable storage medium). The storage medium stores one or more programs herein. Among them, the storage medium can include volatile memory, such as random access memory; the memory can also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; the memory can also include a combination of the above types of memory.

[0288] When one or more programs in the storage medium can be executed by one or more processors to implement the vibration suppression control method of the 3D printer executed on the 3D printer side as described above.

[0289] The above processor is used to execute the machine tool control program stored in the memory to implement the following steps of the vibration suppression control method of the 3D printer executed on the 3D printer side:

[0290] Obtain the motion planning information of the machine tool;

[0291] Based on the motion planning information, determine a target speed control type from a pre-determined set of speed control types; wherein, the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information.

[0292] Control the machine tool to perform the motion indicated by the motion planning information according to the target speed control type.

[0293] Those skilled in the art should also be able to further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Skilled artisans can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0294] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0295] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the particular order described or illustrated, unless the order of execution is explicitly stated. It should also be understood that additional or alternative steps may be used.

[0296] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vibration suppression control method for a three-dimensional printer, characterized in that, The method includes: Obtaining the motion planning information of the machine tool; Based on the motion planning information, determining a target speed control type from a pre-determined set of speed control types; wherein, the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information; Controlling the machine tool to perform the motion indicated by the motion planning information according to the target speed control type.

2. The method according to claim 1, wherein The determining of the target speed control type from the pre-determined set of speed control types based on the motion planning information includes: Inputting the motion planning information into a pre-trained first model to determine the target speed control type from the pre-determined set of speed control types, wherein the first model is used to represent the correspondence between the motion planning information and the target speed control type in the set of speed control types.

3. The method according to claim 2, wherein The first model is trained in the following manner: Obtaining a training sample set, wherein the training samples in the training sample set include first motion planning information and a first target speed control type; Using a machine learning algorithm, taking the first motion planning information as input data and the first target speed control type as expected output data to train the first model.

4. The method according to claim 3, wherein The using of the machine learning algorithm, taking the first motion planning information as input data and the first target speed control type as expected output data to train the first model includes: For an initial model in a pre-determined set of initial models, using a machine learning algorithm, taking the first motion planning information included in the training sample as the input data of the initial model and the first target speed control type included in the training sample as the expected output data of the initial model to train a candidate model corresponding to the initial model; Obtaining a test sample set, wherein the test samples in the test sample set include second motion planning information and a second target speed control type; Based on the test sample set, determining the performance information of the candidate model; Determining the candidate model with the optimal performance represented by the performance information among the multiple candidate models obtained by training as the first model.

5. The method according to claim 3, wherein The first target speed control type included in the training sample is determined in the following manner: For a speed control type in the pre-determined set of speed control types, based on the speed control type and the first motion planning information included in the training sample, determining the vibration amplitude of the machine tool when controlling the motion of the machine tool according to the first motion planning information to obtain the vibration amplitude corresponding to the speed control type; Determining the speed control type with the smallest corresponding vibration amplitude in the set of speed control types as the first target speed control type included in the training sample.

6. The method according to claim 1, wherein The motion planning information represents information about the motion segment planned for the machine tool; and The determining of the target speed control type from the pre-determined set of speed control types based on the motion planning information includes: Based on the motion planning information, determining the target speed control type of the motion segment from the pre-determined set of speed control types.

7. The method according to any one of claims 1-6, characterized in that the set of speed control types includes at least two of the following speed control types: T-type acceleration and deceleration, constant Jerk acceleration and deceleration, S-type acceleration and deceleration, trigonometric function acceleration and deceleration; and / or the motion planning information includes at least one of the following: corner information, motion segment information, motion mode information.

8. The method according to any one of claims 1-6, wherein the motion planning information is determined in the following manner: Determine the speed control type of the machine tool; Based on the speed control type, determine the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold.

9. The method according to claim 8, wherein The determining the motion planning information with a vibration amplitude less than or equal to a preset amplitude threshold based on the speed control type includes: Obtain the reference motion parameters of the machine tool, wherein when the machine tool moves according to the reference motion parameters, the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold; Based on the speed control type and the reference motion parameters, determine the motion planning information with a vibration amplitude less than or equal to the preset amplitude threshold.

10. A vibration suppression control device for a three-dimensional printer, characterized in that, The device includes: An acquisition unit, configured to acquire the motion planning information of the machine tool; A determination unit, configured to determine a target speed control type from a pre-determined set of speed control types based on the motion planning information; wherein the target speed control type is: the speed control type with the smallest vibration amplitude in the set of speed control types when controlling the machine tool according to the motion planning information; A control unit, configured to control the machine tool to perform the motion indicated by the motion planning information according to the target speed control type.

11. A three-dimensional printer, characterized in that, Includes: A memory, configured to store a computer program; A processor, configured to execute the computer program stored in the memory, and when the computer program is executed, implement the method according to any one of claims 1-9 above.

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