一种新型的Jerk连续加减速控制方法研究  

Research on a Novel Acceleration and Deceleration Control Method of Continuous Jerk

作　　者：于金刚[1,2] 林浒 张晓辉[1,2] 黄艳[2,3] 盖荣丽[2,3] 

机构地区：[1]中国科学院研究生院,北京100039 [2]中国科学院沈阳计算技术研究所,沈阳110171 [3]中国科学技术大学,合肥230026

出　　处：《组合机床与自动化加工技术》2009年第8期61-64,67,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：传统数控加工中加减速控制采用直线加减速方法和指数加减速方法但加速度都存在突变,使机床产生柔性冲击,现国内外一些先进的CNC系统采用S形曲线加减速方法,但S曲线实际上可看作是分段的多项式形式,其加加速度是分段恒定的,存在的不连续点使加加速度在某时刻突变,仍会导致机床整个运动中存在冲击和振动。为此提出一种基于加加速度控制的加减速控制方法,采用限制加加速值,并利用滤波器对加速度进行光滑处理来减少加工中由于加加速突变而产生的机床振动,进而实现高表面质量加工,同时又能达到机床良好的加减速性能。The linear and exponential acceleration/deceleration algorithms are adopted in traditional acceleration/deceleration control in CNC systems, but the machine vibration due to the mutation of acceleration also exists. S-curve acceleration and deceleration is adopted in some advanced CNC systems at present, but actually, S-curve is treated as Piecewise Polynomials, the value of jerk is piecewise constant, some discrete points may arose the mutation of jerk. An acceleration/deceleration control method based on Jerk control is presented, by restricting the value of jerk, and use of filters to complete smooth processing to reduce the machine vibration due to the jerk mutation, accordingly realize the high quality surface machining, and the machine tools can achieve a good acceleration and deceleration performance at the same time.

关 键 词：加减速控制 S曲线 多项式 JERK 

分 类 号：TH16[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]