数控速度规划中的时间最优凸优化方法

发布时间：2018-11-06 19:23

【摘要】：针对数控高速高精加工中的速度规划问题,考虑速度、电机力矩和轮廓误差等约束条件,对以时间最优为目标的凸优化方法进行了研究。建立了包含轮廓误差等约束与速度平滑因子的完整速度规划模型,通过参数离散化使问题转化为静态最优问题。为改善求解效率并保证全局最优解,将离散规划模型中的复杂非凸目标函数和约束通过数学变换最终转化为凸优化问题,得到多项式时间的全局最优解。通过数值仿真实验验证了该方法的有效性,分析了平滑因子的影响与计算效率。
[Abstract]:Aiming at the problem of speed planning in high speed and high precision NC machining, the convex optimization method aiming at optimal time is studied by considering the constraint conditions such as speed, motor torque and contour error. A complete speed programming model with contour error constraints and velocity smoothing factor is established. The problem is transformed into a static optimal problem by discretization of parameters. In order to improve the efficiency and ensure the global optimal solution, the complex non-convex objective functions and constraints in the discrete programming model are transformed into convex optimization problems by mathematical transformation, and the global optimal solution of polynomial time is obtained. The effectiveness of the method is verified by numerical simulation, and the influence of smoothing factor and calculation efficiency are analyzed.
【作者单位】：清华大学机械工程系;清华大学精密超精密制造装备及控制北京市重点实验室;甘肃省数控机床工程技术研究中心;
【基金】：国家科技重大专项资助项目(2011ZX04004-012)~~
【分类号】：TG659

【共引文献】