CN109306527A - Electrospinning direct-writing closed loop control method - Google Patents
Electrospinning direct-writing closed loop control method Download PDFInfo
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- CN109306527A CN109306527A CN201710620100.8A CN201710620100A CN109306527A CN 109306527 A CN109306527 A CN 109306527A CN 201710620100 A CN201710620100 A CN 201710620100A CN 109306527 A CN109306527 A CN 109306527A
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01D—MECHANICAL METHODS OR APPARATUS IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS
- D01D5/00—Formation of filaments, threads, or the like
- D01D5/0007—Electro-spinning
- D01D5/0061—Electro-spinning characterised by the electro-spinning apparatus
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- Spinning Methods And Devices For Manufacturing Artificial Fibers (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The present invention provides a kind of electrospinning direct-writing closed loop control methods, can be improved direct write jet stability, micro-nano structure uniformity and deposition accuracy.Real-time judge is made according to jet behavior and micro-nano structure pattern position using vision detection technology and is respectively controlled, the mode for applying voltage adjusting and the adjusting of motion platform velocity location is taken the two to regulate and control respectively, it avoids and interferes with each other, it is able to maintain prolonged stablize to spray, realizes patterned deposition.
Description
Technical field
The present invention relates to a kind of electrospinning direct-writing control method, specially a kind of electrospinning direct-writing closed loop control of view-based access control model detection
Method processed.
Background technique
With the development of flexible electronic technology, micro nano structure is precisely controlled to as research emphasis.Electrohydraulic dynamic coupling spray
The electrostatic spinning technique of print can obtain smaller as a kind of solution manufacturing technology compared to traditional Printing techniques
Fiber, diameter reach Nano grade.However the fiber that electrostatic spinning is produced is difficult to pin deposition, is difficult ordered collection.Mesh
Before, near field electrospinning direct-writing technology can be realized several nanometers to hundreds of nanometers range multiple materials of diameter as an emerging technology
The preparation of fiber, speed is fast, precision is high, shows great superiority in various fields.
Electrospinning direct-writing technology is to generate jet stream using high-pressure electrostatic field force strained polymer solution and then obtain direct write fiber
Process, jet diameter is influenced small by spray head internal diameter, can be substantially reduced the size of spray printing structure.Since its spray head distance is collected
Plate is closer, can effectively overcome the bifurcated of jet stream and spiral unsteady motion in conventional spinning process, realizes one-jet spray printing, mentions
High system controllability and measurability.But since electrospinning direct-writing change in process speed is fast, jet diameter is small, vulnerable to the dry of many factors
It disturbs, there are biggish randomnesss for jet printing process.In the actual operation process, more uniform micro-nano structure in order to obtain, needs
Introduce closed-loop control system.Electrospinning direct-writing process is complicated, without specific mathematical control model, lacks suitable control strategy limit
Further increasing for electrospinning direct-writing micro-nano structure uniformity and positioning accuracy is made.
The factor for influencing electrospinning direct-writing mainly includes environmental factor and technological parameter.Environmental factor includes temperature, humidity etc.
Specific mechanism of action is still not clear in parameter, these factors, and the influence of jet behavior is smaller, changes environmental factor to jet stream
Effect is not obvious；Technological parameter includes voltage, liquid supply speed, the distance of spray head to collecting board, collecting board movement velocity etc.,
To guarantee jet stability in jet process, spray head position will not usually be moved, therefore spray head will not be adjusted in jet process
To the height of collecting board, and needs 20 minutes or more are usually responded for the adjusting of liquid supply speed, can not achieve real-time adjustment.Therefore
It is usually to apply voltage, collecting board movement velocity according to the amount that direct write process can adjust in real time.
It is directed to the closed-loop control of electrospinning direct-writing at present, main control strategy is the taylor cone for detecting direct write electric current and jet stream
Behavior.Closed-loop control system and control method are constructed as feedback quantity according to direct write electric current first, adjusts and applies voltage and feed flow
Speed is to obtain relatively stable jet behavior and preferable nanofiber uniformity, and this method is by detection electric current as anti-
Feedback, is a kind of indirect measurement method, be easy to cause biggish error, not can guarantee position fibers precision.Another kind is to be directed to
Taylor cone pattern and center line are detected, construct PID closed loop control algorithm, this method only pass through taylor cone and center line into
Row detection, can only analyze small part situation in jet behavior, that is, there is jet stream pattern when taylor cone, it is difficult to meet multiple
Miscellaneous jet process only carries out will cause by this method adjusting frequently, leads to overshoot, Ke Nengyin since effluxvelocity is fast
Play bigger jet stream fluctuation.Most importantly link is to obtain uniform micro-nano structure during electrospinning direct-writing, and above two
Kind method is all without reference to direct write fiber morphology.It can be seen that applying in practice in the prior art to realize that electrospinning direct-writing closes
Ring all has certain problems when controlling.The present invention is in view of the above problems, propose a kind of effective electrospinning direct-writing closed loop
Control strategy is regulated and controled for jet behavior and micro-nano structure, can be improved jet stability, is effectively improved micro-nano structure
Uniformity and positioning accuracy.
Summary of the invention
Current technology there are aiming at the problem that, provide a kind of electrospinning direct-writing it is an object of the invention to consider the above problem
Closed loop control method.
The present invention is equipped with syringe liquid storage device, precise injection pump, spray head, collecting board motion platform, charge coupled cell figure
As sensor (CCD), CNC high-pressure DC power supply and control computer.Syringe liquid storage device is pumped via precise injection with stabilization
Liquid supply speed be spray head supply polymer solution；It collects plate earthing to be placed on motion platform, for collecting micro-nano structure；Two
Platform charge coupled cell imaging sensor (CCD) be all connected to control computer on, be respectively used to monitoring jet stream motor behavior and
Micro-nano structure pattern converts analog signals into digital signal and passes to control computer, to control computer according to obtaining
Data voltage control signal and collecting board movement velocity provided by control algolithm control signal；Control the output end of computer
Motion platform and numerical control DC high-voltage power supply are connected, to adjust platform movement speed and apply voltage value.Numerical-control direct-current high pressure
Positive pole is connected with spray head, cathode ground connection, provides electric field needed for direct write, communication interface and the control computer phase of high voltage power supply
Even, the control command of output is executed, controllable DC voltage is provided.
The electrospinning direct-writing closed loop control method the following steps are included:
(1) syringe pump is opened, carries out solution supply according to the liquid supply speed of setting；
(2) numerical control high voltage power supply is opened, is powered according to preset application voltage；
(3) opening movement platform initializes motion platform, is moved according to preset movement velocity；
(4) the jet model recognizer and micro-nano structure recognizer on control computer are opened；
(5) position charge coupled cell imaging sensor (CCD) is adjusted, light source etc. is adjusted.
(6) spray head is inputted to parameters such as collecting board height, spray head internal diameters；
(7) starting control program selects expected jet model, imports the running track of deposited picture；
(8) control program is executed, the adjustment amount for applying alive adjustment amount and movement velocity is obtained；
(9) signal is conveyed to numerical-control direct-current high voltage power supply and motion platform；
(10) numerical-control direct-current high voltage power supply and motion platform are exported according to adjustment amount.
Jet model recognizer, micro-nano structure recognizer and control program are equipped in the control computer,
Detailed process is as follows:
(1) jet model identification is carried out
The picture signal of jet stream is converted into digital signal first with charge coupled cell imaging sensor (CCD) and is transmitted to control
In computer processed, then jet stream image is handled using control computer, is sentenced according to preset pattern recognition program
Disconnected jet stream state at this time, is transferred to control program for result.
(2) micro-nano structure identification is carried out
The picture signal of the micro-nano structure of deposition is converted into digital letter first with charge coupled cell imaging sensor (CCD)
It number is transmitted in control computer, then micro-nano structure image is handled using control computer, extracts micro-nano knot at this time
The deposition position coordinate of structure, and judge micro-nano structure state, result is transferred to control program.
(3) control system exports control amount
Whether the jet model of the result judgement obtained according to jet model recognizer at this time is the jet model needed, later
Voltage value is according to circumstances adjusted, the jet model is made to reach desired jet model.
According to micro-nano structure recognizer obtain as a result, micro-nano structure deposition position at this time is read, with preset seat
Cursor position comparison, motion platform needs mobile direction and displacement at this time for judgement, reads micro-nano structure state at this time, sentences
The disconnected requirement for whether meeting required micro-nano structure, error, then according to circumstances calculate the tune of the movement speed of motion platform if it exists
Section amount.The displacement being calculated and speed regulated quantity are output on motion platform, the deposition position of the micro-nano structure is made
Error between preset deposition position is less than or equal to setting value, and micro-nano structure pattern is met the requirements.
As present invention further optimization, the process (1) obtains the identification process of jet model, specifically:
Existing document confirms that there are different jet models in jet stream motion process, thus set early period different voltage obtain it is more
The different jet model photo of group, analyzes the jet behavior feature of different jet models respectively.In jet model recognizer
In, jet behavior boundary division that charge coupled cell imaging sensor (CCD) is obtained is showerhead, fluerics two parts,
Image is handled to obtain jet profile, judges whether there is taylor cone at spray head at this time according to the size of showerhead solution, it is right
In not having the case where taylor cone, the judgement of the jet stream quantity in conjunction with existing for jet area is injection stream mode or more jet-likes at this time
State identifies jet model at this time according to the above two-part combination.
As present invention further optimization, the judgement of micro-nano structure pattern described in the process (2) refers to according to micro-
Whether the motion platform movement of the shape characteristic judgement of micro-nano structure at this time is reasonable, passes the result to control program adjustment platform
Movement speed and position are to obtain stable direct write structure.According to the adjustment of jet behavior, the deposition of micro-nano structure should be more
Stablize, is not in excessive deviation.There is the bending of small range rule in the micro-nano structure of deposition, then increases the mobile speed of motion platform
Degree, micro-nano structure diameter is too small or even is interrupted, then reduces motion platform movement speed, and micro-nano structure does not deposit to specified
Position then adjust automatically.
As present invention further optimization, voltage is adjusted according to jet model described in the process (3) and refers to basis
Jet model sprays most under taylor cone mode with the corresponding relationship design control procedure applied between voltage, existing document confirmation
For stabilization, therefore the judging result that jet model recognizer obtains is passed into control program, adjusts the application electricity of high voltage power supply
Pressure obtains the injection of taylor cone mode to reach most stable of jet behavior.
During electrospinning direct-writing, jet behavior variation is fast, and frequent adjustment may cause bigger fluctuation, this for
The accurate positioning deposition of micro-nano structure is unfavorable, it is therefore desirable to use control strategy appropriate and control method, guarantee to penetrate
The stabilization of Flow Behavior and the uniformity of micro-nano structure.In the present invention, the jet model knowledge method for distinguishing of use can automatic mistake
Small fluctuation is filtered, only using jet model as judgment criteria in jet vectoring program, without considering small undulate quantity, will not be made
Control system frequently regulates and controls in order to avoid bringing bigger interference.And present invention adds the positioning of micro-nano structure and pattern to control, directly
It connects and the final product of electrospinning direct-writing is controlled.Above technical scheme of the invention is examined using vision compared with prior art
Survey technology real-time monitoring separately regulates and controls jet stream and micro-nano structure two parts, i.e., a part is carried out by jet stream motor behavior
Feedback, obtains voltage control quantity, controls jet behavior, and another part is fed back by micro-nano structure pattern and position,
Motion platform control amount is obtained, micro-nano structure is controlled, this two parts is mutually indepedent, does not interfere with each other, the control that can be optimal
Effect processed.Select jet behavior mode as judgment criteria can simplified control amount, obtain stable jet behavior, ensure that micro-
The uniformity of micro-nano structure, and deposition is not in too big position deviation, improves the controllability of micro-nano structure deposition.Selection
Micro-nano structure pattern and deposition position as judgment criteria, are judged from final product, and it is accurate fixed really to realize
Position deposition.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention
Fig. 2 is control flow chart of the invention.
Specific embodiment
Present invention is further described in detail with reference to embodiments.
Referring to Fig. 1, the embodiment of the present invention is equipped with syringe liquid storage device 1, precise injection pump 2, spray head 3, collecting board 4, movement
Platform 5, charge coupled cell imaging sensor (CCD) 6, charge coupled cell imaging sensor (CCD) 7, CNC high-pressure direct current
Power supply 9 and control computer 8.Syringe liquid storage device 1 supplies via precise injection pump 2 using stable liquid supply speed as spray head 3 poly-
Polymer solution；The ground connection of collecting board 4 is placed on motion platform 5, for collecting micro-nano structure；CCD6, CCD7 are all connected to control
On computer 8, it is respectively used to monitoring jet stream motor behavior and micro-nano structure pattern, converts analog signals into digital signal transmitting
Control computer 8 is given, voltage control signal and collection are provided by control algolithm to control computer 8 according to obtained data
Plate movement velocity controls signal；The output end connection motion platform 5 and numerical control DC high-voltage power supply 9 of computer 8 are controlled, with adjustment
Platform movement speed and application voltage value.9 anode of numerical-control direct-current high voltage power supply is connected with spray head 3, and cathode ground connection provides direct write
Required electric field, the communication interface of high voltage power supply 9 are connected with control computer 8, execute the control command of output, provide controllable straight
Galvanic electricity pressure.
The step of Electrospun direct-write process closed loop control method, is as follows:
(1) precise injection pump 2 is opened, carries out solution supply according to the liquid supply speed of setting；
(2) numerical-control direct-current high voltage power supply 9 is opened, is powered according to preset application voltage；
The unlatching of numerical-control direct-current high voltage power supply 9 for the first time is so that straight-writing system is entered jet stream state by manually controlling, and is jet model
Judgement is prepared, and numerical-control direct-current high voltage power supply 9 can remotely be controlled by control system later.
(3) opening movement platform 5 initializes motion platform, is moved according to preset movement velocity；
Motion platform is initialized, platform is returned at coordinate (0,0), the unlatching of motion platform 5 is pre-set programs for the first time, makes direct write
System obtains micro-nano structure, prepares for micro-nano structure identification, motion platform 5 can be controlled by control system later.
(4) the jet model recognizer and micro-nano structure recognizer on control computer 8 are opened；
It can choose when opening for the first time and do not pass the result to control system, at this time jet model recognizer and micro-nano structure
Recognizer is mainly used for pre- judgement, and whether straight-writing system works normally at this time.
(5) 6,7 position charge coupled cell imaging sensor (CCD) is adjusted, light source etc. is adjusted.
Adjusting two charge coupled cell imaging sensor (CCD) positions makes jet behavior and micro-nano structure be optimal bat
Effect is taken the photograph, the image clearly that light source makes is adjusted as it can be seen that easily extracting profile, guarantees jet model recognizer and micro-nano knot
Structure recognizer obtains better recognition effect；
(6) input spray head 3 arrives the parameters such as 4 height of collecting board, spray head internal diameter；
The related parameter values in jet model recognizer and micro-nano structure recognizer are adjusted according to relevant parameter, make program
It is matched with current experimental state to reach correct judging result.
(7) starting control program selects expected jet model, imports the running track of deposited picture；
To obtain stable jet behavior, tailor cone jet mode is generally selected, it can be straight according to the difference of direct write pattern requirement
Deposited picture program needed for connecing importing, in this, as the foundation of deposition locations of structures judgement；
(8) control program is executed, the adjustment amount for applying alive adjustment amount and movement velocity is obtained；
Control program is executed at this time, and closed-loop control system is started to work, and jet model recognition result is received, and judges whether that needs are
Required jet model and application voltage value whether is adjusted, if desired adjusts, be calculated and apply alive adjustment amount, otherwise
Adjustment amount before maintenance.Control computer 8 receives micro-nano structure recognition result simultaneously, judge the deposition position of micro-nano structure with
Whether the error of predeterminated position meets the requirements, and needs to adjust the position of motion platform 5 if being unsatisfactory for, and judge micro-nano at this time
Structure and morphology is enough to meet the requirements, and the regulated quantity for calculating 5 movement speed of motion platform is needed if being unsatisfactory for, before otherwise maintaining
Regulated quantity.
(9) signal is conveyed to numerical-control direct-current high voltage power supply 9 and motion platform 5；
Voltage-regulation amount will be applied and be transmitted to 9 receiving end of numerical-control direct-current high voltage power supply, motion platform regulated quantity is transmitted to movement
5 receiving end of platform.
(10) numerical-control direct-current high voltage power supply 9 and motion platform 5 are exported according to adjustment amount.
Fig. 2 is the control flow chart of electrospinning direct-writing closed loop control method, and the control strategy taken is parallel control, all the way with
Jet behavior mode is feedback quantity, is controlled voltage is applied, another way is right using micro-nano structure pattern and position as feedback quantity
The position of motion platform and movement speed are controlled, and two-way control is parallel control, are not interfere with each other, the control that can be optimal
Effect.
Electrospinning direct-writing Closed-loop Control Strategy described above, directly controls jet stream and product fiber, can significantly mention
The uniformity of high jet stability and micro-nano structure preferably meets patterning spray so that deposition positioning accuracy is optimized
The requirement of print.
Claims (5)
1. a kind of electrospinning direct-writing closed loop control method, it is characterised in that the following steps are included:
Syringe pump is opened, carries out solution supply according to the liquid supply speed of setting；
Numerical control high voltage power supply is opened, is powered according to preset application voltage；
Opening movement platform initializes motion platform, is moved according to preset movement velocity；
Open the jet model recognizer and micro-nano structure recognizer on control computer；
Industrial position charge coupled cell imaging sensor (CCD) is adjusted, light source etc. is adjusted,
Spray head is inputted to parameters such as collecting board height, spray head internal diameters；
Starting control program, selects expected jet model, imports the running track of deposited picture；
Control program is executed, the adjustment amount for applying alive adjustment amount and movement velocity is obtained；
Signal is conveyed to numerical-control direct-current high voltage power supply and motion platform；
Numerical-control direct-current high voltage power supply and motion platform are exported according to adjustment amount.
2. electrospinning direct-writing closed loop control method as described in claim 1, it is characterised in that jet model recognizer, micro-nano knot
Structure recognizer and control program include following procedure:
(1) jet model identification is carried out
The picture signal of jet stream is converted into digital signal first with charge coupled cell imaging sensor (CCD) and is transmitted to control
In computer processed, then jet stream image is handled using control computer, is sentenced according to preset pattern recognition program
Disconnected jet stream state at this time, is transferred to control program for result,
(2) micro-nano structure identification is carried out
The picture signal of the micro-nano structure of deposition is converted into digital letter first with charge coupled cell imaging sensor (CCD)
It number is transmitted in control computer, then micro-nano structure image is handled using control computer, extracts micro-nano knot at this time
The deposition position coordinate of structure, and judge micro-nano structure state, result is transferred to control program,
(3) control system exports control amount
Whether the jet model of the result judgement obtained according to jet model recognizer at this time is the jet model needed, later
Voltage value is according to circumstances adjusted, the jet model is made to reach desired jet model,
According to micro-nano structure recognizer obtain as a result, micro-nano structure deposition position at this time is read, with preset coordinate bit
Comparison is set, motion platform needs mobile direction and displacement at this time for judgement, reads micro-nano structure state at this time, judgement is
The requirement of micro-nano structure needed for no satisfaction, error, then according to circumstances calculate the regulated quantity of the movement speed of motion platform if it exists,
The displacement being calculated and speed regulated quantity are output on motion platform, the deposition position of the micro-nano structure is made and preset
Deposition position between error be less than or equal to setting value, micro-nano structure pattern meets the requirements.
3. electrospinning direct-writing closed loop control method as described in claim 1, it is characterised in that, will in jet model recognizer
The jet behavior boundary division that charge coupled cell imaging sensor (CCD) obtains is showerhead, fluerics two parts, to image
It is handled to obtain jet profile, according to whether having taylor cone at the judgement of the size of showerhead solution at this time spray head, for not having
The case where taylor cone, the judgement of the jet stream quantity in conjunction with existing for jet area is injection stream mode or more jet stream states, root at this time
Upper two-part combination identifies jet model at this time accordingly.
4. electrospinning direct-writing closed loop control method as described in claim 1, it is characterised in that the judgement of micro-nano structure pattern refers to
It is whether reasonable according to the motion platform movement of the shape characteristic of micro-nano structure judgement at this time, pass the result to control program adjustment
The movement speed of platform and position are to obtain stable direct write structure, and according to the adjustment of jet behavior, the deposition of micro-nano structure is answered
It is not in excessive deviation when relatively stable, the micro-nano structure of deposition the bending of small range rule occurs, then increases motion platform
Movement speed, micro-nano structure diameter is too small or even is interrupted, then reduces motion platform movement speed, and micro-nano structure does not deposit
To designated position then adjust automatically.
5. electrospinning direct-writing closed loop control method as described in claim 1, it is characterised in that adjusting voltage according to jet model is
Refer to according to jet model with the corresponding relationship design control procedure applied between voltage, therefore jet model recognizer is obtained
Judging result passes to control program, and the application voltage for adjusting high voltage power supply reaches most stable of jet behavior.
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| CN201710620100.8A CN109306527A (en) | 2017-07-26 | 2017-07-26 | Electrospinning direct-writing closed loop control method |
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| CN201710620100.8A CN109306527A (en) | 2017-07-26 | 2017-07-26 | Electrospinning direct-writing closed loop control method |
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| CN110126271A (en) * | 2019-06-03 | 2019-08-16 | 北京化工大学 | A kind of melt electrostatic spinning direct-writing device and method |
| CN115025628A (en) * | 2022-05-10 | 2022-09-09 | 厦门大学 | Composite nanofiber air filter membrane and preparation device and preparation method thereof |
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Application publication date: 20190205 |