改进跟踪微分器在喷头墨点补偿中的应用  

Improved tracking differentiator application in printhead ink point compensation

作　　者：杨洁 朱建晓 黄欣然 王克 包建东 YANG Jie;ZHU Jianxiao;HUANG Xinran;WANG Ke;BAO Jiandong(School of Mechanical Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing 210094,China;Suzhou Konig Electronic Technology Co.,Ltd.,Jiangsu Changshu 215562,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094 [2]苏州康尼格电子科技股份有限公司,江苏常熟215562

出　　处：《工业仪表与自动化装置》2023年第2期34-40,共7页Industrial Instrumentation & Automation

摘　　要：3D打印封装技术是电子封装保护领域的新型工艺,双向打印过程中喷头平移和墨滴喷射之间的相对运动使墨滴实际位置与期望位置产生偏差,影响封装效果。在喷头到达打印位置前一段时间(墨滴飞行时间T f)喷射可以消除偏差,因此准确获取墨点具体喷射时间至关重要。提出一种改进跟踪微分器估计喷头速度,通过估计的速度值计算采样点到打印位置的移动时间进而得到各墨点喷射时刻,实现喷头墨点补偿。该方法基于位移信息可快速估计速度,有效滤除位置测量时带有的噪声,速度估计比较准确,无需基于对象模型,易于实现。仿真与实验验证该速度估计方法可较准确估计喷头速度值,响应速度较快,有效减小喷头双向打印过程中的墨点偏差,双向打印对准精度在23μm以内。3D printing packaging technology is a new technology in the field of electronic packaging and protection.In the process of bidirectional printing,the relative movement between the nozzle translation and the ink drop injection makes the actual position of the ink drop deviate from the desired position,which affects the packaging effect.The deviation can be eliminated by spraying some time before the nozzle reaches the printing position(the flight time of the ink drop T f),so it is very important to accurately obtain the specific injection time of the ink point.An improved tracking differentiator is proposed to estimate the velocity of the nozzle,and the movement time from the sampling point to the printing position is calculated by the estimated velocity value,and then the ejection time of each ink point is obtained to realize the compensation of the ink point of the nozzle.This method can quickly estimate the velocity based on the displacement information,effectively filter out the noise during position measurement,and the velocity estimation is relatively accurate.It does not need to be based on the object model,and is easy to implement.Simulation and experimental results show that the speed estimation method can estimate the speed of nozzle accurately,and the response speed is fast.It can effectively reduce the ink point deviation in the process of bidirectional printing,and the alignment accuracy of bidirectional printing is less than 23μm.

关 键 词：改进跟踪微分器 速度估计 墨点补偿 3D封装 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]