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 the speed control type of a machine tool in the three-dimensional printer and motion feature information of the machine tool are determined; target motion parameters are determined based on the motion feature information, and under the condition that the machine tool moves according to the target motion parameters in the speed control type, the vibration amplitude of the machine tool is smaller than or equal to a preset amplitude threshold value; and according to the speed control type, controlling the machine tool to move indicated by the target motion parameter. Therefore, the vibration amplitude during movement of the machine tool can be smaller than or equal to the preset amplitude threshold value, and the vibration suppression effect of the machine tool is improved.

Description

Technical Field

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

[0002] In the prior art, the vibration suppression method of the machine tool in most 3D printers is realized by means of trajectory speed planning. The above method usually only controls the machine tool according to the set motion parameters after manually setting the motion parameters.

[0003] However, the method of manually setting the motion parameters of the machine tool is usually affected by subjective factors such as the experience of relevant personnel, resulting in poor vibration suppression effect of the machine tool. Summary of the Invention

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

[0005] In a first aspect, an embodiment of the present application provides a vibration suppression control method for a 3D printer, the method comprising:

[0006] Determine the speed control type of the machine tool in the 3D printer, and the motion characteristic information of the machine tool; wherein, the motion characteristic information represents: the motion function corresponding to the speed control type and / or the reference motion parameters of the machine tool; the motion function represents the corresponding relationship between the motion time of the machine tool and the motion acceleration of the machine tool when the machine tool moves according to the speed control type; 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;

[0007] Based on the motion characteristic information, determine target motion parameters, wherein when the machine tool moves according to the target motion parameters in the speed control type, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold;

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

[0009] In a possible implementation manner, when the motion characteristic information represents the motion function corresponding to the speed control type, the determining target motion parameters based on the motion characteristic information includes:

[0010] Perform Laplace transform on the motion function to obtain a transformed function;

[0011] Based on the transformed function, determine target motion parameters.

[0012] In a possible implementation, the transformed function represents the corresponding relationship between the vibration frequency and the acceleration of the machine tool; and

[0013] Based on the transformed function, determining target motion parameters includes:

[0014] Determining a plurality of vibration frequencies at which the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold to obtain a target frequency set;

[0015] Determining an integral result within a neighborhood range of a target frequency in the target frequency set of the transformed function to obtain an integral result corresponding to the target frequency in the target frequency set;

[0016] Based on the integral result corresponding to the target frequency in the target frequency set, determining the acceleration corresponding to the target frequency in the target frequency set;

[0017] Based on the determined acceleration, determining target motion parameters.

[0018] In a possible implementation, based on the determined acceleration, determining target motion parameters includes:

[0019] Determining the acceleration with the largest value from the determined accelerations to obtain a target acceleration;

[0020] Determining the target acceleration as the target motion parameter.

[0021] In a possible implementation, based on the determined acceleration, determining target motion parameters includes:

[0022] Determining the acceleration with the largest value from the determined accelerations to obtain a target acceleration;

[0023] Determining whether the target acceleration is greater than the acceleration upper limit in the reference motion parameters;

[0024] In the case where the target acceleration is greater than the acceleration upper limit, determining the acceleration upper limit as the target motion parameter.

[0025] In a possible implementation, when the motion feature information represents the reference motion parameters of the machine tool, based on the motion feature information, determining target motion parameters includes:

[0026] Based on the speed control type and the reference motion parameters, determining target motion parameters.

[0027] In a possible implementation, when the speed control type represents the speed control type of the motion segment of the machine tool, the target motion parameter is used to indicate the motion of the machine tool in the motion segment.

[0028] In a second aspect, an embodiment of the present application provides a vibration suppression control device for a 3D printer. The device includes:

[0029] A first determination unit configured to determine the speed control type of a machine tool in the 3D printer and the motion characteristic information of the machine tool. The motion characteristic information represents: the motion function corresponding to the speed control type and / or the reference motion parameter of the machine tool. The motion function represents the corresponding relationship between the motion time of the machine tool and the motion acceleration of the machine tool when the machine tool moves according to the speed control type. When the machine tool moves according to the reference motion parameter, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold.

[0030] A second determination unit configured to determine a target motion parameter based on the motion characteristic information. When the machine tool moves according to the target motion parameter at the speed control type, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold.

[0031] A control unit configured to control the machine tool to perform the motion indicated by the target motion parameter according to the speed control type.

[0032] In a possible implementation, when the motion characteristic information represents the motion function corresponding to the speed control type, the determining the target motion parameter based on the motion characteristic information includes:

[0033] Performing a Laplace transform on the motion function to obtain a transformed function;

[0034] Determining a target motion parameter based on the transformed function.

[0035] In a possible implementation, the transformed function represents the corresponding relationship between the vibration frequency and the acceleration of the machine tool; and

[0036] The determining the target motion parameter based on the transformed function includes:

[0037] Determining a plurality of vibration frequencies at which the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold to obtain a target frequency set;

[0038] Determining the integral result within the neighborhood range of the target frequency in the target frequency set of the transformed function to obtain the integral result corresponding to the target frequency in the target frequency set;

[0039] Determine the acceleration corresponding to the target frequency in the target frequency set based on the integration result corresponding to the target frequency in the target frequency set;

[0040] Determine the target motion parameter based on the determined acceleration.

[0041] In a possible implementation manner, the determining the target motion parameter based on the determined acceleration includes:

[0042] Determine the acceleration with the largest value from the determined accelerations to obtain the target acceleration;

[0043] Determine the target acceleration as the target motion parameter.

[0044] In a possible implementation manner, the determining the target motion parameter based on the determined acceleration includes:

[0045] Determine the acceleration with the largest value from the determined accelerations to obtain the target acceleration;

[0046] Determine whether the target acceleration is greater than the acceleration upper limit in the reference motion parameter;

[0047] In the case where the target acceleration is greater than the acceleration upper limit, determine the acceleration upper limit as the target motion parameter.

[0048] In a possible implementation manner, when the motion feature information represents the reference motion parameter of the machine tool, the determining the target motion parameter based on the motion feature information includes:

[0049] Determine the target motion parameter based on the speed control type and the reference motion parameter.

[0050] In a possible implementation manner, when the speed control type represents the speed control type of the motion segment of the machine tool, the target motion parameter is used to indicate the motion of the machine tool in the motion segment.

[0051] In a third aspect, an embodiment of the present application provides a 3D printer, including:

[0052] A memory for storing a computer program;

[0053] 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 vibration suppression control methods of the 3D printer in the first aspect of the present application.

[0054] 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 described above is implemented.

[0055] 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 enabled to implement the method of any one of the vibration suppression control methods of the 3D printer in the first aspect described above.

[0056] The vibration suppression control method of the 3D printer provided by the embodiment of the present application can determine the speed control type of the machine tool in the 3D printer and the motion characteristic information of the machine tool; wherein, the motion characteristic information represents: the motion function corresponding to the speed control type and / or the reference motion parameters of the machine tool; the motion function represents the corresponding relationship between the motion time of the machine tool and the motion acceleration of the machine tool when the machine tool moves according to the speed control type; 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. Then, based on the motion characteristic information, target motion parameters are determined. When the machine tool moves according to the target motion parameters at the speed control type, the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold. Subsequently, according to the speed control type, the machine tool is controlled to perform the motion indicated by the target motion parameters. Thus, the vibration amplitude during the movement of the machine tool can be made less than or equal to the preset amplitude threshold, improving the suppression effect of the machine tool vibration. Description of the Drawings

[0057] 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.

[0058] 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, other drawings can also be obtained based on these drawings without creative efforts.

[0059] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute a limitation 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.

[0060] Figure 1Schematic flowchart of a vibration suppression control method for a 3D printer provided by an embodiment of the present application;

[0061] Figure 2 Schematic flowchart of another vibration suppression control method for a 3D printer provided by an embodiment of the present application;

[0062] Figure 3 Schematic flowchart of yet another vibration suppression control method for a 3D printer provided by an embodiment of the present application;

[0063] Figure 4 Schematic diagram of the image of the motion function corresponding to the speed control type involved in a vibration suppression control method for a 3D printer provided by an embodiment of the present application;

[0064] Figure 5 Schematic diagram of the corresponding relationship 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;

[0065] Figure 6 Schematic diagram of the structure of a vibration suppression control device for a 3D printer provided by an embodiment of the present application;

[0066] Figure 7 Schematic diagram of the structure of a 3D printer provided by an embodiment of the present application. Detailed implementation manners

[0067] 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 them. It should be noted that: Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present application.

[0068] Those skilled in the art can understand that terms such as "first", "second" 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.

[0069] 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.

[0070] It should also be understood that for any component, data or structure mentioned in the embodiments of the present application, unless clearly defined or given a contrary indication in the context, it is generally understood as one or more.

[0071] In addition, the term "and / or" in this application merely describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, both A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally represents an "or" relationship between the front and back associated objects.

[0072] It should also be understood that the description of each embodiment in this application emphasizes the differences between the embodiments. Their similarities or resemblances can be referred to each other. For the sake of brevity, they will not be elaborated one by one.

[0073] The following description of at least one exemplary embodiment is actually only illustrative and in no way constitutes any limitation to this application and its application or use.

[0074] The technologies, methods, and devices known to those of ordinary skill in the relevant fields may not be discussed in detail, but in appropriate cases, the above-mentioned technologies, methods, and devices should be regarded as part of the specification.

[0075] 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.

[0076] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. For the convenience of understanding the embodiments of this application, the following will refer to the drawings and combine with the embodiments to detail this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

[0077] To solve the technical problem of poor suppression effect of machine tool vibration in the prior art, this application provides a vibration suppression control method for a three-dimensional printer, which can improve the suppression effect of machine tool vibration.

[0078] Figure 1Schematic 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 3D printers, vibration suppression control devices of 3D printers, smartphones, laptop computers, desktop computers, portable computers, servers, 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.

[0079] As Figure 1 shown, the method specifically includes:

[0080] Step 101, determine the speed control type of the machine tool in the 3D printer, and the motion characteristic information of the machine tool; where the motion characteristic information represents: the motion function corresponding to the speed control type and / or the reference motion parameters of the machine tool; the motion function represents the corresponding relationship between the motion time of the machine tool and the motion acceleration of the machine tool when the machine tool moves according to the speed control type; 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.

[0081] In this embodiment, 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).

[0082] In practice, the above speed control type can be set by the user or determined by a certain strategy.

[0083] The reference motion parameters can be the motion parameters when the machine tool moves with a vibration amplitude less than or equal to a preset amplitude threshold.

[0084] The reference motion parameters can be determined in various ways.

[0085] 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.

[0086] For another example, the reference motion parameter can be determined from multiple motion parameters in the following manner: 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 a preset amplitude threshold, then this motion parameter can be determined as the reference motion parameter.

[0087] In addition, the reference motion parameter can include but is not limited to at least one of the following motion parameters: running speed, running acceleration, running jerk, speed upper limit, acceleration upper limit, jerk upper limit, etc.

[0088] 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.

[0089] Correspondingly, the method of manual observation, sensor measurement or model calculation can be used to determine whether the vibration amplitude is less than or equal to the preset amplitude threshold.

[0090] As an example, the above-mentioned motion speed type (that is, the target speed control type in the following text) can be determined in the following manner:

[0091] Step 1, obtain the motion planning information of the machine tool.

[0092] Among them, 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 can 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.

[0093] Optionally, the motion planning information includes at least one of the following: corner information, motion segment information, motion mode information.

[0094] Among them, the corner information can include but is not limited to: corner angle, corner curvature, corner length, etc. The motion segment information can 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.

[0095] Step 2, based on the motion planning information, determine the target speed control type from a pre - determined set of speed control types; among them, 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.

[0096] Among them, the set of the above speed control types may include at least two speed control types.

[0097] It can be understood that by using the above method to determine the target speed control type, 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 the target speed control type. In this way, the vibration amplitude during the motion of the machine tool can be reduced.

[0098] Optionally, 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 (such as sine acceleration and deceleration).

[0099] The above vibration amplitude can be determined by means of manual observation, or by using a sensor, or can 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.

[0100] Optionally, the motion planning information represents information about the motion segment (i.e., a part of the motion trajectory) planned for the machine tool.

[0101] 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.

[0102] On this basis, the following method can be used to determine the target speed control type from the pre-determined set of speed control types based on the motion planning information:

[0103] Based on the motion planning information, determine the target speed control type of the motion segment from the pre-determined set of speed control types.

[0104] 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, the target speed control type of motion segment 1 can be determined from the pre-determined set of speed control types, based on the motion planning information of motion segment 2, the target speed control type of motion segment 2 can be determined from the pre-determined set of speed control types, and based on the motion planning information of motion segment 3, the target speed control type of motion segment 3 can be determined from the pre-determined set of speed control types.

[0105] In addition, the motion planning information of the motion segment here may 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 may include: the motion planning information of motion segment 1 (such as acceleration, speed, the motion segment type of motion segment 1), the motion planning information of motion segment 2 (such as acceleration, speed, the motion segment type of motion segment 2), the motion planning information of motion segment 4 (such as acceleration, speed, the motion segment type of motion segment 4), and the motion planning information of motion segment 5 (such as acceleration, speed, the motion segment type of motion segment 5).

[0106] It can be understood that the above method can, for each motion segment, determine the target speed control type with the smallest vibration amplitude, and control the machine tool to perform corresponding motions in the corresponding motion segments according to the target speed control type. In this way, the vibration amplitude during the motion of the machine tool can be further reduced.

[0107] Optionally, the motion planning information may also represent the information of all the motion trajectories planned for the machine tool.

[0108] Optionally, the following method can be adopted to determine the target speed control type from the pre-determined set of speed control types based on the motion planning information:

[0109] Input 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, 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.

[0110] Among them, the first model can be a regression model or a deep neural network model.

[0111] In addition, the first model may include one or more models.

[0112] As an example, in the case where the first model includes multiple models, the motion planning information can be input into each model respectively to obtain the speed control type determined by each model. Further, the speed control type that represents the most occurrences among the speed control types respectively determined by each model can be determined as the target speed control type.

[0113] It can be understood that determining the target speed control type through the first model can improve the determination accuracy of the target speed control type, thereby further reducing the vibration amplitude during the motion of the machine tool.

[0114] Optionally, the first model is trained in the following manner:

[0115] Step 1: Obtain a training sample set.

[0116] Among them, the training samples in the training sample set include first motion planning information and a first target speed control type.

[0117] The first motion planning information can be the motion planning information included in the training samples in the training sample set.

[0118] The first target speed control type can be the target speed control type included in the training samples in the training sample set.

[0119] Step 2: 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, train to obtain the first model.

[0120] It can be understood that training the first model using a machine learning algorithm can improve the accuracy of determining the target speed control type, thereby further reducing the vibration amplitude during the movement of the machine tool.

[0121] Optionally, the first model can be trained using a machine learning algorithm in the following manner, taking the first motion planning information as input data and the first target speed control type as expected output data:

[0122] First step: For the initial models in a pre-determined initial model set, use a machine learning algorithm. Take the first motion planning information included in the training samples as the input data of the initial model, and take the first target speed control type included in the training samples as the expected output data of the initial model, and train to obtain the candidate model corresponding to the initial model.

[0123] 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.

[0124] As an example, the initial model set can include: a linear regression model, a regression tree model, a multi-layer neural network model, etc.

[0125] Second step: Obtain a test sample set.

[0126] Among them, the test samples in the test sample set include second motion planning information and a second target speed control type.

[0127] Among them, the second motion planning information can be the motion planning information included in the test samples in the test sample set.

[0128] The second target speed control type may be the target speed control type included in the test samples in the test sample set.

[0129] In the third step, for the candidate model obtained through training, based on the test sample set, determine the performance information of this candidate model.

[0130] Among them, the performance information may include at least one of the following: Root Mean Square Error (RMSE), Mean Absolute Error (MAE), R-squared (also known as the coefficient of determination).

[0131] In the fourth step, among the candidate models obtained through training, determine the candidate model with the optimal performance represented by the performance information as the first model.

[0132] It can be understood that 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.

[0133] Optionally, the first target speed control type included in the training samples is determined in the following manner:

[0134] In the first step, for the speed control types in the pre-determined speed control type set, based on this 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 this first motion planning information, and obtain the vibration amplitude corresponding to this speed control type.

[0135] Among them, the above-mentioned vibration amplitude can be determined by manual observation, can also 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 movement process of the machine tool.

[0136] In the 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 this training sample.

[0137] It can be understood that by comparing the vibration amplitudes of each speed control type in the speed control type set when controlling the movement of the machine tool according to this first motion planning information, determine the first target speed control type included in each training sample, 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.

[0138] Step 102: Determine target motion parameters based on the motion feature information. When the machine tool moves according to the target motion parameters in the speed control type, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold.

[0139] In this embodiment, when the motion feature information represents the motion function corresponding to the speed control type, the target motion parameters can be determined based on the above motion function; when the motion feature information represents the reference motion parameters of the machine tool, the target motion parameters can be determined based on the above reference motion parameters; when the motion feature information represents the motion function corresponding to the speed control type and the reference motion parameters of the machine tool, the target motion parameters can be determined based on the above motion function and the reference motion parameters of the machine tool.

[0140] Here, various methods can be used to implement the above Step 102.

[0141] As an example, the target motion parameters can be determined based on the motion feature information through a pre-determined correspondence table. The above correspondence table represents the correspondence with the target motion parameters.

[0142] In addition, other methods can also be used to implement the above Step 102. For specific details, please refer to the following description and will not be elaborated here for the time being.

[0143] Step 103: Control the machine tool to perform the motion indicated by the target motion parameters according to the speed control type.

[0144] In this embodiment, after determining the target motion parameters, the machine tool can be controlled to perform the motion indicated by the target motion parameters according to the speed control type.

[0145] As an example, if the speed control type is "T-shaped acceleration and deceleration" and the target motion parameter is "acceleration A", then the machine tool can be controlled to perform T-shaped acceleration and deceleration with acceleration A.

[0146] In some alternative implementation manners of this embodiment, when the speed control type represents the speed control type of the motion segment (i.e., part of the motion trajectory) of the machine tool, the target motion parameters are used to indicate the motion of the machine tool in the motion segment.

[0147] Among them, the motion segment can be a straight or 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 parameters 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.

[0148] 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 parameters and speed control type of motion segment 1, the target motion parameters corresponding to motion segment 1 with the vibration amplitude less than or equal to the preset amplitude threshold can be determined, and then, according to the speed control type of motion segment 1, control the machine tool to perform the motion indicated by the target motion parameters in motion segment 1; based on the reference motion parameters and speed control type of motion segment 2, the target motion parameters corresponding to motion segment 2 with the vibration amplitude less than or equal to the preset amplitude threshold can be determined, and then, according to the speed control type of motion segment 2, control the machine tool to perform the motion indicated by the target motion parameters in motion segment 2; based on the reference motion parameters and speed control type of motion segment 3, the target motion parameters corresponding to motion segment 3 with the vibration amplitude less than or equal to the preset amplitude threshold can be determined, and then, according to the speed control type of motion segment 3, control the machine tool to perform the motion indicated by the target motion parameters in motion segment 3.

[0149] In addition, the reference motion parameters of the motion segment here can 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 can 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).

[0150] It can be understood that in the above optional implementation manners, for each motion segment, corresponding target motion parameters can be determined, and the machine tool can be controlled to perform the motion indicated by the target motion parameters in the corresponding motion segment according to the speed control type. In this way, the suppression effect of the vibration of the machine tool can be further improved.

[0151] In some optional implementation manners of this embodiment, when the motion feature information represents a motion function corresponding to the speed control type, the following method can be used to determine the target motion parameters based on the motion feature information:

[0152] First step, perform Laplace transform on the motion function to obtain the transformed function.

[0153] 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.

[0154] 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.

[0155] In addition, Laplace transform can also be performed on the motion functions of other speed control types, so as to obtain the transformed functions corresponding to other speed control types, which will not be elaborated here.

[0156] Second step, determine the target motion parameters based on the transformed function.

[0157] Here, the target motion parameters with the vibration amplitude less than or equal to the preset amplitude threshold can be determined by analyzing the transformed function.

[0158] It can be understood that in the above optional implementation manners, by performing Laplace transform on the motion function and then performing frequency-domain analysis on the transformed function, the target motion parameters with the vibration amplitude less than or equal to the preset amplitude threshold can be determined in combination with the vibration frequency of the machine tool. Thus, the suppression effect of the vibration of the machine tool can be further improved.

[0159] In some application scenarios of the above optional implementation manners, the transformed function represents the corresponding relationship between the vibration frequency and the acceleration of the machine tool.

[0160] On this basis, the following method can be used to determine the target motion parameters based on the transformed function:

[0161] First, determine multiple vibration frequencies at which the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold to obtain a target frequency set.

[0162] Among them, the target frequency set may include multiple vibration frequencies at which the vibration amplitude is less than or equal to the preset amplitude threshold.

[0163] Each target frequency in the target frequency set (i.e., the vibration frequency at which the vibration amplitude is less than or equal to the preset amplitude threshold) can be measured using a vibration sensor.

[0164] Second, determine the integration result of the transformed function within the neighborhood range of the target frequencies in the target frequency set to obtain the integration results corresponding to the target frequencies in the target frequency set.

[0165] Among them, the neighborhood range of the target frequency ω0 can be (ω0 - Δω, ω0 + Δω). Among them, Δω is the frequency difference, which is obtained by setting, for example, 3.1416 can be used.

[0166] The integration result corresponding to the target frequency can be the integration result of the transformed function within the neighborhood range of this target frequency.

[0167] Third, based on the integration results corresponding to the target frequencies in the target frequency set, determine the acceleration corresponding to the target frequencies in the target frequency set.

[0168] 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.

[0169] Thus, the above problem is transformed into solving the equation to find A, that is, the acceleration corresponding to the target frequency.

[0170] Fourth, based on the determined acceleration, determine the target motion parameters.

[0171] In addition, in the case where the above motion function represents other functions, other target motion parameters can be obtained accordingly. 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.

[0172] It can be understood that in the above application scenarios, the vibration of the machine tool can be suppressed by determining the acceleration of the machine tool operation.

[0173] In some cases of the above application scenarios, the following method can be adopted to determine the target motion parameters based on the determined acceleration:

[0174] First step, determine the acceleration with the largest value from the determined accelerations to obtain the target acceleration.

[0175] Among them, the target acceleration can be the acceleration with the largest value among the determined accelerations.

[0176] Second step, determine the target acceleration as the target motion parameter.

[0177] It can be understood that in the above cases, by determining the acceleration with the largest value among the determined multiple accelerations as the target acceleration for controlling the machine tool operation, the efficiency loss of the machine tool can be reduced.

[0178] In some cases of the above application scenarios, the following method can be adopted to determine the target motion parameters based on the determined acceleration:

[0179] First step, determine the acceleration with the largest value from the determined accelerations to obtain the target acceleration.

[0180] Among them, the target acceleration can be the acceleration with the largest value among the determined accelerations.

[0181] Second step, determine whether the target acceleration is greater than the acceleration upper limit in the reference motion parameters.

[0182] Third step, in the case where the target acceleration is greater than the acceleration upper limit, determine the acceleration upper limit as the target motion parameter.

[0183] It can be understood that in the above cases, 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 machine tool operation, the efficiency loss of the machine tool can be relatively small, and the target acceleration for controlling the machine tool operation does not exceed the acceleration upper limit.

[0184] The vibration suppression control method for a 3D printer provided by an embodiment of the present application can determine the speed control type of a machine tool in the 3D printer and the motion characteristic information of the machine tool; wherein, the motion characteristic information represents: the motion function corresponding to the speed control type and / or the reference motion parameters of the machine tool; the motion function represents the corresponding relationship between the motion time of the machine tool and the motion acceleration of the machine tool when the machine tool moves according to the speed control type; 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. Then, based on the motion characteristic information, target motion parameters are determined, wherein when the machine tool moves according to the target motion parameters at the speed control type, the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold. Subsequently, according to the speed control type, the machine tool is controlled to perform the motion indicated by the target motion parameters. Thereby, the vibration amplitude during the movement of the machine tool can be made less than or equal to the preset amplitude threshold, improving the suppression effect of the machine tool vibration.

[0185] Figure 2 It 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, this method specifically includes:

[0186] Step 201, determine the speed control type of the machine tool in the 3D printer and the motion characteristic information of the machine tool; wherein, the motion characteristic information represents: 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.

[0187] In this embodiment, the implementation manner of step 201 can refer to step 101 in the Figure 1 corresponding embodiment, which will not be elaborated here.

[0188] Step 202, based on the speed control type and the reference motion parameters, determine target motion parameters, wherein when the machine tool moves according to the target motion parameters at the speed control type, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold.

[0189] In this embodiment, various methods can be adopted to implement the above step 202.

[0190] 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 the vibration amplitude less than or equal to the preset amplitude threshold can be determined.

[0191] Among them, the above correspondence table can represent the correspondence between the speed control type, the reference motion parameters, and the target motion parameters.

[0192] As another example, it is also possible to first determine the motion function corresponding to the speed control type. After determining the motion function and the reference motion parameters, the target motion parameters can be further determined based on the motion function and the reference motion parameters.

[0193] In some alternative implementation manners of this embodiment, the following method can be adopted to determine the target motion parameters based on the motion function and the reference motion parameters:

[0194] Step 1: Perform a Laplace transform on the motion function to obtain the transformed function.

[0195] As an example, taking the motion function of T-shaped acceleration and deceleration as an example, performing a 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.

[0196] 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 internally in 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.

[0197] In addition, Laplace transforms can also be performed on the motion functions of other speed control types, so as to obtain the transformed functions corresponding to other speed control types, which will not be elaborated here.

[0198] Step 2: Determine the target motion parameters based on the transformed function and the reference motion parameters.

[0199] 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.

[0200] It can be understood that in the above alternative implementation manners, by performing a Laplace transform on the motion function and then performing frequency-domain analysis on the transformed function, the target motion parameters whose vibration amplitude is less than or equal to the preset amplitude threshold can be determined in combination with the vibration frequency of the machine tool. Thus, the suppression effect of the vibration of the machine tool can be further improved.

[0201] In some application scenarios of the above alternative implementation manners, the transformed function represents the correspondence between the vibration frequency and the acceleration of the machine tool.

[0202] On this basis, 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 transformed function and the reference motion parameters:

[0203] In the first step, determine multiple vibration frequencies with the vibration amplitude less than or equal to the preset amplitude threshold to obtain a target frequency set.

[0204] Among them, the target frequency set may include multiple vibration frequencies with the vibration amplitude less than or equal to the preset amplitude threshold.

[0205] Each target frequency in the target frequency set (i.e., the above-mentioned vibration frequency with the vibration amplitude less than or equal to the preset amplitude threshold) can be measured by a vibration sensor.

[0206] In the second step, determine the integration result of the transformed function within the neighborhood range of the target frequency in the target frequency set to obtain the integration result corresponding to the target frequency in the target frequency set.

[0207] Among them, the neighborhood range of the target frequency ω0 can be (ω0 - Δω, ω0 + Δω). Where Δω is the frequency difference, which is obtained by setting, for example, 3.1416 can be used.

[0208] The integration result corresponding to the target frequency can be the integration result of the transformed function within the neighborhood range of this target frequency.

[0209] In the third step, based on the integration result corresponding to the target frequency in the target frequency set, determine the acceleration corresponding to the target frequency in the target frequency set.

[0210] 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. Where the values of γ0, ω0, and Δω are obtained from the reference motion parameters or calculated from the reference motion parameters.

[0211] Thus, the above problem is transformed into solving the equation to find A, that is, the acceleration corresponding to the target frequency.

[0212] In the fourth step, based on the determined acceleration, determine the target motion parameters with the vibration amplitude less than or equal to the preset amplitude threshold.

[0213] In addition, in the case where the above motion function represents other functions, other target motion parameters can be obtained accordingly. 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.

[0214] It can be understood that in the above application scenario, the suppression of machine tool vibration can be achieved by determining the acceleration of the machine tool operation.

[0215] In some cases in the above application scenario, 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 determined acceleration:

[0216] The first step is to determine the acceleration with the largest value from the determined accelerations to obtain the target acceleration.

[0217] Among them, the target acceleration can be the acceleration with the largest value among the determined accelerations.

[0218] The second step is to determine the target acceleration as the target motion parameter with the vibration amplitude less than or equal to the preset amplitude threshold.

[0219] It can be understood that in the above case, by determining the acceleration with the largest value among the determined multiple accelerations as the target acceleration for controlling the machine tool operation, the loss of machine tool efficiency can be reduced.

[0220] In some cases in the above application scenario, the reference motion parameter includes an acceleration upper limit.

[0221] On this basis, the following method can be adopted to determine the target motion parameter based on the determined acceleration:

[0222] Step 1: Determine the acceleration with the largest value from the determined accelerations to obtain the target acceleration.

[0223] Among them, the target acceleration can be the acceleration with the largest value among the determined accelerations.

[0224] Step 2: Determine whether the target acceleration is greater than the acceleration upper limit in the reference motion parameter.

[0225] Step 3: In the case where the target acceleration is greater than the acceleration upper limit, determine the acceleration upper limit as the target motion parameter.

[0226] It can be understood that in the above application scenarios, by determining the acceleration with the largest value among the multiple determined accelerations that are less than the acceleration upper limit as the target acceleration for controlling the operation of the machine tool, the efficiency loss of the machine tool can be made smaller, and moreover, the target acceleration for controlling the operation of the machine tool does not exceed the acceleration upper limit in the reference motion parameters.

[0227] Step 203: Control the machine tool to perform the motion indicated by the target motion parameters according to the speed control type.

[0228] In this embodiment, step 203 is Figure 1 substantially the same as step 103 in the corresponding embodiment, and will not be elaborated here.

[0229] It should be noted that in addition to the above-recorded content, this embodiment may further include Figure 1 the corresponding technical features described in the corresponding embodiment, so as to achieve Figure 1 the technical effect of the vibration suppression control method of the three-dimensional printer shown, and for details, please refer to Figure 1 the relevant description. For the sake of brevity, it will not be elaborated here.

[0230] The vibration suppression control method of the three-dimensional printer provided by the embodiment of the present application can use the reference operation parameters as a reference to determine the target operation parameters with a vibration amplitude less than or equal to the preset amplitude threshold, and control the motion of the machine tool based on this, which can reduce the dependence on user experience and improve the suppression effect of the vibration amplitude of the machine tool.

[0231] Next, the embodiments of the present application will be described by way of example. However, it should be noted that the embodiments of the present application may have the features described below, but the following description does not constitute a limitation on the protection scope of the embodiments of the present application.

[0232] Currently, most vibration suppression methods through trajectory speed planning only manually set motion parameters and cannot accurately control each motion segment to meet the requirements. Either the motion parameters are set too low, resulting in an overall reduction in processing efficiency.

[0233] This method can first adjust the parameters and select a reference motion with satisfactory vibration as the reference motion (i.e., the above-mentioned reference motion parameters), then establish an index in the frequency domain, use the index function (i.e., the above-mentioned motion function) to determine the parameters that meet the conditions, use them as the final speed planning parameters, and finally apply the speed (including the speed determined based on acceleration and the speed determined based on jerk) to the actual motion trajectory.

[0234] As Figure 3 shown, Figure 3 is a schematic flowchart of another vibration suppression control method of a three-dimensional printer provided by an embodiment of the present application.

[0235] As Figure 3 shown, the method includes the following steps:

[0236] Step 0: Vibration suppression starts.

[0237] Step 1: Reference motion module. This module mainly allows the user to select an appropriate motion of 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.

[0238] 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 satisfactory to the customer (i.e., the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold), and then sets 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 profile, S-type speed profile, Jerk control speed profile, sine-type speed profile, 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 limit), maximum acceleration (i.e., acceleration limit), maximum jerk (i.e., jerk 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, integration is performed within a certain frequency range (i.e., the neighborhood range of the above-mentioned target frequency), and thus the vibration index is obtained.

[0239] Taking the T-type speed profile 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.

[0240] Therefore, the quantification 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.

[0241] In addition, in practice, the target motion parameters can also be determined for other speed control types. For example, the user can set a corresponding speed control type for each motion segment, or, the speed control type corresponding to each motion segment can be automatically determined according to a certain strategy.

[0242] 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 amplitudes) 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 machining scenarios, and it is impossible to achieve the optimal vibration control result.

[0243] 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.

[0244] 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 multiple such ordered motion segments.

[0245] 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).

[0246] Among them, the speed control types include but are 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, rapid start), motion segment type (such as straight line, curve), corner speed, etc.

[0247] For example, it can include the following steps:

[0248] First, perform parameter acquisition. This module mainly determines the parameters of the scenario (i.e., the above motion planning information), and then inputs the scenario parameters (i.e., the above motion planning information) into the speed planning switching module (i.e., the above first model) to calculate the mode type (i.e., the above target speed control type).

[0249] After that, perform speed planning switching. This module is used to determine the speed planning type according to the scenario parameters in step 1. Assume that the scenario parameters are x_1, x_2,..., x_n, and the expected output type is y.

[0250] 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 is to use statistical thinking, and this function needs to be completed before step 2. 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 into the regression model for learning. The regression model includes but is not limited to models such as linear regression, regression trees, and multi-layer neural networks. The optimal result obtained by comparing and learning several models is used as the actually used model, which is the final function to be used.

[0251] After determining y = f(x_1, x_2,..., x_n), step 2 obtains the speed planning type according to the function result.

[0252] Subsequently, the speed planning type is switched. 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 uses the marked speed planning type when actually running the machining trajectory.

[0253] The following explains why this solution does not reduce the motion efficiency. As Figure 4 shown, Figure 4 is a schematic diagram of the image of the motion function corresponding to 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 ensure that the time consumption is the same.

[0254] To illustrate the utility of this solution, the switching between T-type speed planning and S-type speed planning is used 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 (i.e., the above-mentioned T-type acceleration and deceleration), S represents S-type speed planning (i.e., the above-mentioned S-type acceleration and deceleration), and TS represents the result of the speed planning automatically switching between T-type acceleration and deceleration and S-type acceleration and deceleration obtained after applying this solution. From the planning errors 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 after 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.

[0255] It can be understood that, according to different scenarios (such as corner size, line segment length, set acceleration, set speed, mechanical mode, etc.), the speed planning type is adapted to make the vibration suppression effect optimal and the motion efficiency not reduced.

[0256] Step 2, Motion parameter calculation module. This module is mainly used to calculate the parameters for motion planning according to the reference vibration index in Step 2 for the speed planning in Step 3. The parameters for motion planning include but are not limited to information such as speed, acceleration, jerk, etc. Taking acceleration (in practice, it can also be speed or jerk) 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 motion planning parameter (i.e., the above-mentioned target motion parameter).

[0257] 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 calculation uses the adaptive Simpson (Simpson's integral method, 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.

[0258] Step 3, Trajectory motion module. This module uses the motion planning parameters obtained in Step 2 and then applies them to the actual trajectory motion. Note that for each new motion segment, the new motion planning parameters need to be calculated according to the method in Step 2 to meet the vibration reference for all motion segments.

[0259] Step 4, Vibration suppression ends.

[0260] 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 realizing the technical effects of the vibration suppression control method for the three-dimensional printer shown above. For details, please refer to the above description. For the sake of concise description, it will not be elaborated here.

[0261] The vibration suppression control method for the three-dimensional printer provided by the embodiment of the present application can suppress the amplitude of the machine tool by controlling the acceleration, and can accurately control the amplitude of the machine tool with a relatively small efficiency loss. Moreover, a new method is proposed to realize the quantization of the vibration standard index, and a vibration suppression effect can be achieved by using an amplitude reference scheme based on frequency domain indexes to limit the acceleration and deceleration planning parameters.

[0262] Figure 6 This is a schematic structural diagram of a vibration suppression control device for a three-dimensional printer provided by the embodiment of the present application. Specifically, it includes:

[0263] A first determination unit 401 is configured to determine a speed control type of a machine tool in the 3D printer and motion characteristic information of the machine tool; wherein, the motion characteristic information represents: a motion function corresponding to the speed control type and / or reference motion parameters of the machine tool; the motion function represents a correspondence between a motion time of the machine tool and a motion acceleration of the machine tool when the machine tool moves according to the speed control type; when the machine tool moves according to the reference motion parameters, a vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold.

[0264] A second determination unit 402 is configured to determine target motion parameters based on the motion characteristic information, wherein when the machine tool moves according to the target motion parameters at the speed control type, the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold.

[0265] A control unit 403 is configured to control the machine tool to perform a motion indicated by the target motion parameters according to the speed control type.

[0266] In a possible implementation manner, when the motion characteristic information represents a motion function corresponding to the speed control type, the determining the target motion parameters based on the motion characteristic information includes:

[0267] Performing a Laplace transform on the motion function to obtain a transformed function;

[0268] Determining the target motion parameters based on the transformed function.

[0269] In a possible implementation manner, the transformed function represents a correspondence between a vibration frequency of the machine tool and an acceleration; and

[0270] The determining the target motion parameters based on the transformed function includes:

[0271] Determining a plurality of vibration frequencies at which the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold to obtain a target frequency set;

[0272] Determining an integration result within a neighborhood range of a target frequency in the target frequency set of the transformed function to obtain an integration result corresponding to the target frequency in the target frequency set;

[0273] Determining an acceleration corresponding to the target frequency in the target frequency set based on the integration result corresponding to the target frequency in the target frequency set;

[0274] Determining the target motion parameters based on the determined acceleration.

[0275] In a possible implementation, determining the target motion parameter based on the determined acceleration includes:

[0276] Determine the acceleration with the largest value from the determined accelerations to obtain the target acceleration;

[0277] Determine the target acceleration as the target motion parameter.

[0278] In a possible implementation, determining the target motion parameter based on the determined acceleration includes:

[0279] Determine the acceleration with the largest value from the determined accelerations to obtain the target acceleration;

[0280] Determine whether the target acceleration is greater than the acceleration upper limit in the reference motion parameter;

[0281] In the case where the target acceleration is greater than the acceleration upper limit, determine the acceleration upper limit as the target motion parameter.

[0282] In a possible implementation, when the motion feature information represents the reference motion parameter of the machine tool, determining the target motion parameter based on the motion feature information includes:

[0283] Determine the target motion parameter based on the speed control type and the reference motion parameter.

[0284] In a possible implementation, when the speed control type represents the speed control type of the motion segment of the machine tool, the target motion parameter is used to indicate the motion of the machine tool in the motion segment.

[0285] The vibration suppression control device of the 3D printer provided in this embodiment can be the vibration suppression control device of the 3D printer as shown in Figure 6 It can execute all steps of the above-mentioned vibration suppression control methods of the 3D printer, and further achieve the technical effects of the above-mentioned vibration suppression control methods of the 3D printer. For specific reference, please refer to the above relevant descriptions. For the sake of concise description, it will not be elaborated here.

[0286] Figure 7 FIG. is a schematic structural diagram of a 3D printer provided by an embodiment of the present application. Figure 7The three-dimensional 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 three-dimensional printer 500 is coupled together through a bus system 505. It can be understood that the bus system 505 is used to implement the connection and communication between these components. In addition to including a 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 illustration, in Figure 7 all kinds of buses are labeled as the bus system 505.

[0287] Among them, the user interface 503 may include a display, a keyboard, or a pointing device (for example, a mouse, a trackball, a touchpad, or a touch screen, etc.).

[0288] It can be understood that the memory 502 in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may 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 may 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), synchronous 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.

[0289] 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.

[0290] Among them, the operating system 5021 includes various system programs, such as the framework layer, the core library layer, the driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program 5022 includes various application programs, such as a Media Player, a Browser, etc., which are used to implement various application services. The program for implementing the method of the embodiment of the present application may be included in the application program 5022.

[0291] In this embodiment, by invoking 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 by each method embodiment, for example, including:

[0292] Determine the speed control type of the machine tool in the 3D printer, and the motion characteristic information of the machine tool; wherein, the motion characteristic information represents: the motion function corresponding to the speed control type and / or the reference motion parameters of the machine tool; the motion function represents the correspondence between the motion time of the machine tool and the motion acceleration of the machine tool when the machine tool moves according to the speed control type; 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;

[0293] Based on the motion characteristic information, determine the target motion parameters, wherein when the machine tool moves according to the target motion parameters at the speed control type, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold;

[0294] Control the machine tool to perform the motion indicated by the target motion parameters according to the speed control type.

[0295] The method disclosed in the embodiments of the present application above can be applied to the processor 501 or implemented by the processor 501. The processor 501 may be an integrated circuit chip with signal processing capabilities. During implementation, the steps of the above method can be completed by the integrated logic circuit in hardware or instructions in software form in the processor 501. 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 and completed by a hardware decoding processor, or completed by a combination of 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.

[0296] It can be understood that these 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.

[0297] For software implementation, the above-mentioned technology herein can be implemented by units that execute the above functions herein. The software code can be stored in the memory and executed by the processor. The memory can be implemented inside or outside the processor.

[0298] The 3D printer provided in this embodiment may be the 3D printer shown in Figure 7 , and can execute all steps of the vibration suppression control method of each of the above-mentioned 3D printers, thereby achieving the technical effects of the vibration suppression control methods of each of the above-mentioned 3D printers. For specific reference, please refer to the above relevant descriptions. For the sake of brevity, it will not be elaborated here.

[0299] The embodiment of the present application also provides a storage medium (computer-readable storage medium). One or more programs are stored in the storage medium here. Among them, the storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk or solid-state drive; the memory may also include a combination of the above types of memory.

[0300] 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.

[0301] The above-mentioned 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:

[0302] Determine the speed control type of the machine tool in the 3D printer and the motion characteristic information of the machine tool; wherein, the motion characteristic information represents: the motion function corresponding to the speed control type and / or the reference motion parameters of the machine tool; the motion function represents the corresponding relationship between the motion time of the machine tool and the motion acceleration of the machine tool when the machine tool moves according to the speed control type; 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;

[0303] Based on the motion characteristic information, determine the target motion parameters, wherein when the machine tool moves according to the target motion parameters at the speed control type, the vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold;

[0304] Control the machine tool to perform the motion indicated by the target motion parameters according to the speed control type.

[0305] Those skilled in the art should 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. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0306] 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), internal 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.

[0307] 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 executed in the specific order described or illustrated, unless the execution order is explicitly stated. It should also be understood that additional or alternative steps may be used.

[0308] The above description is only the specific implementation manners 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 to the broadest 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: Determining a speed control type of a machine tool in the three-dimensional printer, and motion characteristic information of the machine tool; wherein, the motion characteristic information represents: a motion function corresponding to the speed control type and / or reference motion parameters of the machine tool; the motion function represents a corresponding relationship between a motion time of the machine tool and a motion acceleration of the machine tool when the machine tool moves according to the speed control type; when the machine tool moves according to the reference motion parameters, a vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold; Based on the motion characteristic information, determining target motion parameters, wherein when the machine tool moves according to the target motion parameters in the speed control type, the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold; Controlling the machine tool to perform a motion indicated by the target motion parameters according to the speed control type.

2. The method according to claim 1, wherein When the motion characteristic information represents the motion function corresponding to the speed control type, the determining the target motion parameters based on the motion characteristic information includes: Performing a Laplace transform on the motion function to obtain a transformed function; Based on the transformed function, determining the target motion parameters.

3. The method according to claim 2, wherein The transformed function represents a corresponding relationship between a vibration frequency of the machine tool and an acceleration; And The determining the target motion parameters based on the transformed function includes: Determining a plurality of vibration frequencies at which the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold to obtain a target frequency set; Determining an integration result within a neighborhood range of a target frequency in the target frequency set of the transformed function to obtain an integration result corresponding to the target frequency in the target frequency set; Based on the integration result corresponding to the target frequency in the target frequency set, determining an acceleration corresponding to the target frequency in the target frequency set; Based on the determined acceleration, determining the target motion parameters.

4. The method according to claim 3, wherein The determining the target motion parameters based on the determined acceleration includes: Determining an acceleration with the largest value from the determined accelerations to obtain a target acceleration; Determining the target acceleration as the target motion parameter.

5. The method according to claim 3, wherein The determining the target motion parameters based on the determined acceleration includes: Determining an acceleration with the largest value from the determined accelerations to obtain a target acceleration; Determining whether the target acceleration is greater than an acceleration upper limit in the reference motion parameters; When the target acceleration is greater than the acceleration upper limit, determining the acceleration upper limit as the target motion parameter.

6. The method according to claim 1, wherein When the motion characteristic information represents the reference motion parameters of the machine tool, the determining the target motion parameters based on the motion characteristic information includes: Based on the speed control type and the reference motion parameters, determining the target motion parameters.

7. The method according to any one of claims 1 to 6, characterized in that When the speed control type represents a speed control type of a motion segment of the machine tool, the target motion parameters are used to indicate the motion of the machine tool in the motion segment.

8. A vibration suppression control device for a three-dimensional printer, characterized in that, The device includes: A first determination unit determines a speed control type of a machine tool in the three-dimensional printer and motion characteristic information of the machine tool; wherein the motion characteristic information represents: a motion function corresponding to the speed control type and / or reference motion parameters of the machine tool; the motion function represents a correspondence relationship between a motion time of the machine tool and a motion acceleration of the machine tool when the machine tool moves according to the speed control type in the first aspect; when the machine tool moves according to the reference motion parameters, a vibration amplitude of the machine tool is less than or equal to a preset amplitude threshold value. A second determination unit is configured to determine target motion parameters based on the motion characteristic information, wherein when the machine tool moves according to the target motion parameters in the speed control type, the vibration amplitude of the machine tool is less than or equal to the preset amplitude threshold value. A control unit is configured to control the machine tool to perform a motion indicated by the target motion parameters according to the speed control type.

9. A three-dimensional printer, characterized in that, Comprising: A memory for storing a computer program. A processor for executing the computer program stored in the memory, and when the computer program is executed, implementing the method according to any one of claims 1-7 above.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1-7 above is implemented.

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