多项式加减速控制方法研究  

Research on Polynomial Acceleration and Deceleration Control Method

作　　者：徐川[1] 王永章[1] 刘源[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《组合机床与自动化加工技术》2009年第9期42-44,48,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：黑龙江省科技攻关重点项目(GB05A501)

摘　　要：传统梯形加减速和指数加减速方法加速度变化不连续,机床运动存在柔性冲击;S形曲线加减速方法加加速度阶跃变化,机床柔性受到限制。针对上述问题,提出了一种多项式加减速控制方法,该方法保证加速度和加加速度连续变化,使数控系统具有较高的加减速柔性。介绍了该加减速控制方法的数学算法,并对其速度规划过程进行了讨论。通过仿真验证了所提加减速控制方法的优越性。Acceleration is discontinuous in the traditional acceleration and deceleration algorithms such as the linear and the exponential,which cause flexible impact in NC machining.However, the jerk of S-curve accelera- tion and deceleration is step change, which confines the flexibility. So, a kind of polynomial acceleration and deceleration control method is proposed, which guarantees the acceleration and jerk are continuous and makes the CNC system more flexible. This algorithm is analyzed and discussed the feedrate profile planning in detail. Simulation is performed to verify the advantage of the proposed method.

关 键 词：运动控制 多项式加减速 速度规划 

分 类 号：TG65[金属学及工艺—金属切削加工及机床] TP273.5[自动化与计算机技术—检测技术与自动化装置]