CN104669623A - Wire feeding speed control system and method of FDM rapid molding machine - Google Patents
Wire feeding speed control system and method of FDM rapid molding machine Download PDFInfo
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- CN104669623A CN104669623A CN201510064160.7A CN201510064160A CN104669623A CN 104669623 A CN104669623 A CN 104669623A CN 201510064160 A CN201510064160 A CN 201510064160A CN 104669623 A CN104669623 A CN 104669623A
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Abstract
The invention relates to a control technology of a fused wire deposition molding 3D printing device and aims at providing a wire feeding speed control system and a wire feeding speed control method of an FDM rapid molding machine. The system comprises a pressure sensor arranged on an FDM printing nozzle; the pressure sensor and a pressure setting module are connected with a closed ring control module; the closed ring control module is sequentially connected with a motor control module and a wire feeding motor by a signal wire; and the wire feeding motor is connected with a friction wheel by transmission equipment. According to the system, a wire feeding speed is indirectly controlled according to the pressure of fused printing materials in a printing nozzle mold cavity, so that a wire feeding mount and a wire discharging amount are the same and the molding quality of fused wire deposition molding (FDM) is improved. The control on the wire feedings peed has better self-adaptability; and the influence on the wire feeding amount, caused by various interference factors of the outside, can be overcome through real-time online closed ring calculation control of the closed ring control module, so that the printing nozzle keeps a fixe wire discharging speed to print and the printing quality is improved.
Description
Technical field
The present invention relates to the control method of a kind of molten copper infiltration (Fused Deposition Modeling, FDM) 3D printing equipment, in more detail, what the present invention relates to a kind of FDM rapidform machine enters a speed control system and method.
Background technology
Molten copper infiltration (Fused Deposition Modeling, FDM) is that a kind of 3D prints processing molding method, is one of with the fastest developing speed, the most promising rapid shaping technique at present.FDM rapidform machine comprises wire feeding device, printing head, motion control structure, printing head temperature control modules, the several part composition of controller.The operation principle of fused glass pellet is melted by heater at heat-fusible materials (as the material such as ABS, wax), and material is first pumped into thread for printing.Then FDM former sends thread printed material to hot melt shower nozzle by wire feeder, by heating and melting in shower nozzle, shower nozzle is along part section profile and fill orbiting motion, the material of half flow regime is extruded according to the path that converted products CAD individual-layer data controls and is deposited on the position solidification forming of specifying, and with the material binding of surrounding, pile up shaping layer by layer.
As shown in Figure 2, a driven by motor friction pulley motion is entered in wire feeder, send printing thread printed material into printing head, after being heated to molten state, extruding from printing head under the follow-up solid-state printing silk extruding be not melted, moves in the path that printing head calculates according to cad model machine, is bonded to by the printed material extruded on the material that in earlier stage printed and forms new printable layer, only complete to the motion of all paths, just print whole product.
It is how many that the rotating speed entering a motor in wire feeding device is directly connected to the material entering printing head, also the wire vent speed of nozzle location molten state material in printing head is directly affected, and directly have influence on wire vent speed and the Forming Quality of printing, therefore suitablely enter a strategy of speed control and method is very crucial.Current FDM rapidform machine, it enters a speeds control and substantially adopts fixing speed to carry out fixed speed control, but actual different kind of material density is different, printed material thickness is uneven to having influence on the actual printed material quality entering printing head, the fluctuation of different print speed and print speed simultaneously all can have influence on the speed of wire vent, and therefore fixing print speed controls to cause the problems such as initial velocity thickness inequality and printing head blocking.Therefore need research adaptive enter a method for control speed, overcome above-mentioned various disturbing factor, make wire vent thickness consistent, print evenly.
The present invention prints into a speed control to solve above-mentioned conventional fuse deposition modeling (FDM) exactly, designing a kind of new FDM prints into a speed control system and strategy, indirectly control into a speed according to the pressure of the printed material melted in printing head mold cavity, make into silk amount consistent with raw silk percentage of cocoon, improve molten copper infiltration (FDM) Forming Quality.
Summary of the invention
The technical problem to be solved in the present invention is, overcomes the deficiencies in the prior art, provides a kind of FDM rapidform machine to enter a speed control system and method.The present invention devises a kind of new FDM and prints into a speed control system, can improve molten copper infiltration (FDM) Forming Quality.
For technical solution problem, the technical solution used in the present invention is as follows:
The invention provides a kind of FDM rapidform machine and enter a speed control system, comprise into a motor control module; Also comprise: be located at the pressure sensor on FDM printing head, pressure sensor and pressure setting model calling are to closed loop control module; Closed loop control module then connects into a motor control module successively by holding wire and enters a motor; Described enter a motor be attached to friction pulley by drive apparatus.
The FDM rapidform machine that invention further provides based on aforementioned control system enters a method for control speed, comprises the steps:
(1) by the melt setting pressure P in pressure setting module installation printing head die cavity
s, and send into closed loop control module;
(2) detect molten state melt actual pressure P in die cavity by the pressure sensor be arranged in printing head die cavity, and sending pressure signal is to closed loop control module;
(3) closed loop control module calculates pressure difference value E according to following formula:
E＝P
s-P (1)
Then according to PID control method calculate into needed for a motor given enter a speed S, and be sent to into a motor control module;
Given enter a speed S refer to the translational speed of thread printed material, its computing formula is as follows:
Wherein K
p, K
i, K
dfor pid control parameter, in working control process, general Ziegler-Nichols method is adopted to adjust;
(4) enter a motor control module according to given enter a speed S drive into a motor and control its rotating speed, enter a thread driven by motor friction pulley and rotate, and make thread printed material according to given enter a speed S enter printing head.
In the present invention, closed loop control module is once sampled to the pressure data that pressure sensor detects at interval of a control cycle T, once controls to export to entering a motor control module.
In the present invention, when printing head runs into the situation needing time-out printing, closed loop control module without the need to through PID control method calculate given enter a speed S, but directly establish given enter a speed S=0 (can prevent like this fly print the moment extrude unnecessary printed material); Needs change silk or mobile print layer to need the situation of time-out printing to refer to.
Compared with prior art, beneficial effect of the present invention is:
(1) indirectly control, into a speed, to make into silk amount consistent with raw silk percentage of cocoon according to the pressure of the printed material melted in printing head mold cavity, improve molten copper infiltration (FDM) Forming Quality.
(2) the invention enables and possess better adaptivity into a speeds control, calculated by the real-time online closed loop of closed loop control module and control, outside various disturbing factor can be overcome on the impact of entering silk amount, make printing head keep fixing wire vent speed to print, improve the quality printed.
Accompanying drawing explanation
Fig. 1 is that FDM rapidform machine enters a speed control system block diagram.
Fig. 2 is that FDM prints into a structural representation.
Reference numeral in Fig. 2: the printed material 4 of printing head 1, pressure sensor 2, printed material 3, molten state, friction pulley 5.
Detailed description of the invention
First it should be noted that, the present invention relates to Engineering Control technology, is that computer technology is applied in the one of Engineering Control technical field.In implementation procedure of the present invention, the application of multiple software function module can be related to.Applicant thinks, as reading over application documents, accurate understanding is of the present invention realize principle and goal of the invention after, when in conjunction with existing known technology, those skilled in the art can use its software programming technical ability grasped to realize the present invention completely.Aforementioned software functional module comprises but is not limited to: pressure setting module, closed loop control module, enter a motor control module etc., and this category of all genus that all the present patent application files are mentioned, applicant will not enumerate.
Illustrate that FDM rapidform machine enters the enforcement principle of a speed control system and method with a concrete example below.FDM rapidform machine enters a speed control system block diagram as shown in Figure 1.
FDM prints and comprises into a speed control system: be located at the pressure sensor 2 on FDM printing head, and pressure sensor 2 and pressure setting model calling are to closed loop control module; Closed loop control module then connects into a motor control module successively by holding wire and enters a motor; Described enter a motor be attached to friction pulley 5 by drive apparatus.
Pressure sensor 2 in real time detection printing head melts the pressure in chamber, and be sent to closed loop control module, the pressure that closed loop control module sets according to pressure setting module passes through closed loop control algorithm with the actual pressure detected, calculate required rate control instruction, and be sent to motor control module; Enter a motor control module according to given enter thread speed drive wire feeding motor, control into a speed consistent with set-point, wire feeding motor drives friction pulley to rotate, make printed material 3 according to this given enter a speed enter printing head 1, the path motion that printing head 1 calculates according to part model CAD figure, prints product.
FDM based on above-mentioned control program prints into a speed control system, and its concrete control method realizes in closed loop control module, and concrete principle is as follows:
(1) closed loop control algorithm is once sampled at interval of a control cycle T and is controlled to export, usual control cycle T needs to consider to arrange with the disposal ability of processor and the combined factors such as response speed of entering a motor according to control accuracy, can be set to 10 milliseconds herein;
(2), in each control cycle, the pressure P of mold cavity molten state melt and the melt pressure P of setting is detected by the pressure sensor 2 being arranged on FDM rapidform machine printing head 1 inside
smeter sends into closed loop control module, setting pressure P together
sneeds when extruding according to actual printed material 3 set, and its numerical value is relevant to the kind of printed material 3, the translational speed of printing head 1 etc., and this example can be designed as 10kPa (kPa);
(3) the actual pressure P of closed loop control module according to melt and the melt pressure P of setting
spressure difference value E, that is:
E＝P
s-P (1)
(4) closed loop control module is according to the pressure difference value P calculated in real time, adopt PID control method calculate into required for a motor control module given enter a speed S, and to be sent to into a motor control module.Computing formula is as follows.
Wherein K
p, K
i, K
dfor pid control parameter, in working control process, general Ziegler-Nichols method is adopted to adjust;
(5) enter a motor control module according to the motor that closed loop control module calculates enter silk given enter a speed S, drived control motor speed, make printed material according to given enter a speed enter printing head 1.
When the situation that printing head 1 is needing to change silk, mobile print layer etc. and needs time-out printing, closed loop control module without the need to calculate through publicity (2) given enter a speed, directly arrange given enter a speed S=0, prevent from like this extruding unnecessary printed material 3 in the non-print moment.
Finally should be noted that: above detailed description of the invention only for above embodiment, only in order to technical scheme of the present invention to be described but not to be limited.Such as, the pressure setting module 2 in the present invention can be the software function module realized by embedded software, also can be a kind of hardware input equipment.Although with reference to above-mentioned embodiment to invention has been detailed description, those of ordinary skill in the field are to be understood that: still can modify to the specific embodiment of the present invention or equivalent replacement, and not departing from any amendment of spirit and scope of the invention or equivalent replacement, it all should be encompassed in the middle of right of the present invention.
Claims (4)
1.FDM rapidform machine enters a speed control system, comprises into a motor control module, it is characterized in that, this system also comprises: be located at the pressure sensor on FDM printing head, and pressure sensor and pressure setting model calling are to closed loop control module; Closed loop control module then connects into a motor control module successively by holding wire and enters a motor; Described enter a motor be attached to friction pulley by drive apparatus.
2. the FDM rapidform machine based on control system described in claim 1 enters a method for control speed, it is characterized in that, comprises the steps:
(1) by the melt setting pressure P in pressure setting module installation printing head die cavity
s, and send into closed loop control module;
(2) detect molten state melt actual pressure P in die cavity by the pressure sensor be arranged in printing head die cavity, and sending pressure signal is to closed loop control module;
(3) closed loop control module calculates pressure difference value E according to following formula:
E＝P
s-P (1)
Then according to PID control method calculate into needed for a motor given enter a speed S, and be sent to into a motor control module;
Given enter a speed S refer to the translational speed of thread printed material, its computing formula is as follows:
Wherein K
p, K
i, K
dfor pid control parameter, in working control process, general Ziegler-Nichols method is adopted to adjust;
(4) enter a motor control module according to given enter a speed S drive into a motor and control its rotating speed, enter a thread driven by motor friction pulley and rotate, and make thread printed material according to given enter a speed S enter printing head.
3. method according to claim 2, is characterized in that, closed loop control module is once sampled to the pressure data that pressure sensor detects at interval of a control cycle T, once controls to export to entering a motor control module.
4. method according to claim 2, is characterized in that, when printing head runs into the situation needing time-out printing, closed loop control module without the need to through PID control method calculate given enter a speed S, but directly establish given enter a speed S=0; Needs change silk or mobile print layer to need the situation of time-out printing to refer to.
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| CN201510064160.7A CN104669623B (en) | 2015-02-09 | 2015-02-09 | Wire feeding speed control system and method of FDM rapid molding machine |
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| CN201510064160.7A CN104669623B (en) | 2015-02-09 | 2015-02-09 | Wire feeding speed control system and method of FDM rapid molding machine |
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| WO2017152142A1 (en) * | 2016-03-03 | 2017-09-08 | Desktop Metal, Inc. | Additive manufacturing with metallic build materials |
| WO2018038750A1 (en) * | 2016-08-23 | 2018-03-01 | Stratasys, Inc. | Pressure sensing in an additive manufacturing system |
| WO2018038751A1 (en) * | 2016-08-23 | 2018-03-01 | Stratasys, Inc. | Predictive flow control responses in an additive manufacturing system |
| CN108723366A (en) * | 2018-04-11 | 2018-11-02 | 华中科技大学 | A kind of electron beam fuse transition state keeps system and keeping method |
| US10232443B2 (en) | 2015-12-16 | 2019-03-19 | Desktop Metal, Inc. | Fused filament fabrication |
| CN110843208A (en) * | 2019-12-03 | 2020-02-28 | 苏州聚复高分子材料有限公司 | Detection device and method for 3D printer nozzle mechanism |
| CN111546624A (en) * | 2020-05-27 | 2020-08-18 | 吉林大学 | Additive manufacturing equipment for workpieces with central holes |
| US10919223B2 (en) | 2017-10-03 | 2021-02-16 | Jabil Inc. | Apparatus, system and method for an additive manufacturing print head |
| CN112693111A (en) * | 2020-12-28 | 2021-04-23 | 佳木斯大学 | 3D printing equipment controlled by computer in real time |
| CN113085166A (en) * | 2021-03-31 | 2021-07-09 | 华中科技大学 | Annular sandwich nozzle, 4D printing system, method and product thereof |
| US11458683B2 (en) | 2017-10-03 | 2022-10-04 | Jabil Inc. | Apparatus, system and method of operating an additive manufacturing nozzle |
| US11485088B2 (en) | 2017-10-03 | 2022-11-01 | Jabil Inc. | Apparatus, system and method of process monitoring and control in an additive manufacturing environment |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015111504A1 (en) * | 2015-07-15 | 2017-01-19 | Apium Additive Technologies Gmbh | 3D printing device |
| US10232443B2 (en) | 2015-12-16 | 2019-03-19 | Desktop Metal, Inc. | Fused filament fabrication |
| WO2017152142A1 (en) * | 2016-03-03 | 2017-09-08 | Desktop Metal, Inc. | Additive manufacturing with metallic build materials |
| CN109070200A (en) * | 2016-03-03 | 2018-12-21 | 德仕托金属有限公司 | Use the increasing material manufacturing of metal building material |
| WO2018038750A1 (en) * | 2016-08-23 | 2018-03-01 | Stratasys, Inc. | Pressure sensing in an additive manufacturing system |
| WO2018038751A1 (en) * | 2016-08-23 | 2018-03-01 | Stratasys, Inc. | Predictive flow control responses in an additive manufacturing system |
| US11407178B2 (en) | 2016-08-23 | 2022-08-09 | Stratasys, Inc. | Pressure sensing in an additive manufacturing system |
| US11390033B2 (en) | 2016-08-23 | 2022-07-19 | Stratasys, Inc. | Predictive flow control responses in an additive manufacturing system |
| US10919221B2 (en) | 2017-10-03 | 2021-02-16 | Jabil Inc. | Apparatus, system and method for an additive manufacturing print head |
| US10919223B2 (en) | 2017-10-03 | 2021-02-16 | Jabil Inc. | Apparatus, system and method for an additive manufacturing print head |
| US11420385B2 (en) | 2017-10-03 | 2022-08-23 | Jabil Inc. | Apparatus, system and method for an additive manufacturing print head |
| US11458683B2 (en) | 2017-10-03 | 2022-10-04 | Jabil Inc. | Apparatus, system and method of operating an additive manufacturing nozzle |
| US11485088B2 (en) | 2017-10-03 | 2022-11-01 | Jabil Inc. | Apparatus, system and method of process monitoring and control in an additive manufacturing environment |
| US11584078B2 (en) | 2017-10-03 | 2023-02-21 | Jabil Inc. | Apparatus, system and method of operating an additive manufacturing nozzle |
| US11654630B2 (en) | 2017-10-03 | 2023-05-23 | Jabil Inc. | Apparatus, system and method of operating an additive manufacturing nozzle |
| US11969948B2 (en) | 2017-10-03 | 2024-04-30 | Jabil Inc. | Apparatus, system and method of process monitoring and control in an additive manufacturing environment |
| CN108723366A (en) * | 2018-04-11 | 2018-11-02 | 华中科技大学 | A kind of electron beam fuse transition state keeps system and keeping method |
| CN110843208A (en) * | 2019-12-03 | 2020-02-28 | 苏州聚复高分子材料有限公司 | Detection device and method for 3D printer nozzle mechanism |
| CN111546624A (en) * | 2020-05-27 | 2020-08-18 | 吉林大学 | Additive manufacturing equipment for workpieces with central holes |
| CN112693111A (en) * | 2020-12-28 | 2021-04-23 | 佳木斯大学 | 3D printing equipment controlled by computer in real time |
| CN113085166A (en) * | 2021-03-31 | 2021-07-09 | 华中科技大学 | Annular sandwich nozzle, 4D printing system, method and product thereof |
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