参数化路径的S-型进给速度最优规划  

Optimal S-shaped feedrate planning for parametric curve

作　　者：琚长江 杨根科[1,2] 陈玉旺 JU Changjiang;YANG Genke;CHEN Yuwang(Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China;Ningbo Artificial Intelligence Institute,Shanghai Jiao Tong University,Ningbo 315000,China;Shanghai Electrical Apparatus Research Institute(Group)Co.,Ltd.,Shanghai 200063,China;School of Alliance Manchester Business,University of Manchester,Manchester M156PB,UK)

机构地区：[1]上海交通大学自动化系,上海200240 [2]上海交通大学宁波人工智能研究院,浙江宁波315000 [3]上海电器科学研究所(集团)有限公司,上海200063 [4]曼彻斯特大学商学院,英国曼彻斯特M156PB

出　　处：《计算机集成制造系统》2021年第1期156-164,共9页Computer Integrated Manufacturing Systems

基　　金：科技部重点研发计划资助项目(2017YFA60700602);工信部工业互联网创新发展工程项目电机及驱动设备运行优化工业互联网平台测试床(2018)。

摘　　要：基于曲线的路径参数化表示,提出了基于S-型光滑进给速度规划的最小燃料控制模型,解决了运动控制的柔性S-型加减速控制启发式算法的最优性量化与评价问题。通过在规划问题中引入速度、加速度和急动度边界约束,定量描述了轨迹的最优性光滑进给量;考虑机械惯性,假设分段S-型速度轨迹的始终点加速度为零过渡,使得模型对称易于求解;根据S-型速度控制的结构化特点,将最优控制问题转换为求解非线性规划问题。最小燃料模型比一般最短时间模型具有更宽泛的含义和应用可行性。通过曲率极值点的判断,可分段给出参数曲线的S-型速度规划。从单轴到多轴阐述了S-型速度的燃料指标最优规划问题,并引入关联轨迹控制的能耗评价,通过算例说明了所提方法的有效性。Based on the S-shaped feedrate planning scheme,a fuel minimization control model for parametric curve was presented.The optimality quantitative evaluation for the heuristics of flexible acceleration control was solved in the context of motion control.The velocity,acceleration and jerk constraints were considered simultaneously in the model to realize the optimized smooth feedrate of the control trajectory.Moreover,considering the mechanical inertia,the proposed control model assumed that the acceleration starts from zero-transition and the control trajectory could be made more symmetrical then be given.Due to the structural characteristics of S-shaped trajectory control,the fuel minimization control problem was transformed into a non-linear programming problem.Compared with the existing time minimization model,the fuel minimization model had a broader implication and applicability.Through analyzing the sharp turning points,the entire piecewise curve could be split into a set of S-shaped velocity segment.The optimal S-shaped feedrate planning problem was formulated for both single-axis and multi-axis motion,and the energy consumption was also evaluated for the trajectory control strategy.Numerical simulation results demonstrated the effectiveness of the proposed control method.

关 键 词：进给速度规划 最小燃料控制模型 急动度 非线性规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]