雙軸補間運動及能量均勻分佈雷射控制器之研發

Research and development of dual-axis interpolation motion and uniform energy laser controller

許國彥(Guo-Yan Syu)

指導教授 ： 湯華興 ； 嚴孝全

國立臺北科技大學/機電學院/機電整合研究所/碩士(2009年)

摘要

本文針對XY-Table機構與CO2雷射機所組成的掃描平台，在雷射掃描加減速區所造成的雷射能量過度集中問題進行改善，研發雙軸補間運動及能量均勻分佈雷射控制器。
控制器使用DSP與CPLD完成核心功能開發，核心功能分為脈衝型雷射運動控制器與向量掃描控制器兩部份。脈衝型雷射運動控制器是由雷射能量均勻分佈控制與脈衝型雙軸補間運動控制所組成。雷射能量均勻分佈控制的觀念為控制雷射的PWM信號的頻率正比於掃描速度，且其Duty Cycle的On Time可依掃描速度加以調變。脈衝型雙軸補間運動控制產生典型經過梯型速度曲線規劃之直線或圓弧軌跡，並轉換成脈波命令發送給X、Y雙軸AC伺服馬達驅動器，控制掃描平台行進的速度與位置。向量掃描控制器係依據在轉彎的路徑上加入延伸的繞圈規劃使雷射掃描速度都為等速度的一種新的向量掃描控制器。
本研究開發之控制器已可透過RS232與個人電腦作通訊，由電腦下達掃描參數，控制器同步發送命令給AC伺服馬達驅動器與CO2雷射機。實際在白紙上進行雷射掃描測試，明顯觀察到線段的頭尾，已無能量過度集中現象，證實此控制器可達到雷射能量均勻分佈掃描工作。

關鍵字

雷射能量控制 ； 多軸運動控制

並列摘要

The aim of this paper is to improve the problem induced from the excess energy delivery during the acceleration and deceleration of laser scanning, and to develop a controller having the capability of achieving a dual-axis interpolation motion and a uniform laser energy distribution.
The controller was developed by DSP and CPLD. Its function can be divided into a pulse type laser motion controller and a vector scanning controller. The pulse type laser motion controller was composed of a dual-axis interpolation motion control and a uniform laser energy control. The concept of uniform laser energy control is that the frequency of the PWM signal, which controls the laser energy, is protpotional to the scanning speed and the on time of PWM duty cycle can be modified according to the scanning speed. A dual-axis interpolation motion control generates a line or arc trajectory which based on a typical terrace speed curve plan, and sends pulse type commands to AC servo motor drivers of X and Y axis. The velocity and position of the XY-Table are controlled with the AC servo motor drivers.
Vector scanning controller is a new type of vector scanning; in case of direction change, the scanning path at the corner is extended and returned to the other direction with a circle to induce a uniform scanning speed.
This controller can communicate with PC by RS232. The computer delivers parameters of scanning to the controller, and then the controller sends commands to the AC servo motor drivers and the CO2 laser synchronously. A laser scanning test was carried out on a sheet of paper; obviously, there was no energy concentration at the acceleration and deceleration segments. It is verified that this controller can produce a uniform energy distribution on a laser scanning path.

並列關鍵字

laser energy control ； multi- axis motion control

參考文獻

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