CN106696254B - FDM type 3D printer stepper motor speed control device and driving control system - Google Patents
FDM type 3D printer stepper motor speed control device and driving control system Download PDFInfo
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- CN106696254B CN106696254B CN201611017828.3A CN201611017828A CN106696254B CN 106696254 B CN106696254 B CN 106696254B CN 201611017828 A CN201611017828 A CN 201611017828A CN 106696254 B CN106696254 B CN 106696254B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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Abstract
The invention discloses a kind of stepper motor speed control devices of fusion stacking type 3D printer, including sequentially connected communication bus, communication bus interface and 4 tunnel step motor control channels, each step motor control channel interior includes FIFO parameter cache, register file and rate control module, exercise data parameter is deposited into FIFO parameter cache by communication bus and communication bus interface, rate control module then reads relevant parameter from FIFO parameter cache, it calculates and issues related step motor control information to stepper motor, all control registers of control stepper motor speed control device are contained inside register file, for controlling the operating of stepper motor speed control device.Invention additionally discloses a kind of FDM type 3D printer driving control systems using the stepper motor speed control device.The present invention is calculated using hardware and synchronous driving mode controls stepper motor, effectively improves the control speed and system stability of motor driven systems.
Description
Technical field
The present invention relates to stepper motor motion control field, especially a kind of fusion stacking type (Fused Deposition
Modeling:FDM) the stepper motor motion control device and driving control system of 3D printer.
Background technique
3D printer is a kind of machine for realizing rapid shaping technique, it uses special wax based on digital model file
The adhesive materials such as material, powdery metal or plastic construct object by layer-by-layer printing.The mathematical model text
Part includes all information of construct object, such as the shape of object, size and placement position, it is layer-by-layer print when every layer height,
The movement trend and movement velocity etc. of print head when every layer of printing.Fusion stacking type (FDM) 3D printer uses plastics for printing
Material is successively printed using smelting process according to the control instruction in digital model file, and object is formed.At work, it prints
Machine successively prints, according to the stepper motor movement velocity set in model file and the speed control print head of material wire vent
Mobile and printed material flow velocity.Stepper motor is the power supplying apparatus of 3D printer, moves a fixed angle every time, i.e.,
1 step is moved, for controlling the movement of print head on machine.The movement velocity of print head and the flow velocity of material need good
Match, can just make printer system stabilization and successful print goes out required finished product.In order to accurately control stepper motor in printer
Movement velocity, current most of FDM type 3D printers are using the interruption control based on timing microprocessor counter and are based on
The software processing mode of Bresenham algorithm.On the one hand, turning for stepper motor is controlled by the interruption frequency of control timer
Dynamic rate, so that it is determined that the movement velocity of print head, for example, motor movement rate to be made to be 100 turns per second, every turn of 200 steps,
The counting period that timer is then arranged was 1/ (100*200) second, and timer each counting period generates primary interruption, controls stepping
Motor rotates 1 time.Pass through 1 second in this way, timer interruption 20000 times, motor then rotates 20000 steps, i.e., 100 turns.Another party
Face, Bresenham algorithm are used to control the motion path of print head, guarantee the motion profile of print head close to straight line.Example
Such as, print head moves at coordinate (3,5) from coordinate origin (0,0), according to Bresenham algorithm, first looks for transverse and longitudinal coordinate difference
In maximum value, judge longest edge direction, this example is y direction, is then control benchmark with longest edge (longitudinal axis), first vertical
1 step is moved in axis direction, then judges whether move 1 step in X direction according to related algorithm, until longitudinal axis is complete all
Step number.This software processing mode can effectively control the operating of stepper motor, and realize its speed control, and do not need volume
Outer hardware device, cost of implementation is cheap, therefore is used by most of 3D printer manufacturers.
But software-based stepper motor speed control mode will lead to practical print speed that there are speed bottle-necks.This
Outside, since Bresenham algorithm is that timesharing drives algorithm, in actually control, it also will affect print speed.Below in conjunction with legend
It is specifically described this problem.Fig. 1 is that timer interruption controls stepper motor speed schematic diagram.By presetting constantly to timer
Between t2, timer starts counting work, and Ji Manhou generates interruption, and executes interrupt service routine 100, in interrupt service routine
The gate time t3 of next timer is calculated in 100, and is written in timer.At the end of the execution of interrupt service routine 100 again
Secondary starting timer count.After timer meter is full, interruption is generated again, and execute interrupt service routine 101.Subsequent execution mistake
Journey is identical with this, and 102 be also interrupt service routine in figure.Due to needing to calculate movement timing next time in the interrupt service program
Gate time required for device, therefore can have a large amount of multiplication and division operation, in embedded systems, such calculating can occupy big
The resource of the CPU of amount simultaneously consumes a large amount of operation time, is unfavorable for the real-time response of system, furthermore controls stepper motor operating side
The Bresenham algorithm of formula is also to realize in interrupt routine, causes entire interrupt routine amount big and complicated, and primary interrupt is disappeared
The time of consumption is relatively more, indicates to interrupt executing the time in Fig. 1 by t1.When preset print speed is continuously improved, stepping electricity
Machine speed is constantly accelerated, and the timer count time constantly reduces, it is contemplated that when reaching a certain velocity amplitude, timer count
Time will become 0, and movement velocity at this time reaches maximum value, and Fig. 2 indicates timer interruption control stepping electricity when reaching bottleneck
Machine speed schematic diagram.200,201,202 represent interrupt service routine treatment process in figure.When reaching speed bottle-neck, stepping electricity
The speed of machine executes time t1 by interrupt routine and determines that hereafter print speed will not increase with the increase of setting speed, and
It is held within the scope of a fixed value.In addition, step motor control mode uses the Bresenham algorithm of timesharing driving, respectively
Axis moves timesharing and carries out, and reduces motor speed.Fig. 3 is Bresenham algorithm motion control schematic diagram.300 indicate print head
Motion profile, i.e., first move X-axis, then decide whether to walk Y-axis according to Rule of judgment, X, Y-axis resultant motion track be then to beat
Print the actual motion track of head.This timesharing motion mode can only move an axis a moment, therefore will be greatly reduced and beat
The movement velocity for printing head, the speed for being unfavorable for printer are promoted.
In conclusion the timer conter that the control of existing FDM type 3D printer stepper motor speed uses interrupt control and
This software processing mode of Bresenham algorithm although the operating of stepper motor can be controlled well, and realizes speed control,
But due to this implementation program execution time there are bottleneck and Bresenham algorithm is that timesharing drives algorithm, timesharing driving
Print head is controlled, resulting in practical printer operating speed can not can be further improved, and practical print speed is deposited with setting speed
In larger velocity error, practical printing effect is low, also significantly impacts the stability of system.
Summary of the invention
The present invention provides the stepper motor speed control device and driving control system of a kind of fusion stacking type 3D printer,
Its control speed that can improve motor driven systems and system stability.
To achieve the above object, technical scheme is as follows:
A kind of stepper motor speed control device of fusion stacking type 3D printer, be located at microprocessor and stepper motor it
Between, receive the control command of microprocessor, extracts command parameter and calculating parameter obtains time interval between adjacent step, according to the time
Interval generates corresponding stairstep signal, controls the operating of stepper motor, including sequentially connected communication bus interface and 4 tunnel steppings
Motor control channel, each step motor control channel interior include FIFO parameter cache, register file and speed control mould
Block, exercise data parameter are deposited into FIFO parameter cache by communication bus interface, and rate control module is then from FIFO parameter
Relevant parameter is read in caching, calculates and issues related step motor control information to stepper motor, register file inside packet
All control registers for having contained control stepper motor speed control device, for controlling the fortune of stepper motor speed control device
Turn；The stepper motor speed control device is used for the operating of synchronously control No. 4 stepper motor, and No. 4 stepper motor is each other
It is not coaxial, and No. 4 stepper motor does uniformly accelerated motion under the control of the stepper motor speed control device.
Wherein, the cache way of FIFO parameter cache are as follows: data, which enter in FIFO parameter cache, to be saved, when downstream component to
When issuing data read request in FIFO caching, the data for being introduced into buffer queue are first come out, the rear data for entering buffer queue
After come out.
Preferably, rate control module includes sequentially connected data input unit, periodicity calculator, impulse generator
And signal generator, periodicity calculator are used to calculate the time interval between adjacent two step, control impulse generator generates corresponding
Step-by-step impulse, and by signal generator amplify, by signal generator issue stairstep signal to stepper motor, control its fortune
Turn；The step number control counter for controlling step number is additionally provided between data input unit and impulse generator.
Preferably, periodicity calculator includes sequentially connected 32 adders, extracting operation unit, the latch of evolution result
Unit and 32 subtracters, extracting operation unit are used to realize formulaIn
Extracting operation, adder is used to realize add operation in this formula, and subtracter is used to realize the subtraction in this formula,
The last operation result of evolution result latch units storage, and used in this operation, in formula, Δ txFor xth step and xth
Interval between+1 step, a are acceleration, v0For initial velocity, x is move distance.
Preferably, the extracting operation unit is Cordic extracting operation unit, using 11 stage pipeline structures
Segmentation evolution operation is realized in Cordic algorithm, inside.
The present invention also provides a kind of FDM type 3D printer driving control systems, including the communication bus communicated with host computer
And it is connected to the microprocessor, memory, stepper motor speed control device as described above of communication bus, micro process
Device receives relevant control instruction from host computer communication interface, while storing associated control parameters to memory, then microprocessor
Analytical calculation is carried out to control parameter, and generates related control information and is sent to stepper motor speed control device.
It preferably, further include the real-time display interface and analog-digital converter for being connected to communication bus, analog-digital converter
Detection temperature information is simultaneously sent to microprocessor progress relevant calculation, is then then forwarded to real-time display interface.
The beneficial effects of the present invention are: stepper motor speed control device of the present invention and driving control system are driven using synchronous
Flowing mode controls stepper motor, along with being calculated using hardware, so that bottleneck is not present in motor in the speed of service, and infinitely connects
Nearly setting speed finally effectively raises the control speed and system stability of motor driven systems, beats to improve FDM type 3D
The printing effect and job stability of print machine are made contributions.
Detailed description of the invention
Fig. 1 is that traditional timer interruption controls stepper motor speed schematic diagram.
Fig. 2 is that timer interruption traditional under limiting case controls stepper motor speed schematic diagram.
Fig. 3 is the Bresenham algorithm operation logic schematic diagram that conventional motors control uses.
Fig. 4 is the exemplary block diagram of FDM of embodiment of the present invention type 3D printer driving control system.
Fig. 5 is the function exemplary block diagram of stepper motor speed of embodiment of the present invention control device.
Fig. 6 is the rate control module internal structure exemplary block diagram in stepper motor speed control device shown in Fig. 5.
Fig. 7 is the curved line relation of speed and distance in a typical accelerated motion.
Fig. 8 is the structure exemplary block diagram of rate control module intercycle number calculator shown in Fig. 6.
Fig. 9 is the exemplary block diagram of an iteration unit in Cordic algorithm.
Specific embodiment
With reference to the accompanying drawing and example, the present invention will be further described.
Fig. 4 is the exemplary block diagram comprising FDM type 3D printer driving control system of the embodiment of the present invention.The driving
Control system includes core brain microprocessor 400, firmware program code memory 401, the communication interface communicated with host computer
402, stepper motor speed control device 403, real-time display interface 404, analog-digital converter 405 and communication bus 406.Fig. 4
Driving control system in also may include many other components (not shown), for example, may include off-line printing interface
Such as storage card and wireless communication interface such as bluetooth.
In the example in figure 4, microprocessor 400 receives relevant control instruction from host computer communication interface 402, such as moves class
Type and speed control and temperature control etc., while associated control parameters are stored to memory 401, then microprocessor joins control
Number carries out analytical calculation, such as obtains associ-ated motion parameters, terminus coordinate and movement velocity, calculates speed according to related parameter preset
Controlling curve etc. is spent, and generates related control information and is sent to other peripheral hardwares such as stepper motor speed control device 403, control is outer
If work, will after associ-ated motion parameters are calculated in microprocessor for stepper motor speed control device 403
Corresponding control instruction parameter is issued to speed control unit 403, speed control unit 403 will be according to the movement sent
Parameter carries out relevant calculation, generates the step motion control signal of corresponding stepping information, controls the operating of stepper motor, analog-digital converter
405 detection temperature informations are simultaneously sent to the progress relevant calculation of microprocessor 400, are then then forwarded to real-time display interface 404, whole
A communication process is completed by communication bus 406.
Stepper motor speed control device 403 receives the control of microprocessor between microprocessor and stepper motor
Order, extracts command parameter and calculating parameter obtains time interval between adjacent step, generates corresponding stepping according to time interval and believes
Number, control the operating of stepper motor.Stepper motor speed control device is used to generate corresponding control stepping electricity according to parameter request
The stairstep signal of machine, and the operating of energy synchronously control No. 4 stepper motor, precision and the stability of speed control unit directly affect
The stability of stepper motor operating and the stability of 3D printer system, therefore the device is emphasis of the invention, below will
It is unfolded to be specifically described.
Fig. 5 illustrates the function exemplary block diagram of the present embodiment stepper motor speed control device 403.Including for connecting
The tunnel of the communication bus interface 501 and 4 step motor control channel 502,503,504 and 505 of avalon bus 500.Each stepping
Motor control channel realization principle is identical, and inside includes FIFO (First In First Out: first in first out) parameter cache
506/509/512/515 (being only denoted as 506 hereinafter), register file 507/510/513/515 (being only denoted as 507 hereinafter) and
Rate control module 508/511/514/517 (is only denoted as 508) hereinafter, and the most crucial part of implementation is exactly rate control module
508.In the function exemplary block diagram of Fig. 5, exercise data parameter is deposited into FIFO parameter cache 506 by communication bus interface 501
In, rate control module 508 then reads relevant parameter from FIFO parameter cache 506, calculates and issues related stepper motor control
Information processed is to stepper motor 518/519/520/521.
In exemplary block diagram shown in Fig. 5, FIFO parameter cache 506 is used, data are stored in by communication bus
In FIFO.The effect of FIFO is then the visit for alleviating communication bus to 403 inner parameter register of stepper motor speed control device
Ask pressure, similar to a storage queue, data enter in storage queue to be saved FIFO parameter cache, when downstream component is slow to FIFO
When depositing middle sending data read request, the data for being introduced into buffer queue are first come out, and are come out after the rear data for entering buffer queue.
All control registers of control stepper motor speed control device 403, control stepping electricity are contained inside register file 507
The operating of machine speed control unit 403.The core design part of entire stepper motor speed control device 403 is speed control mould
Speed and the calculating of time and the generation of stairstep signal and sending are realized in block 508, inside.
The internal structure of rate control module 508 is illustrated in exemplary block diagram shown in fig. 6, mainly includes data input part
Divide 600, periodicity calculator 601, step number control counter 602, impulse generator 603 and signal generator 604.Periodicity meter
It calculates device 601 to be used to calculate the time interval between adjacent two step, for controlling the running speed of stepper motor.The principle of calculating uses
Be accelerate learn in calculation formula.Fig. 7 illustrates the curve of the typical speed accelerated and distance, curve
700 are the motion profiles entirely accelerated.
It is gained knowledge by movement it is found that kinetic characteristic is mainly by acceleration a, initial speed when object is accelerated
Spend v0It is determined with move distance x, specific formula is as follows:
T is run duration in formula.Therefore some time point t in acceleratorxThere is following formula with movement distance x:
There is following formula after deformation:
Above formula is exactly the core formula of this module design.
In Fig. 7, for the uniformly accelerated motion in stepper motor, the distance of movement is discrete natural integer, i.e., 1,
2,3,4 ... in design, needs to know the time interval between xth step and (x+1)th step.Then available by formula (3)
Following equation:
Δ t in formulaxFor the interval between xth step and (x+1)th step.Formula (4) is once deformed, following formula is obtained
(5):
It can see by formula (5), if inputting parameter by registerWithThe needs pair in FPGAIt carries out
It adds up and last evolution is latched just, therefore from the perspective of operation, calculate only need to carry out one every time
Secondary evolution, so that it may completely find out Δ tx。
Periodicity calculator 601 is designed according to formula (5), moves number accordingly when obtaining from FIFO buffer structure 506
After parameter, according to set formula operation, so that it may obtain the run duration interval between adjacent two step, control impulse generator
603 generate corresponding step-by-step impulse, and the frequency that pulse signal occurs then represents the running speed of stepper motor.It is shown in Fig. 8
Functional block diagram illustrates the structure inside periodicity calculator 601, mainly includes 32 adders 800, Cordic extracting operation
Unit 801, evolution result latch units 802 and 32 subtracters 803.Extracting operation unit 801 is used to realize in formula (5)
Extracting operation, adder 800 are used to realize the add operation in formula (5), and subtracter 803 is used to realize subtracting in formula (5)
Method operation.Periodicity calculator uses interative computation thought, therefore stores the last time with an evolution result latch units
Operation result, and used in this operation, this practice can reduce the evolution number of arithmetic unit, the time required to reducing operation
While, the scale of the circuit also reduced.
In Fig. 6, after the run duration between adjacent two step is calculated in periodicity calculator 601, impulse generator is given
603, impulse generator 603 issues stepping pulse signal, since the width of pulse signal is smaller, is not enough to drive stepping electric
Machine, therefore added signal generator 604 in 603 rear class of impulse generator, stairstep signal is issued to step by signal generator 604
Into motor, its operating is controlled.
Cordic extracting operation unit 801 in periodicity calculator 601 uses the Cordic of 11 stage pipeline structures
Segmentation evolution operation is realized in algorithm, inside.The core concept of Cordic algorithm be using successive ignition displacement be added, Fig. 9
The exemplary block diagram of the one of iteration unit indicated includes a shift operation 900 and an add operation 901, to it
Different condition, add operation can be replaced with subtraction.The computational accuracy of Cordic algorithm is mainly related to the number of iterations, at this
In invention, 11 level production lines are mainly used, realize that 11 grades of iteration, computational accuracy are fully met in stepper motor speed control
Requirement.
Novel stepper motor speed control unit proposed by the present invention has abandoned the mode of traditional software driving, makes full use of
Hardware system executes advantage parallel, stepper motor speed is controlled Hardware, and drive FDM type 3D using synchronous control mode
The stepper motor of 4 road transport moving axis of printer.Since hardware computational unit does not have runing time bottleneck compared to software unit,
This programme can greatly improve the movement velocity and control efficiency of stepper motor.Additionally due to this speed control unit passes through firmly
Part is realized, is not needed respective interrupt program, can not only be reduced CPU workload, it helps promotes printer driver control
The stability of system.
Claims (4)
1. a kind of stepper motor speed control device of fusion stacking type 3D printer, be located at microprocessor and stepper motor it
Between, receive the control command of microprocessor, extracts command parameter and calculating parameter obtains time interval between adjacent step, according to the time
Interval generates corresponding stairstep signal, controls the operating of stepper motor, which is characterized in that connect including sequentially connected communication bus
Mouthful and 4 tunnel step motor control channels, each step motor control channel interior include FIFO parameter cache, register file and
Rate control module, exercise data parameter are deposited into FIFO parameter cache by communication bus interface, and rate control module is then
Relevant parameter is read from FIFO parameter cache, calculate and issues related step motor control information to stepper motor, register
File internal contains all control registers of control stepper motor speed control device, for controlling stepper motor speed control
The operating of device processed；The stepper motor speed control device is used for the operating of synchronously control No. 4 stepper motor, the 4 tunnel step
Into motor axis different from each other, and No. 4 stepper motor does even acceleration under the control of the stepper motor speed control device
Movement；
The cache way of the FIFO parameter cache are as follows: data, which enter in FIFO parameter cache, to be saved, when downstream component is to FIFO
When issuing data read request in caching, the data for being introduced into buffer queue are first come out, and are gone out after the rear data for entering buffer queue
Come；
The rate control module includes sequentially connected data input unit, periodicity calculator, impulse generator and signal
Generator, periodicity calculator are used to calculate the time interval between adjacent two step, and control impulse generator generates corresponding stepping
Pulse, and amplified by signal generator, stairstep signal is issued to stepper motor by signal generator, controls its operating；Data
The step number control counter for controlling step number is additionally provided between importation and impulse generator；
The periodicity calculator include sequentially connected 32 adders, extracting operation unit, evolution result latch units and
32 subtracters, extracting operation unit are used to realize formulaIn evolution
Operation, adder are used to realize the add operation in this formula, and subtracter is used to realize the subtraction in this formula, evolution knot
The last operation result of fruit latch units storage, and used in this operation, in formula, Δ txIt is walked for xth step and (x+1)th
Between interval, a is acceleration, v0For initial velocity, x is move distance.
2. stepper motor speed control device according to claim 1, which is characterized in that the extracting operation unit is
Cordic extracting operation unit, using the Cordic algorithm of 11 stage pipeline structures, segmentation evolution operation is realized in inside.
3. a kind of FDM type 3D printer driving control system, which is characterized in that including the communication bus that is communicated with host computer and
It is connected to the microprocessor, memory, the stepper motor speed control as described in any in claim 1 to 2 of communication bus
Device processed, microprocessor receive relevant control instruction from host computer communication interface, while storing associated control parameters to memory,
Then microprocessor carries out analytical calculation to control parameter, and generates related control information and be sent to stepper motor speed control dress
It sets.
4. FDM type 3D printer driving control system according to claim 3, which is characterized in that further include being separately connected
In the real-time display interface and analog-digital converter of communication bus, analog-digital converter detection temperature information and be sent to microprocessor into
Then row relevant calculation is then forwarded to real-time display interface.
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| CN107650370B (en) * | 2017-09-22 | 2020-02-14 | 深圳市七号科技有限公司 | Synchronous analytical equipment of parallel motion signal and 3D printer |
| CN113568370B (en) * | 2021-07-20 | 2022-12-02 | 谢焯俊 | Flexible embedded type multi-physical numerical control system firmware architecture design method |
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| CN101299589A (en) * | 2008-03-05 | 2008-11-05 | 芯硕半导体（中国）有限公司 | Stepper motor movement controller based on DDS technique |
| CN104601062A (en) * | 2015-01-15 | 2015-05-06 | 北京奥普维尔科技有限公司 | FPGA based stepping motor control system and method |
| CN104608383A (en) * | 2015-01-29 | 2015-05-13 | 广东工业大学 | Control system based on fused deposition 3D printer and control method thereof |
| CN105619822A (en) * | 2016-03-15 | 2016-06-01 | 东华大学 | 3D printer motion control system and method |
| CN106079438A (en) * | 2016-06-07 | 2016-11-09 | 广州紫苑智能科技有限公司 | 3d printer |
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| CN101299589A (en) * | 2008-03-05 | 2008-11-05 | 芯硕半导体（中国）有限公司 | Stepper motor movement controller based on DDS technique |
| CN104601062A (en) * | 2015-01-15 | 2015-05-06 | 北京奥普维尔科技有限公司 | FPGA based stepping motor control system and method |
| CN104608383A (en) * | 2015-01-29 | 2015-05-13 | 广东工业大学 | Control system based on fused deposition 3D printer and control method thereof |
| CN105619822A (en) * | 2016-03-15 | 2016-06-01 | 东华大学 | 3D printer motion control system and method |
| CN106079438A (en) * | 2016-06-07 | 2016-11-09 | 广州紫苑智能科技有限公司 | 3d printer |
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