NURBS曲线插补的离散比例积分器速度规划算法  

Discrete Proportional Integrator Speed Planning Algorithm for NURBS Curve Interpolation

作　　者：姬清华[1] JI Qing-hua(Department of Mechanical and Electrial Engineering,Xinxiang University,Xinxiang Henan 453003,China)

机构地区：[1]新乡学院机电工程学院

出　　处：《西南师范大学学报（自然科学版）》2020年第1期62-67,共6页Journal of Southwest China Normal University(Natural Science Edition)

基　　金：河南省高等学校重点科研项目(17B460008)

摘　　要：传统NURBS(Non-uniform rational B-spline,NURBS)曲线插补算法忽略了弧长与曲线的参数关系,造成无法在线对速度进行实时调节,针对这个问题,该文提出一种NURBS曲线插补的离散比例积分器速度规划算法.该方法分2个步骤实现速度规划:①使用数值方法计算NURBS曲线弧长及给定速度的运行时间;二、使用具有加减速的对称性和信号转换功能的离散比例积分器,完成对NURBS曲线插补的在线速度规划.在离散比例积分器的速度规划方法中,起始段、结束段的轨迹速度能够得到实时控制,系统以不超过机床要求的加速度运行.实验结果表明,该文速度规划算法能有效地满足系统约束,保证机床平稳运行.另外,相较于其他算法,该文算法在插补精度、插补实时性及速度波动率性能方面优于现有方法,说明该文方法的有效性和先进性.The traditional NURBS curve interpolation algorithm ignores the relationship between arc length and curve parameters,which makes it impossible to adjust the speed in real time.To solve this problem,a discrete proportional integrator velocity planning algorithm based on NURBS curve interpolation has been proposed in this paper.The method makes it possible to realize speed planning in two steps:first,using numerical method to calculate the arc length of the NURBS curve and the running time of the given velocity;second,using a discrete proportional integrator with acceleration and deceleration symmetry and signal conversion function to complete the NURBS Online speed planning for curve interpolation.In the speed planning method of the discrete proportional integrator,the trajectory speed of the start and end sections can be controlled in real time,and the system operates at an acceleration that does not exceed the machine tool requirements.The experimental results show that the speed planning algorithm can effectively satisfy the system constraints and ensure the smooth running of the machine.In addition,compared with other algorithms,this algorithm is superior to the existing methods in interpolation accuracy,real-time interpolation and speed fluctuation performance,which shows the effectiveness and advancement of this method.

关 键 词：NURBS 曲线插补 离散比例积分器 速度规划 加速度 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]