CN103028843B - Drive motor control system and control method of laser-boring optical element - Google Patents
Drive motor control system and control method of laser-boring optical element Download PDFInfo
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- CN103028843B CN103028843B CN201210576848.XA CN201210576848A CN103028843B CN 103028843 B CN103028843 B CN 103028843B CN 201210576848 A CN201210576848 A CN 201210576848A CN 103028843 B CN103028843 B CN 103028843B
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Abstract
The invention discloses a drive motor control system with a plurality of optical wedges. The drive motor control system comprises an instruction sending part, an instruction operating part, a motor drive part, a plurality of motors and the plurality of optical wedges, wherein the instruction sending part is used for sending an initial instruction value to the instruction operating part; the instruction operating part is used for receiving an instruction signal sent by the instruction sending part, and generating an operation speed signal of the motors according to a fed-back real-time speed signal of the motors; and the motor drive part drives the motors to operate according to the operation speed signal sent by the instruction operating part, so that the motors drive the optical wedges to rotate. The instruction operating part comprises a reference speed control part, a bore diameter control part and a conical degree control part. The reference speed of the rotation of the whole optical wedge system is controlled by the speed control part; the turning radius of a light beam is changed by the bore diameter control part during a rotating process of the optical wedges; and the conical degree formed by rotating the light beam is changed by the conical degree control part.
Description
Technical field
The invention belongs to field of laser processing, be specifically related to a kind of electric machine control system and control method of optical element of laser boring.
Background technology
The very little prism in refraction angle is referred to as wedge, and two wedge is made up of 2 pieces that refer to that refractive index is identical, refraction angle is equal contiguous mutually wedges.When laser boring, by driven by motor two wedge synchronous rotaries, laser is made to carry out scanning motion under the effect of two wedge.According to existing theory, if when the incidence angle of the refraction angle α of wedge and light is very little, its deviation angle is δ=(n-1) α, and therefore can produce different scanning patters by the relative motion of two wedges, these characteristics have obtained increasingly extensive application.Usually be all utilize host controller and software thereof to allow two motors drive respective wedge to rotate respectively in traditional two wedges control, and by certain movement velocity than realizing different figures.
The system that four wedge probes form two wedge by above-mentioned two.Its control method make use of spot tracks that two wedge basic theories formed just to realize the capillary processing of different materials.As shown in Figure 1, be the four wedge schematic diagrames of patent CN202123322U.Along light path, arrange laser instrument, beam expanding lens 1,45 degree of total reflective mirrors 2, optically-active systems 3 successively; Optically-active system 3 comprises the first prism 31, second prism 32, prism 33, the 4th prism 34, first wedge mirror 31 is the wedge prism that the angle of wedge is identical with the second wedge mirror 32, first wedge prism 31 or the second wedge prism 32 are connected with upper and lower first motion mechanism, can move up and down along axis, 3rd wedge prism 33 is the wedge prism that angle is identical with the 4th wedge prism 34,3rd wedge prism or the 4th wedge prism are connected with rotating mechanism, rotate about the axis together, the output of optically-active system 3 is furnished with focus lamp 4, and focus lamp 4 is right against processing platform 5.
As mentioned above, in current two wedge Systematical control, its optical element is all control respectively to realize the different tracks of hot spot in image planes to each motor by host computer.Such as the rotary speed of two wedges is respectively W1, W2, if during W1:W2=1:1 or W1:W2=1:-1, the track while scan obtained is respectively circle and straight line.But due to problems such as the control cycle of host computer and the responses of motor, certain tracking error is inevitably produced when utilizing host controller to control each motor respectively, this error utilizes host controller to make up completely, thus velocity ratio and preset value between motor can be caused to have error finally cannot ensure the figure accuracy scanning out.
Summary of the invention
The present invention proposes a kind of control system and control method of the many wedges drive motors used in laser boring.Utilize the encoder feedback of motor to form the master & slave control loop between multiple motor in the present invention, carry out real-time sending to from motor to make up the relative error produced between motor by the encoder feedback of mair motor, thus ensure that the technological parameters such as the circularity of four wedge scanning means in capillary processing.
The object of the invention is to be realized by following technical proposals, specific as follows:
A drive motors control system for the optical element of laser boring, comprises instruction sending part, ordering calculation portion, motor driving part, multiple motor, multiple optical element; Instruction sending part sends initial order value to ordering calculation portion, and ordering calculation portion accepts the command signal that instruction sending part sends, and the real-time speed signal of motor according to feedback, generate the running speed signal of motor; The running speed signal that motor driving part sends according to ordering calculation portion, drive motors operates, and driven by motor optical element rotates; Described ordering calculation portion comprises pore size control portion, controls the first motor M 1 in multiple motor and the second motor M 2 is rotated respectively with speed V1 and V2, and the first motor drives the first optical element W1, and the second motor drives the second optical element W2; By changing V1 and/or V2, the position between the first optical element and the second optical element is made to produce angle of deviation Δ θ.
Further, described multiple optical element is wedge.
Further, pore size control portion, by changing V1 and V2, makes speed difference Δ V between the two be a time dependent value.
Further, motor driving part drives the 3rd motor, and the 3rd motor drives the 3rd optical element and the 4th optical element at the uniform velocity to rotate simultaneously.
Further, also comprise mould taper control portion, control the 4th driven by motor the 4th optical element work along the rectilinear motion of optical axis, make the light generation lateral displacement through optical element.
Further, mould taper control portion, by the distance of change the 4th optical element rectilinear motion, changes lateral displacement amount.
Further, gather the position signalling of the 3rd motor, be converted to motor M 1, M2 feedback speed signal to ordering calculation portion.
Further, also comprising reference speed control part drives multiple motor to rotate with identical initial speed V according to instruction sending part transmission initial order value.
Further, described optical element number is 4.
A kind of control method of drive motors control system of multiple optical elements of laser boring, first, second optical element wherein in multiple optical element is driven by the first motor and the second motor respectively and rotates, third and fourth optical element drives by the 3rd motor and rotates, and the 4th optical element can drive moving linearly by the 4th motor, the method comprises the steps:
(1). instruction sending part sends rotary speed instruction to ordering calculation portion;
(2). ordering calculation portion accepts the command signal that instruction sending part sends, and according to the real-time speed signal of motor of feedback, generates the running speed signal of motor; Reference speed control part in ordering calculation portion sends initial order value according to instruction sending part and drives multiple motor to rotate with identical initial speed V;
(3). judge whether the position deviation angle Δ θ needed between change first optical element and the second optical element, as needs, then change the first motor M 1 and the second motor M 2 with speed V1 and/or V2 by aperture control part;
(4). the running speed signal that motor driving part sends according to ordering calculation portion, drive motors operates, and driven by motor optical element rotates.
Further, also comprise the steps: to control the 4th driven by motor the 4th optical element work along the rectilinear motion of optical axis by mould taper control portion, make light generation lateral displacement.
Further, also comprise the steps: the distance of change the 4th optical element rectilinear motion, change lateral displacement amount.
Further, described step (3) specifically comprises: judge that described Δ θ is the need of changing in time, as needs, then passes through to change V1 and V2 by aperture control part, makes speed difference Δ V between the two be a time dependent value; As no, then after changing Δ θ to desired value, keep V1 and V2 constant.
Further, the change in time of Δ θ is realized by one of following three kinds of modes:
1) the first motor rotates with reference speed rate V, i.e. V1=V, and the second motor rotates with speed V2, V2 ≠ V, and V2 is the value of a change;
2) the second motor rotates with reference speed rate V, i.e. V2=V, and the first motor rotates with speed V1, V1 ≠ V, and V1 is the value of a change;
3) the first motor M 1 is rotated with reference speed rate V1, V1 ≠ V, and the second motor, with speed V2, V2 ≠ V, V1-V2=Δ V, controls the value that Δ V is a change.
Further, by rotating two motors simultaneously, or a certain motor another one motor that stops the rotation realizes changing Δ θ to desired value.
Further, described optical element is wedge.
The invention has the beneficial effects as follows:
The present invention proposes a kind of control system of wedge, by the running of the control both optical element to motor, achieve laser boring.The present invention achieves the change of the velocity of light radius by aperture control part; The tapering when light velocity changed by mould taper control portion is rotated; And by gathering the signal of mair motor, achieve the uniformity of multiple motor rotation reference speed.
Accompanying drawing explanation
Fig. 1 is four wedge light channel structure schematic diagrames in prior art.
Fig. 2 is that motor of the present invention drives four wedge schematic diagrames
Fig. 3 is Control system architecture schematic diagram of the present invention.
Detailed description of the invention
As shown in Figure 2, controlled device of the present invention is illustrated in figure 2: drive four motor M 1-M4 that four wedge 1-4 move.Wherein: wedge W1 and W2 is driven by motor M 1 and M2 respectively and rotate, and wedge W3, W4 drive by motor M 3 and rotate, and meanwhile, wedge W4 also by the driving of motor M 4, moves up and down, and pulls open the distance between wedge W3.From optical principle, during rotation, if form the angle of deviation between wedge W1 and W2, then the light beam of rotation can be made to produce radius of turn; If the distance produced along optical axis between wedge W3 and W4, make the light velocity rotated produce lateral displacement, after focus lamp, a branch of rotation light velocity having tapering can be formed.
As shown in Figure 3: control system of the present invention comprises: instruction sending part, ordering calculation portion, motor driving part.Instruction sending part sends initial order value to ordering calculation portion.Ordering calculation portion accepts the command signal that instruction sending part sends, and is converted into the rate signal of motor, and according to the real-time speed signal of motor of motor driving part feedback, generates the running speed signal of motor.The running speed signal that motor driving part sends according to ordering calculation portion, drive motors operates.
Wherein command operation portion does not calculate motor M 1, the speed V1 of M2, M3, M4, V2, V3, V4; Ordering calculation portion comprises reference speed control part, pore size control portion and mould taper control portion.
Reference speed control part controls motor M 1 according to rotary speed instruction, M2, M3, M4 rotate with identical initial speed V.Motor M 3 is as mair motor, and rotating speed keeps V constant; M4 and M4 keeps identical speed V synchronous rotary.
Pore size control portion controls motor M 1 and motor M 2 is rotated (V1 ≠ V2) respectively with speed V1 and V2, thus make the position between wedge W1 and W2 produce angle of deviation Δ θ, thus make the deflection producing certain angle between the laser beam from wedge 2 outgoing and the light from wedge 1 incidence.When laser boring, constant aperture is divided into punch and variable aperture punching.
During the punching of constant aperture, motor M 1 and between M2 wedge 1 and wedge 2 with fixing angle of deviation synchronous rotary.The angle of deviation between wedge 1 and wedge 2 first determined in pore size control radicals by which characters are arranged in traditional Chinese dictionaries, adjusts initial deviation angle Δ θ between the two by motor, then control motor M 1 and M2 with reference speed V synchronous axial system.The adjustment of initial deviation angle Δ θ can by rotating two motors simultaneously, or a certain motor another one motor that stops the rotation realizes.
During variable aperture punching, make the difference Δ V=V1-V2 of the rotating speed between motor M 1 and M2, and Δ V is the value of a change, then the angle of deviation Δ θ between wedge 1 and wedge 2 is also the value of a change, causes the radius change of rotary light beam.Situation in 3 can be divided into:
Motor M 1 rotates (i.e. V1=V) with reference speed rate V, and motor M 2 rotates (V2 ≠ V) with speed V2, and V2 is the value of a change, thus makes wedge 1 and wedge 2 angle of deviation Δ θ be values changed, and causes the radius change of rotary light beam.
Motor M 2 rotates (i.e. V2=V) with reference speed rate V, and motor M 1 rotates (V1 ≠ V) with speed V1, and V1 is the value of a change, thus makes wedge 1 and wedge 2 angle of deviation Δ θ be values changed, and causes the radius change of rotary light beam.
Motor M 1 rotates (V1 ≠ V) with reference speed rate V1, and motor M 2 rotates (V2 ≠ V) with speed V2, and V1-V2=Δ V, Δ V are the values of a change, thus makes wedge 1 and wedge 2 angle of deviation Δ θ be values changed, and causes the radius change of rotary light beam.
Mould taper control portion controls motor M 4 and drives wedge 4 moving linearly (can adopt the mode of leading screw that the rotary motion of motor M 4 is transformed to rectilinear motion) with rotating speed V4, and the distance produced between wedge 3 along radiation direction, thus make from the laser beam of wedge 4 outgoing with produce lateral shift (namely emergent ray and incident ray are still parallel, but have the displacement of level) between the light from wedge 3 incidence.
Speed command signal V1 drive motors M1, M3, M4 after the computing that motor driving part sends according to described ordering calculation portion rotate, and rotate, move with the upper and lower M4 of speed command signal V4 drive motors with speed command signal V2 drive motors M2.
Meanwhile, motor driving part gathers the position signalling of each motor, feeds back to ordering calculation portion as position feed back signal.
According to known above, the velocity variations of motor M 1 and M2 is all change on the basis of reference speed V, therefore, in order to accurately control the rotating speed of motor, needs feedback reference speed V to M1 and M2; Therefore, gather the position signalling of mair motor M3, be converted to motor M 1, M2 feedback speed signal to ordering calculation portion.
Be above the control system for the drive motors of four wedges and control method, according to above-mentioned principle, this control system changes number of motors, can be applied to the situation of two wedge and three wedges or more wedge equally.
Claims (6)
1. the control method of the drive motors control system of multiple optical elements of a laser boring, first, second optical element wherein in multiple optical element is driven by the first motor and the second motor respectively and rotates, third and fourth optical element drives by the 3rd motor and rotates, and the 4th optical element drives moving linearly by the 4th motor, it is characterized in that, the method comprises the steps:
(1). instruction sending part sends rotary speed instruction to ordering calculation portion;
(2). ordering calculation portion accepts the command signal that instruction sending part sends, and according to the real-time speed signal of motor of feedback, generates the running speed signal of motor; Reference speed control part in ordering calculation portion sends initial order value according to instruction sending part and drives multiple motor to rotate with identical initial speed V;
(3). judge whether the position deviation angle Δ θ needed between change first optical element and the second optical element, as needs, then change the first motor M 1 and the second motor M 2 with speed V1 and/or V2 by aperture control part;
(4). the running speed signal that motor driving part sends according to ordering calculation portion, drive motors operates, and driven by motor optical element rotates;
Described optical element is wedge.
2. the control method of the drive motors control system of multiple optical elements of laser boring as claimed in claim 1, it is characterized in that, also comprise the steps: to control the 4th driven by motor the 4th optical element work along the rectilinear motion of optical axis by mould taper control portion, make light generation lateral displacement.
3. the control method of the drive motors control system of multiple optical elements of laser boring as claimed in claim 2, is characterized in that, also comprise the steps: the distance of change the 4th optical element rectilinear motion, changes lateral displacement amount.
4. the control method of the drive motors control system of multiple optical elements of the laser boring according to any one of claim 1-3, it is characterized in that, described step (3) specifically comprises: judge that described Δ θ is the need of changing in time, as needs, then pass through to change V1 and V2 by aperture control part, make speed difference Δ V between the two be a time dependent value; As no, then after changing Δ θ to desired value, keep V1 and V2 constant.
5. the control method of the drive motors control system of multiple optical elements of laser boring according to claim 4, is characterized in that, is realized the change in time of Δ θ by one of following three kinds of modes:
1) the first motor rotates with reference speed rate V, i.e. V1=V, and the second motor rotates with speed V2, V2 ≠ V, and V2 is the value of a change;
2) the second motor rotates with reference speed rate V, i.e. V2=V, and the first motor rotates with speed V1, V1 ≠ V, and V1 is the value of a change;
3) the first motor M 1 is rotated with reference speed rate V1, V1 ≠ V, and the second motor, with speed V2, V2 ≠ V, V1-V2=Δ V, controls the value that Δ V is a change.
6. the control method of the drive motors control system of multiple optical elements of laser boring according to claim 5, it is characterized in that, by rotating two motors simultaneously, or a certain motor another one motor that stops the rotation realizes changing Δ θ to desired value.
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| EP4295985A1 (en) * | 2022-06-08 | 2023-12-27 | Rolls-Royce plc | Ablation tool |
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| JP5627760B1 (en) | 2013-12-18 | 2014-11-19 | 三菱重工業株式会社 | Laser processing apparatus and laser processing method |
| CN104400222B (en) * | 2014-09-23 | 2016-06-22 | 中科中涵激光设备（福建）股份有限公司 | A kind of initial phase method of adjustment of four wedge light-beam scanners |
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| CN114952039A (en) * | 2021-02-20 | 2022-08-30 | 雷科股份有限公司 | Laser rapid drilling device |
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| JP4069348B2 (en) * | 2001-02-22 | 2008-04-02 | トヨタ自動車株式会社 | Laser processing method and laser processing apparatus |
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| JP3003895B2 (en) * | 1992-09-09 | 2000-01-31 | 川崎重工業株式会社 | Laser processing equipment |
| JPH10291318A (en) * | 1997-02-18 | 1998-11-04 | Toshiba Corp | Manufacture of print head and boring unit |
| DE102005047328B3 (en) * | 2005-06-28 | 2006-12-07 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Device for boring and material removal by laser beam has equalizing unit between image rotation and focusing device with parallel and angular adjustment |
| JP5207827B2 (en) * | 2008-05-22 | 2013-06-12 | キヤノン株式会社 | Galvano device, processing device, method for obtaining mirror tilt angle in galvano device, and processing method |
| JP5466528B2 (en) * | 2010-02-16 | 2014-04-09 | エイチアールディー株式会社 | Beam rotator |
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| JP4069348B2 (en) * | 2001-02-22 | 2008-04-02 | トヨタ自動車株式会社 | Laser processing method and laser processing apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4295985A1 (en) * | 2022-06-08 | 2023-12-27 | Rolls-Royce plc | Ablation tool |
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