一种加加速度连续的加减速算法研究  

Research on a Continuous Acceleration and Deceleration Algorithm

作　　者：李明[1] 游有鹏[1] 杨雪峰[1] LI Ming;YOU Youpeng;YANG Xuefeng(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械制造与自动化》2021年第1期70-73,共4页Machine Building & Automation

摘　　要：为了对数控运动的高平稳加减速控制,通过分析比较传统加减速的特点,设计了一种加加速度连续的新型高平稳加减速算法。为发挥正弦加减速的高平稳优势,采用切比雪夫多项式逼近正弦函数,构造连续的加加速度方程,得到完整的加减速控制算法,具有加加速度连续的特点,运动平稳性优于S形加减速,计算复杂度优于正弦加减速。给出该算法与正弦加减速的对比仿真曲线以及不同参数条件下的加减速控制仿真曲线,经验证表明该算法可以在不同参数条件下实现平滑运动控制,并且计算简单、加减速效率更高,具有良好的实用性。Aimed at deceleration control of NC motion,a new type of high-stability acceleration and deceleration algorithm with continuous acceleration was designed by analyzing and comparing the characteristics of traditional acceleration and deceleration.In order to take advantage of the high smoothness of sinusoidal acceleration and deceleration,a Chebyshev polynomial was applied to approximate the sine function to construct a continuous acceleration equation,and a complete acceleration and deceleration control algorithm was obtained with the characteristics of continuous acceleration.The application brought about better motion stability than S-curve acceleration and deceleration,as well as better calculation complexity than sine acceleration and deceleration.Meanwhile,the simulation curves of both algorithmsinusoidal acceleration and deceleration and deceleration controlunder different parameter condition were also secured.This shows that the algorithm can gain smooth motion control under different parameter conditions by simple calculationwith higher acceleration and deceleration efficiency and praticabilit.

关 键 词：数控加工 正弦函数 加加速度 加减速规划 柔性 

分 类 号：TH123[机械工程—机械设计及理论]