S型速度规划下NURBS曲线双向插补算法  

NURBS Bidirectional Interpolation Algorithm on S-type Velocity Planning

作　　者：林志伟 LIN Zhiwei(College of Physics and Information Engineering, Minnan Normal University, Zhangzhou, Fujian 363000, China)

机构地区：[1]闽南师范大学物理与信息工程学院,福建漳州363000

出　　处：《闽南师范大学学报（自然科学版）》2017年第4期40-52,共13页Journal of Minnan Normal University：Natural Science

基　　金：福建省中青年教师教育科研项目(JAT160286)

摘　　要：为了避免NURBS曲线单向插补算法中加速度突变过大、减速点定位不准确、低速拖尾补偿等弊端,提出一种S型速度规划下的双向插补算法.基于曲线预插补点自适应速度集合筛选出减速终点;利用正反插补的互逆性简化了S型速度规划计算;详细论述了实时插补流程;在双向插补交叉区域,设计一种基于加速度微小突变的简易迭代方法修正预插补参数.通过MATLAB仿真实验表明该算法计算量小,插补点速度和加速度平稳,插补曲线满足加工误差要求.In order to avoid the disadvantages of NURBS forward interpolation such as sudden change of accelerated velocity,incorrect positioning of deceleration point and low speed compensation for tail region,a NURBS bidirectional interpolation algorithm on s-type series velocity planning is proposed in the paper.The deceleration endpoint is selected from the collective of adaptive velocity which belongs to pre interpolation.The s-type velocity planning calculation is simplified by using the bidirectional interpolation character of mutual converse.The real-time interpolation process is discussed in details.In the cross region of bidirectional interpolation,an easy iterative method which based on the micro mutation of accelerated velocity is designed to modify the preinterpolation parameters.The MATLAB simulation experiment shows that the algorithm is easy to be calculated,the velocity and acceleration velocity of interpolation point is stable,and the interpolation curve meets the machining error requirement

关 键 词：S型速度规划 双向插补 实时插补 交叉区域 

分 类 号：TH164[机械工程—机械制造及自动化]