基于加加速度连续的函数逼近加减速算法  

The Acceleration/Deceleration Algorithm of Function Approximation Base on Continuous Jerk

作　　者：黄朝志 王兵兵 刘赣伟 陈海东 HUANG Chao-zhi;WANG Bing-bing;LIU Gan-wei;CHEN Hai-dong(Jiangxi University of Science and Technology School of Electric Engineering and Automation,Jiangxi Ganzhou 341000,China)

机构地区：[1]江西理工大学电气工程与自动化学院,江西赣州341000

出　　处：《机械设计与制造》2018年第11期150-153,共4页Machinery Design & Manufacture

基　　金：江西省自然科学基金项目(20151BAB206034);江西省教育厅2013科技项目青年基金项目(GJJ13389)

摘　　要：三角函数加减速算法在高速高精度插补过程避免了柔性冲击,但速度变化缓慢、计算复杂。在构建加加速度三角连续函数基础上,利用切比雪夫逼近,反推加速度、速度和位置,并分别在长线段加减速与短线段加减速两种情况下推出位移公式。仿真实验表明,本算法在满足插补精度和柔性要求下,计算简单、插补速度更快。在减速定位段,根据实际剩余加工长度二次计算减速过程的起始速度,构造连续的加加速度函数,再次反推加速度、速度和位移,消除低速定位段,实现快速定位。Trigonometric function acceleration/deceleration algorithm avoid the flexible impact,but the speed change slowly.on the bas is of constructing the jerk of trigonometric continuous function,using the Chebyshev approximation,backstepping acceleration,velocity and displacement,and in the two case of the long segment acceleration/deceleration and short segment acceleration/deceleration reverse displacement formula.Simulation results show that the algorithm calculate simply and Interpol-ate more fastly in meeting the requirements of the interpolation precision and flexibility.In the deceleration positioning section,secondary computing the initial speed of the deceleration and constructing continuous jerk function according to the actual remaining length of processing,and backstepping acceleration,velocity and displacement one more time,eliminate the low speed position section,realize fast positioning.

关 键 词：计算机数控系统 插补 加减速 加加速度连续 函数逼近 低速定位 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]