高速平滑S曲线加减速速度控制算法研究  

Research on Acceleration/Deceleration Feedrate Control Algorithm for High-speed Smooth S-curve

作　　者：许光彬[1] 余道洋[2] XU Guang-bin YU Dao-yang(Faculty of Technology Science, Fuyang Vocational and Technical College, Fuyang 236016, China School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009, China)

机构地区：[1]阜阳职业技术学院工程科技学院,安徽阜阳236016 [2]合肥工业大学机械与汽车工程学院,合肥230009

出　　处：《控制工程》2017年第10期2053-2058,共6页Control Engineering of China

基　　金：国家自然科学基金(51275147);安徽省自然科学重点项目基金(KJ2015A437)

摘　　要：针对S型曲线加减速算法的加加速度曲线是阶跃变化的,即其存在拐点,在高速加工过程中容易引起数控机床的冲击与振动,提出了能避免加加速度阶跃变化的平滑S型曲线加减速控制算法,根据曲线长度将平滑S型曲线加减速控制分为完整平滑加减速过程和不完整平滑加减速过程,并都建立了详细的算法。最后用流量计转子截面曲线摆线段作为实例并与S曲线加减速控制算法进行了仿真对比,验证该算法的正确性。验证结果表明:该算法不仅可保证速度和加速度连续,而且加加速度也呈线性规律变化,避免了加减速过程中的加加速度阶跃现象,提高了数控系统加减速平滑性、柔性。Aim at the step change of the jerk curve for S-curve acceleration/deceleration algorithm, namely there exists inflection points, which easily lead to shock and vibration of CNC machine tools in the high speed machining process; the smooth S-curve acceleration/deceleration control algorithm which can avoid jerk step change is proposed in the paper; Smooth S-curve acceleration/deceleration control is divided into complete and incomplete acceleration/deceleration process according to the curve length, and detailed algorithms are both established. Finally, the flowmeter rotor section curve cycloid segment is taken as an example and is compared with the S-curve acceleration and deceleration control algorithm, which verifies the correctness of the algorithm by the paper. Results showed that the algorithm can not only ensure the continuity of the feedrate and acceleration, but also the linearity of the jerk change, which avoids the jerk step change for the acceleration/deceleration process and improves acceleration/deceleration smoothness and flexibility of the CNC system.

关 键 词：平滑 S曲线加减速 加加速度 非完整平滑加减速 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]