颠簸度分段线性连续的高速进给运动控制算法
发布时间：2018-08-07 06:46
【摘要】：现有进给速度规划算法难以方便有效地实现高阶柔性进给运动,不利于提高高速进给定位精度和抑制其振动,为此提出加速度二阶导数即颠簸度分段线性连续的高速进给控制算法。按速度规划参量将其划分为有、无恒加速两种类型,并结合运动行程分别给出了每类进给运动的实现方式;分析了一条非均匀有理B样条曲线的曲率,并根据其局部极大值分割该曲线,确定了各曲率极值点的可行进给速度,由各子段曲线内的位移协调关系,分别利用所提算法及S曲线规划了该曲线的进给速度并进行比较。结果表明,所提算法可为高速加工参数轮廓规划高阶柔性的进给速度,并有效提高插补弦高精度。
[Abstract]:It is difficult to realize the high-order flexible feed motion conveniently and effectively by the existing feed speed planning algorithms, which is not conducive to improving the positioning accuracy of the high-speed feed and suppressing its vibration. For this reason, a high speed feed control algorithm with second derivative of acceleration, I. e., the piecewise linear continuity of the degree of turbulence, is proposed. According to the velocity planning parameters, it is divided into two types, there is no constant acceleration, and the realization mode of each kind of feed motion is given according to the motion stroke, and the curvature of a nonuniform rational B-spline curve is analyzed. According to the local maximum of the curve, the feasible feed velocity of each curvature extreme point is determined, and the displacement coordination relation in each sub-section curve is obtained. The feed velocity of the curve is programmed and compared by using the proposed algorithm and S curve respectively. The results show that the proposed algorithm can be used for high order flexible feed speed planning for high speed machining parameters, and can effectively improve the precision of interpolation string.
【作者单位】： 杭州电子科技大学机械工程学院;杭州电子科技大学自动化学院;浙江大学制造工程及自动化研究所;
【基金】：国家自然科学基金资助项目(51405119) 浙江省自然科学基金资助项目(LY12E05001)~~
【分类号】：TG659;TP13
[Abstract]:It is difficult to realize the high-order flexible feed motion conveniently and effectively by the existing feed speed planning algorithms, which is not conducive to improving the positioning accuracy of the high-speed feed and suppressing its vibration. For this reason, a high speed feed control algorithm with second derivative of acceleration, I. e., the piecewise linear continuity of the degree of turbulence, is proposed. According to the velocity planning parameters, it is divided into two types, there is no constant acceleration, and the realization mode of each kind of feed motion is given according to the motion stroke, and the curvature of a nonuniform rational B-spline curve is analyzed. According to the local maximum of the curve, the feasible feed velocity of each curvature extreme point is determined, and the displacement coordination relation in each sub-section curve is obtained. The feed velocity of the curve is programmed and compared by using the proposed algorithm and S curve respectively. The results show that the proposed algorithm can be used for high order flexible feed speed planning for high speed machining parameters, and can effectively improve the precision of interpolation string.
【作者单位】： 杭州电子科技大学机械工程学院;杭州电子科技大学自动化学院;浙江大学制造工程及自动化研究所;
【基金】：国家自然科学基金资助项目(51405119) 浙江省自然科学基金资助项目(LY12E05001)~~
【分类号】：TG659;TP13
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