框架式3D建筑打印机控制系统设计  

Design of control system for frame 3D construction printer

作　　者：殷戎飞 徐海黎[1] 田为广 徐勋倩 沈标 YIN Rong-fei;XU Hai-li;TIAN Wei-guang;XU Xun-qian;SHEN Biao(School of Mechanical Engineering,Nantong University,Nantong 226019,China;School of Transportation and Civil Engineering,Nantong University,Nantong 226019,China;Nanjing Lantai Traffic Establishment Co.,Ltd.,Nanjing 210019,China)

机构地区：[1]南通大学机械工程学院,江苏南通226019 [2]南通大学交通与土木工程学院,江苏南通226019 [3]南京蓝泰交通设施有限责任公司,江苏南京210019

出　　处：《工程设计学报》2022年第1期107-114,共8页Chinese Journal of Engineering Design

基　　金：江苏省南通市科技项目(XG202009-1)。

摘　　要：针对传统建筑施工存在工作环境恶劣、劳动强度大以及异形构件的制造需要预制模具且难以实现个性化设计的问题,设计了一种框架式3D建筑打印机。首先,考虑到系统的可扩展性,采用STM32H750芯片作为核心控制器,并结合伺服驱动单元设计框架式3D建筑打印机控制系统的硬件结构。然后,提出基于梯形加减速控制的速度前瞻处理方法来规划打印速度,通过分析打印轨迹拐点的角度及其前后运动段长度的限制条件来确定拐点处的最佳打印速度。最后,引入RT-Thread嵌入式操作系统来进行打印任务管理和调度,以提高控制系统的稳定性,并设计了人机交互界面。测试结果表明:采用速度前瞻处理方法的框架式3D建筑打印机的自动化程度和打印效率较高,其可以稳定地打印形状各异的建筑构件,且混凝土成型均匀,无断料或积料。所设计的打印机为混凝土建筑构件的智能化制造提供了一种新方法,具有良好的工程应用价值。Aiming at the problems that the working environment is poor,the labor intensity is high,and the manufacture of special-shaped components requires prefabricated molds and it is difficult to realize personalized design in the traditional construction,a frame 3D construction printer is designed.Firstly,considering the system scalability,the hardware structure of the frame 3D construction printer control system was designed by using the STM32H750 chip as the core controller and combining with the servo drive unit.Then,a speed look-ahead processing method based on the trapezoidal acceleration and deceleration control was proposed to plan the printing speed,and the optimal printing speed at the inflection point was determined by analyzing limiting conditions of the angle of inflection point and the length of front and back motion segments of the printing track.Finally,the RT-Thread embedded operating system was introduced to manage and schedule printing tasks to improve the stability of the control system,and the human-machine interaction interface was designed.The test results showed that the frame 3D construction printer using the speed look-ahead processing method had high automation and printing efficiency,so it could stably print construction components with different shapes,and the concrete was uniformly formed without material breakage or accumulation.The designed printer provides a new method for the intelligent manufacture of concrete construction components,and has good engineering application value.

关 键 词：3D建筑打印机 STM32 速度前瞻处理 梯形加减速控制 

分 类 号：TH69[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]