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input_shaper: Initial support of input shaping (#3032)
Input shaping can help to reduce printer vibrations due to resonances and eliminate or reduce ghosting in prints. Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
GitHub
parent
09a3d018a8
commit
4bdc11a8b3
5 changed files with 626 additions and 2 deletions
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@ -17,7 +17,7 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
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SOURCE_FILES = [
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'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
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'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
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'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
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'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_shaper.c',
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]
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DEST_LIB = "c_helper.so"
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OTHER_FILES = [
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@ -104,6 +104,27 @@ defs_kin_extruder = """
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, double smooth_time);
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"""
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defs_kin_shaper = """
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enum INPUT_SHAPER_TYPE {
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INPUT_SHAPER_ZV = 0,
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INPUT_SHAPER_ZVD = 1,
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INPUT_SHAPER_MZV = 2,
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INPUT_SHAPER_EI = 3,
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INPUT_SHAPER_2HUMP_EI = 4,
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INPUT_SHAPER_3HUMP_EI = 5,
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};
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double input_shaper_get_step_generation_window(int shaper_type
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, double shaper_freq, double damping_ratio);
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int input_shaper_set_shaper_params(struct stepper_kinematics *sk
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, int shaper_type_x, int shaper_type_y
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, double shaper_freq_x, double shaper_freq_y
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, double damping_ratio_x, double damping_ratio_y);
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int input_shaper_set_sk(struct stepper_kinematics *sk
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, struct stepper_kinematics *orig_sk);
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struct stepper_kinematics * input_shaper_alloc(void);
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"""
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defs_serialqueue = """
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#define MESSAGE_MAX 64
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struct pull_queue_message {
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@ -147,7 +168,8 @@ defs_all = [
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defs_pyhelper, defs_serialqueue, defs_std,
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defs_stepcompress, defs_itersolve, defs_trapq,
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defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
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defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder
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defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder,
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defs_kin_shaper,
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]
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# Return the list of file modification times
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421
klippy/chelper/kin_shaper.c
Normal file
421
klippy/chelper/kin_shaper.c
Normal file
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@ -0,0 +1,421 @@
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// Kinematic input shapers to minimize motion vibrations in XY plane
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//
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// Copyright (C) 2019-2020 Kevin O'Connor <kevin@koconnor.net>
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// Copyright (C) 2020 Dmitry Butyugin <dmbutyugin@google.com>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <math.h> // sqrt, exp
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#include <stddef.h> // offsetof
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "trapq.h" // struct move
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/****************************************************************
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* Generic position calculation via shaper convolution
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****************************************************************/
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static inline double
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get_axis_position(struct move *m, int axis, double move_time)
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{
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double axis_r = m->axes_r.axis[axis - 'x'];
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double start_pos = m->start_pos.axis[axis - 'x'];
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double move_dist = move_get_distance(m, move_time);
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return start_pos + axis_r * move_dist;
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}
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static inline double
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get_axis_position_across_moves(struct move *m, int axis, double time)
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{
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while (likely(time < 0.)) {
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m = list_prev_entry(m, node);
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time += m->move_t;
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}
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while (likely(time > m->move_t)) {
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time -= m->move_t;
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m = list_next_entry(m, node);
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}
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return get_axis_position(m, axis, time);
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}
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struct shaper_pulse {
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double t, a;
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};
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// Calculate the position from the convolution of the shaper with input signal
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static inline double
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calc_position(struct move *m, int axis, double move_time
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, struct shaper_pulse *pulses, int n)
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{
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double res = 0.;
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for (int i = 0; i < n; ++i)
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res += pulses[i].a * get_axis_position_across_moves(
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m, axis, move_time + pulses[i].t);
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return res;
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}
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/****************************************************************
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* Shaper-specific initialization
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****************************************************************/
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#define EI_SHAPER_VIB_TOL 0.05
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enum INPUT_SHAPER_TYPE {
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INPUT_SHAPER_ZV = 0,
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INPUT_SHAPER_ZVD = 1,
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INPUT_SHAPER_MZV = 2,
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INPUT_SHAPER_EI = 3,
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INPUT_SHAPER_2HUMP_EI = 4,
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INPUT_SHAPER_3HUMP_EI = 5,
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};
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struct input_shaper {
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struct stepper_kinematics sk;
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struct stepper_kinematics *orig_sk;
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struct move m;
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struct shaper_pulse *x_pulses, *y_pulses;
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int x_n, y_n;
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};
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typedef void (*is_init_shaper_callback)(double shaper_freq
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, double damping_ratio
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, struct shaper_pulse **pulses, int *n);
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static inline double
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calc_ZV_K(double damping_ratio)
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{
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if (likely(!damping_ratio))
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return 1.;
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return exp(-damping_ratio * M_PI / sqrt(1. - damping_ratio*damping_ratio));
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}
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static inline double
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calc_half_period(double shaper_freq, double damping_ratio)
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{
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return .5 / (shaper_freq * sqrt(1. - damping_ratio*damping_ratio));
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}
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static void
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init_shaper_zv(double shaper_freq, double damping_ratio
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, struct shaper_pulse **pulses, int *n)
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{
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*n = 2;
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*pulses = malloc(*n * sizeof(struct shaper_pulse));
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double half_period = calc_half_period(shaper_freq, damping_ratio);
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double K = calc_ZV_K(damping_ratio);
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double inv_D = 1. / (1. + K);
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(*pulses)[0].t = -half_period;
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(*pulses)[1].t = 0.;
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(*pulses)[0].a = K * inv_D;
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(*pulses)[1].a = inv_D;
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}
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static void
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init_shaper_zvd(double shaper_freq, double damping_ratio
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, struct shaper_pulse **pulses, int *n)
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{
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*n = 3;
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*pulses = malloc(*n * sizeof(struct shaper_pulse));
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double half_period = calc_half_period(shaper_freq, damping_ratio);
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double K = calc_ZV_K(damping_ratio);
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double K2 = K * K;
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double inv_D = 1. / (K2 + 2. * K + 1.);
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(*pulses)[0].t = -2. * half_period;
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(*pulses)[1].t = -half_period;
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(*pulses)[2].t = 0.;
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(*pulses)[0].a = K2 * inv_D;
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(*pulses)[1].a = 2. * K * inv_D;
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(*pulses)[2].a = inv_D;
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}
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static void
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init_shaper_mzv(double shaper_freq, double damping_ratio
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, struct shaper_pulse **pulses, int *n)
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{
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*n = 3;
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*pulses = malloc(*n * sizeof(struct shaper_pulse));
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double half_period = calc_half_period(shaper_freq, damping_ratio);
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double K = exp(-.75 * damping_ratio * M_PI
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/ sqrt(1. - damping_ratio*damping_ratio));
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double a1 = 1. - 1. / sqrt(2.);
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double a2 = (sqrt(2.) - 1.) * K;
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double a3 = a1 * K * K;
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double inv_D = 1. / (a1 + a2 + a3);
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(*pulses)[0].t = -1.5 * half_period;
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(*pulses)[1].t = -.75 * half_period;
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(*pulses)[2].t = 0.;
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(*pulses)[0].a = a3 * inv_D;
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(*pulses)[1].a = a2 * inv_D;
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(*pulses)[2].a = a1 * inv_D;
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}
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static void
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init_shaper_ei(double shaper_freq, double damping_ratio
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, struct shaper_pulse **pulses, int *n)
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{
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*n = 3;
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*pulses = malloc(*n * sizeof(struct shaper_pulse));
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double half_period = calc_half_period(shaper_freq, damping_ratio);
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double K = calc_ZV_K(damping_ratio);
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double a1 = .25 * (1. + EI_SHAPER_VIB_TOL);
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double a2 = .5 * (1. - EI_SHAPER_VIB_TOL) * K;
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double a3 = a1 * K * K;
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double inv_D = 1. / (a1 + a2 + a3);
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(*pulses)[0].t = -2. * half_period;
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(*pulses)[1].t = -half_period;
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(*pulses)[2].t = 0.;
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(*pulses)[0].a = a3 * inv_D;
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(*pulses)[1].a = a2 * inv_D;
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(*pulses)[2].a = a1 * inv_D;
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}
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static void
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init_shaper_2hump_ei(double shaper_freq, double damping_ratio
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, struct shaper_pulse **pulses, int *n)
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{
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*n = 4;
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*pulses = malloc(*n * sizeof(struct shaper_pulse));
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double half_period = calc_half_period(shaper_freq, damping_ratio);
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double K = calc_ZV_K(damping_ratio);
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double V2 = EI_SHAPER_VIB_TOL * EI_SHAPER_VIB_TOL;
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double X = pow(V2 * (sqrt(1. - V2) + 1.), 1./3.);
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double a1 = (3.*X*X + 2.*X + 3.*V2) / (16.*X);
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double a2 = (.5 - a1) * K;
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double a3 = a2 * K;
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double a4 = a1 * K * K * K;
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double inv_D = 1. / (a1 + a2 + a3 + a4);
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(*pulses)[0].t = -3. * half_period;
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(*pulses)[1].t = -2. * half_period;
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(*pulses)[2].t = -half_period;
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(*pulses)[3].t = 0.;
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(*pulses)[0].a = a4 * inv_D;
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(*pulses)[1].a = a3 * inv_D;
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(*pulses)[2].a = a2 * inv_D;
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(*pulses)[3].a = a1 * inv_D;
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}
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static void
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init_shaper_3hump_ei(double shaper_freq, double damping_ratio
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, struct shaper_pulse **pulses, int *n)
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{
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*n = 5;
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*pulses = malloc(*n * sizeof(struct shaper_pulse));
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double half_period = calc_half_period(shaper_freq, damping_ratio);
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double K = calc_ZV_K(damping_ratio);
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double K2 = K * K;
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double a1 = 0.0625 * (1. + 3. * EI_SHAPER_VIB_TOL
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+ 2. * sqrt(2. * (EI_SHAPER_VIB_TOL + 1.) * EI_SHAPER_VIB_TOL));
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double a2 = 0.25 * (1. - EI_SHAPER_VIB_TOL) * K;
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double a3 = (0.5 * (1. + EI_SHAPER_VIB_TOL) - 2. * a1) * K2;
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double a4 = a2 * K2;
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double a5 = a1 * K2 * K2;
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double inv_D = 1. / (a1 + a2 + a3 + a4 + a5);
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(*pulses)[0].t = -4. * half_period;
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(*pulses)[1].t = -3. * half_period;
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(*pulses)[2].t = -2. * half_period;
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(*pulses)[3].t = -half_period;
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(*pulses)[4].t = 0.;
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(*pulses)[0].a = a5 * inv_D;
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(*pulses)[1].a = a4 * inv_D;
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(*pulses)[2].a = a3 * inv_D;
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(*pulses)[3].a = a2 * inv_D;
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(*pulses)[4].a = a1 * inv_D;
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}
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// Shift pulses around 'mid-point' t=0 so that the input shaper is an identity
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// transformation for constant-speed motion (i.e. input_shaper(v * T) = v * T)
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static void
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shift_pulses(int n, struct shaper_pulse *pulses)
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{
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int i;
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double ts = 0.;
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for (i = 0; i < n; ++i)
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ts += pulses[i].a * pulses[i].t;
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for (i = 0; i < n; ++i)
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pulses[i].t -= ts;
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}
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/****************************************************************
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* Kinematics-related shaper code
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****************************************************************/
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#define DUMMY_T 500.0
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// Optimized calc_position when only x axis is needed
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static double
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shaper_x_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct input_shaper *is = container_of(sk, struct input_shaper, sk);
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if (!is->x_n)
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return is->orig_sk->calc_position_cb(is->orig_sk, m, move_time);
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is->m.start_pos.x = calc_position(m, 'x', move_time, is->x_pulses, is->x_n);
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return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
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}
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// Optimized calc_position when only y axis is needed
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static double
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shaper_y_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct input_shaper *is = container_of(sk, struct input_shaper, sk);
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if (!is->y_n)
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return is->orig_sk->calc_position_cb(is->orig_sk, m, move_time);
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is->m.start_pos.y = calc_position(m, 'y', move_time, is->y_pulses, is->y_n);
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return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
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}
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// General calc_position for both x and y axes
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static double
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shaper_xy_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct input_shaper *is = container_of(sk, struct input_shaper, sk);
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if (!is->x_n && !is->y_n)
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return is->orig_sk->calc_position_cb(is->orig_sk, m, move_time);
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is->m.start_pos = move_get_coord(m, move_time);
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if (is->x_n)
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is->m.start_pos.x = calc_position(m, 'x', move_time
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, is->x_pulses, is->x_n);
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if (is->y_n)
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is->m.start_pos.y = calc_position(m, 'y', move_time
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, is->y_pulses, is->y_n);
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return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
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}
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static void
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shaper_note_generation_time(struct input_shaper *is)
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{
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double pre_active = 0., post_active = 0.;
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if ((is->sk.active_flags & AF_X) && is->x_n) {
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pre_active = is->x_pulses[is->x_n-1].t;
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post_active = -is->x_pulses[0].t;
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}
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if ((is->sk.active_flags & AF_Y) && is->y_n) {
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pre_active = is->y_pulses[is->y_n-1].t > pre_active
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? is->y_pulses[is->y_n-1].t : pre_active;
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post_active = -is->y_pulses[0].t > post_active
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? -is->y_pulses[0].t : post_active;
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}
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is->sk.gen_steps_pre_active = pre_active;
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is->sk.gen_steps_post_active = post_active;
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}
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int __visible
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input_shaper_set_sk(struct stepper_kinematics *sk
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, struct stepper_kinematics *orig_sk)
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{
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struct input_shaper *is = container_of(sk, struct input_shaper, sk);
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int af = orig_sk->active_flags & (AF_X | AF_Y);
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if (af == (AF_X | AF_Y))
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is->sk.calc_position_cb = shaper_xy_calc_position;
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else if (af & AF_X)
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is->sk.calc_position_cb = shaper_x_calc_position;
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else if (af & AF_Y)
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is->sk.calc_position_cb = shaper_y_calc_position;
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else
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return -1;
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is->sk.active_flags = orig_sk->active_flags;
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is->orig_sk = orig_sk;
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return 0;
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}
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static is_init_shaper_callback init_shaper_callbacks[] = {
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[INPUT_SHAPER_ZV] = &init_shaper_zv,
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[INPUT_SHAPER_ZVD] = &init_shaper_zvd,
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[INPUT_SHAPER_MZV] = &init_shaper_mzv,
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[INPUT_SHAPER_EI] = &init_shaper_ei,
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[INPUT_SHAPER_2HUMP_EI] = &init_shaper_2hump_ei,
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[INPUT_SHAPER_3HUMP_EI] = &init_shaper_3hump_ei,
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};
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int __visible
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input_shaper_set_shaper_params(struct stepper_kinematics *sk
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, int shaper_type_x
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, int shaper_type_y
|
||||
, double shaper_freq_x
|
||||
, double shaper_freq_y
|
||||
, double damping_ratio_x
|
||||
, double damping_ratio_y)
|
||||
{
|
||||
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
|
||||
|
||||
if (shaper_type_x >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type_x < 0)
|
||||
return -1;
|
||||
if (shaper_type_y >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type_y < 0)
|
||||
return -1;
|
||||
|
||||
int af = is->orig_sk->active_flags & (AF_X | AF_Y);
|
||||
free(is->x_pulses);
|
||||
if ((af & AF_X) && shaper_freq_x > 0.) {
|
||||
init_shaper_callbacks[shaper_type_x](
|
||||
shaper_freq_x, damping_ratio_x, &is->x_pulses, &is->x_n);
|
||||
shift_pulses(is->x_n, is->x_pulses);
|
||||
} else {
|
||||
is->x_pulses = NULL;
|
||||
is->x_n = 0;
|
||||
}
|
||||
free(is->y_pulses);
|
||||
if ((af & AF_Y) && shaper_freq_y > 0.) {
|
||||
init_shaper_callbacks[shaper_type_y](
|
||||
shaper_freq_y, damping_ratio_y, &is->y_pulses, &is->y_n);
|
||||
shift_pulses(is->y_n, is->y_pulses);
|
||||
} else {
|
||||
is->y_pulses = NULL;
|
||||
is->y_n = 0;
|
||||
}
|
||||
shaper_note_generation_time(is);
|
||||
return 0;
|
||||
}
|
||||
|
||||
double __visible
|
||||
input_shaper_get_step_generation_window(int shaper_type, double shaper_freq
|
||||
, double damping_ratio)
|
||||
{
|
||||
if (shaper_freq <= 0.)
|
||||
return 0.;
|
||||
if (shaper_type >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type < 0)
|
||||
return 0.;
|
||||
is_init_shaper_callback init_shaper_cb = init_shaper_callbacks[shaper_type];
|
||||
int n;
|
||||
struct shaper_pulse *pulses;
|
||||
init_shaper_cb(shaper_freq, damping_ratio, &pulses, &n);
|
||||
shift_pulses(n, pulses);
|
||||
double window = -pulses[0].t;
|
||||
if (pulses[n-1].t > window)
|
||||
window = pulses[n-1].t;
|
||||
free(pulses);
|
||||
return window;
|
||||
}
|
||||
|
||||
struct stepper_kinematics * __visible
|
||||
input_shaper_alloc(void)
|
||||
{
|
||||
struct input_shaper *is = malloc(sizeof(*is));
|
||||
memset(is, 0, sizeof(*is));
|
||||
is->m.move_t = 2. * DUMMY_T;
|
||||
return &is->sk;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue