CN113267867A - Dynamic focusing system based on dual-motor synchronous control - Google Patents
Dynamic focusing system based on dual-motor synchronous control Download PDFInfo
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- CN113267867A CN113267867A CN202110577448.XA CN202110577448A CN113267867A CN 113267867 A CN113267867 A CN 113267867A CN 202110577448 A CN202110577448 A CN 202110577448A CN 113267867 A CN113267867 A CN 113267867A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
- G02B7/08—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted to co-operate with a remote control mechanism
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Lens Barrels (AREA)
Abstract
The invention provides a dynamic focusing system based on dual-motor synchronous control, which comprises: an optical focusing assembly for focusing incident light, comprising a movable zoom lens for receiving incident light; the sliding block is fixedly connected with a zoom lens and used for driving the zoom lens to move, and the moving direction of the sliding block is parallel to the light path of incident light; the double-rocker mechanism is connected with the sliding block and is used for driving the sliding block to move; the driving motor assembly is used for driving the double-rocker mechanism to deflect so as to drive the sliding block to move and comprises a main motor and an auxiliary motor, and the main motor and the auxiliary motor are synchronously connected through the double-rocker mechanism; and the control module is used for controlling the master motor and the slave motor to synchronously move and comprises a master control loop used for controlling the master motor and a slave control loop used for controlling the slave motor.
Description
Technical Field
The invention belongs to the field of dynamic focusing control systems of three-dimensional scanning galvanometers, and particularly relates to a dynamic focusing system based on double-motor synchronous control.
Background
With the continuous perfection of the laser three-dimensional processing technical field, the technical requirement of controlling light beams to implement zooming dynamic focusing is increasing day by day, and the traditional mainstream dynamic focusing system based on single motor control generally has the phenomena of low speed, slow response and the like, influences the three-dimensional processing speed and precision, and cannot meet the application requirements of novel industries and high-end fields.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a dynamic focusing system based on two-motor synchronous control.
The invention provides a dynamic focusing system based on dual-motor synchronous control, which is characterized by comprising the following components: an optical focusing assembly for focusing incident light, comprising a movable zoom lens for receiving incident light; the sliding block is fixedly connected with a zoom lens and used for driving the zoom lens to move, and the moving direction of the sliding block is parallel to the light path of incident light; the double-rocker mechanism is connected with the sliding block and is used for driving the sliding block to move; the driving motor assembly is used for driving the double-rocker mechanism to deflect so as to drive the sliding block to move and comprises a main motor and an auxiliary motor, and the main motor and the auxiliary motor are synchronously connected through the double-rocker mechanism; and the control module is used for controlling the master motor and the slave motor to synchronously move and comprises a master control loop used for controlling the master motor and a slave control loop used for controlling the slave motor.
In the dynamic focusing system based on the dual-motor synchronous control provided by the invention, the dynamic focusing system further has the following characteristics: the optical focusing assembly further comprises a first focusing lens fixedly arranged behind the optical path of the zoom lens, a second focusing lens fixedly arranged behind the optical path of the first focusing lens, an X galvanometer fixedly arranged behind the optical path of the second focusing lens and a Y galvanometer fixedly arranged behind the optical path of the X galvanometer, incident light sequentially passes through the zoom lens, the first focusing lens, the second focusing lens, the X galvanometer and the Y galvanometer to complete focusing and obtain a focus, and the displacement of the zoom lens corresponds to the movement of the focus.
In the dynamic focusing system based on the dual-motor synchronous control provided by the invention, the dynamic focusing system further has the following characteristics: the double-rocker mechanism comprises a main crank connected with a rotor shaft of the main motor, a slave crank connected with a rotor shaft of the slave motor, a large connecting rod connected with the main crank and the slave crank, and a small connecting rod arranged at the upper end of the main crank and connected with the sliding block.
In the dynamic focusing system based on the dual-motor synchronous control provided by the invention, the dynamic focusing system further has the following characteristics: the control module is of a three-closed-loop control structure, the master control loop comprises a position loop, a speed loop and a master current loop, only one slave current loop is arranged in the slave control loop, the position loop is PID controlled, the speed loop, the master current loop and the slave current loop are PI controlled, control signals are divided into two paths after being subjected to PI control regulation of the speed loop and are respectively used as input signals of the master current loop and the slave current loop, feedback of the speed loop and feedback of the position loop of the whole control module are from the master motor, and currents of the master motor and the slave motor respectively form a loop, so that strict synchronization between the master motor and the slave motor is guaranteed.
In the dynamic focusing system based on the dual-motor synchronous control provided by the invention, the dynamic focusing system has the characteristics that: and the linear guide rail is used for placing the sliding block and enabling the sliding block to slide along the motion direction.
Action and Effect of the invention
According to the dynamic focusing system based on the double-motor synchronous control, the main motor and the slave motor are synchronously connected through the double-rocker mechanism, the control module controls the synchronous motion of the main motor and the slave motor, and the double-rocker mechanism is driven to deflect by the superposed driving moment during the synchronous motion, so that the slide block drives the zoom lens to perform high-speed high-dynamic linear motion, the quick focusing of a focus is completed, and the high-speed high-response motion control of the dynamic focusing system can be realized.
Drawings
FIG. 1 is a schematic structural diagram of a dynamic focusing system based on dual-motor synchronous control according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an optical assembly in an embodiment of the invention;
fig. 3 is a schematic structural diagram of a control module in an embodiment of the present invention.
Detailed Description
In order to make the technical means and functions of the present invention easy to understand, the present invention is specifically described below with reference to the embodiments and the accompanying drawings.
< example >
Fig. 1 is a schematic structural diagram of a dynamic focusing system based on dual-motor synchronous control in an embodiment of the present invention.
As shown in fig. 1, the dynamic focusing system based on dual-motor synchronous control of this embodiment includes an optical focusing assembly, a slider 20, a linear guide 30, a dual-rocker mechanism, a driving motor assembly, and a control module.
The optical focusing assembly is for focusing incident light and includes a movable zoom lens 10 for receiving incident light.
Fig. 2 is a schematic structural diagram of an optical assembly in an embodiment of the present invention.
As shown in fig. 2, the optical focusing assembly further includes a first focusing lens 11 fixedly disposed behind the optical path of the zoom lens 10, a second focusing lens 12 fixedly disposed behind the optical path of the first focusing lens 11, an X-galvanometer 13 fixedly disposed behind the optical path of the second focusing lens 12, and a Y-galvanometer 14 fixedly disposed behind the optical path of the X-galvanometer 13,
the incident light sequentially passes through the zoom lens 10, the first focusing lens 11, the second focusing lens 12, the X-galvanometer 13 and the Y-galvanometer 14 to complete focusing and obtain a focus, and the displacement delta Z of the zoom lens 10 corresponds to the movement delta L of the focus. By adjusting the position of the zoom lens 10, the position of the focal point is changed in real time, thereby achieving fast spot focusing.
The slider 20 is fixedly connected with the zoom lens 10 and used for driving the zoom lens 10 to move, and the moving direction of the slider 20 is parallel to the light path of the incident light.
The linear guide 30 is used for placing the slider 20 and allowing the slider 20 to slide along the moving direction.
The driving motor assembly is used for driving the double-rocker mechanism to deflect so as to drive the sliding block 20 to move, and comprises a main motor 40 and a slave motor 41, wherein the main motor 40 and the slave motor 41 are synchronously connected through the double-rocker mechanism.
The double-rocker mechanism is connected with the sliding block 20 and used for driving the sliding block 20 to move.
The double rocker mechanism includes a master crank 50 connected to the rotor shaft of the master motor 40, a slave crank 51 connected to the rotor shaft of the slave motor 41, a large link 52 connecting the master crank 50 and the slave crank 51, and a small link 53 provided at the upper end of the master crank 52 and connected to the slider 20.
In the present embodiment, as shown in fig. 1, the main crank 50 is connected to the rotor shaft of the main motor 40 at point B, the slave crank 51 is connected to the rotor shaft of the slave motor 41 at point a, the large link 52 is connected to the main crank 50 and the slave crank 51 at points C and D, respectively, the small link 53 is connected to the main crank 50 at point E, the slider 20 is connected to the small link 53 at point F,
the master crank 50, the slave crank 51, and the large link 52 form a parallelogram drive structure, i.e., a straight line AD equal to BC and AB equal to CD.
And the control module is used for controlling the master motor and the slave motor to synchronously move and comprises a master control loop for controlling the master motor and a slave control loop for controlling the slave motor.
Fig. 3 is a schematic structural diagram of a control module in an embodiment of the present invention.
As shown in fig. 3, the control module is a three-closed loop control structure, the master control loop includes a position loop, a speed loop and a master current loop, the slave control loop has only one slave current loop, the position loop is PID controlled, the speed loop, the master current loop and the slave current loop are all PI controlled, the control signal is divided into two paths after being regulated by the speed loop PI control, and the two paths are respectively used as the input signals of the master current loop and the slave current loop,
the feedback of the speed loop and the position loop of the whole control module is from the main motor 40, and the currents of the main motor 40 and the slave motor 41 form a loop respectively, so that the strict synchronization between the main motor 40 and the slave motor 41 is ensured.
When the control module controls the main motor 40 and the slave motor 41 to synchronously swing, the superimposed driving torque drives the double-rocker mechanism to deflect, and drives the sliding block 20 to move through the small connecting rod 53, so that the zoom lens 10 performs high-speed high-dynamic linear motion, and the fast focusing of the focus is realized.
Effects and effects of the embodiments
According to the dynamic focusing system based on the double-motor synchronous control, the main motor and the slave motor are synchronously connected through the double-rocker mechanism, the control module controls the synchronous motion of the main motor and the slave motor, and the double-rocker mechanism is driven to deflect by the superposed driving moment during the synchronous motion, so that the sliding block drives the zoom lens to perform high-speed high-dynamic linear motion, the quick focusing of a focus is completed, and the high-speed high-response motion control of the dynamic focusing system can be realized.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (5)
1. A dynamic focusing system based on dual-motor synchronous control is characterized by comprising:
an optical focusing assembly for focusing incident light, comprising a movable zoom lens for receiving incident light;
the sliding block is fixedly connected with the zoom lens and is used for driving the zoom lens to move, and the motion direction of the sliding block is parallel to the light path of the incident light;
the double-rocker mechanism is connected with the sliding block and is used for driving the sliding block to move;
the driving motor assembly is used for driving the double-rocker mechanism to deflect so as to drive the sliding block to move and comprises a main motor and a slave motor, and the main motor and the slave motor are synchronously connected through the double-rocker mechanism; and
and the control module is used for controlling the master motor and the slave motor to synchronously move and comprises a master control loop used for controlling the master motor and a slave control loop used for controlling the slave motor.
2. The dual-motor synchronous control based dynamic focusing system of claim 1, wherein:
wherein the optical focusing assembly further comprises a first focusing lens fixedly arranged behind the optical path of the zoom lens, a second focusing lens fixedly arranged behind the optical path of the first focusing lens, an X galvanometer fixedly arranged behind the optical path of the second focusing lens, and a Y galvanometer fixedly arranged behind the optical path of the X galvanometer,
the incident light sequentially passes through the zoom lens, the first focusing lens, the second focusing lens, the X vibrating mirror and the Y vibrating mirror to finish focusing and obtain a focus, and the displacement of the zoom lens corresponds to the movement of the focus.
3. The dual-motor synchronous control based dynamic focusing system of claim 1, wherein:
the double-rocker mechanism comprises a main crank connected with a rotor shaft of the main motor, a slave crank connected with a rotor shaft of the slave motor, a large connecting rod connected with the main crank and the slave crank, and a small connecting rod arranged at the upper end of the main crank and connected with the sliding block.
4. The dual-motor synchronous control based dynamic focusing system of claim 1, wherein:
wherein the control module is a three-closed-loop control structure, the master control loop comprises a position loop, a speed loop and a main current loop, only one slave current loop is arranged in the slave control loop,
the position loop is controlled by PID, the speed loop, the main current loop and the auxiliary current loop are controlled by PI, the control signal is divided into two paths after being controlled and regulated by the PI of the speed loop and is respectively used as the input signal of the main current loop and the auxiliary current loop,
the feedback of the speed loop and the feedback of the position loop of the whole control module are from the main motor, and the currents of the main motor and the slave motor respectively form a loop to ensure the strict synchronization between the main motor and the slave motor.
5. The dual-motor synchronous control based dynamic focusing system of claim 1, further comprising: and the linear guide rail is used for placing the sliding block and enabling the sliding block to slide along the motion direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110577448.XA CN113267867A (en) | 2021-05-26 | 2021-05-26 | Dynamic focusing system based on dual-motor synchronous control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110577448.XA CN113267867A (en) | 2021-05-26 | 2021-05-26 | Dynamic focusing system based on dual-motor synchronous control |
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| CN202110577448.XA Pending CN113267867A (en) | 2021-05-26 | 2021-05-26 | Dynamic focusing system based on dual-motor synchronous control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113992067A (en) * | 2021-08-30 | 2022-01-28 | 江苏高倍智能装备有限公司 | Torque balance control method and system for annular knitting machine and storage device |
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Application publication date: 20210817 |