面向柔性加工的拐角运动策略研究与应用  

Research and application of corner motion optimizationfor flexible machining

作　　者：张静 仲济磊 陈珍萍[2] 吴祥[3] ZHANG Jing;ZHONG Jilei;CHEN Zhenping;WU Xiang(College of Mechatronics and Information,Wuxi Open University,Wuxi 214001,China;School of Electronic and Information Engineering,Suzhou University of Science and Technology,Suzhou 215009,China;College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]无锡开放大学机电与信息学院,江苏无锡214001 [2]苏州科技大学电子与信息工程学院,江苏苏州215009 [3]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《浙江工业大学学报》2023年第3期312-318,共7页Journal of Zhejiang University of Technology

基　　金：国家自然科学基金资助项目(51874205)。

摘　　要：针对模切机在连续小线段路径下的拐弯速度不平滑问题,提出了一种面向柔性加工的拐角运动策略。首先,通过规划模切机刀具轨迹为锐角附近的跳度,给出角度与加速度之间的约束关系;然后,利用精确计算拐弯处的速度与时间,结合最大轮廓误差的限制优化出最大的拐弯速度,实现给进轴的高速高精度运动;最后,设计了软件双轴同步插补模型来降低机械本体的抖动,提高了加工精度和稳定性。仿真分析与实验结果表明:在高速加工连续小线段时,曲线轮廓误差保持在0.025 mm内,加速度曲线满足G1连续,加工时间缩短了13%,有效实现了标签模切机的高速高精度多轴的平稳运动控制。Aiming at the turning speed unsmooth of die-cutting machine under the path of continuous small line segment,a corner motion strategy for flexible machining was proposed.First,the constraint relation between angle and acceleration is given by planning the tool path of die cutting machine as the hop near acute angle.Then the speed and time at the turning point are calculated accurately,and the maximum turning speed is optimized by combining with the limit of the maximum contour error to achieve high speed and high precision movement of the feed axis.Finally,a software biaxial synchronous interpolation model was designed to reduce the jitter of the machine body and improve the machining accuracy and stability.The simulation analysis and experiments confirm that the curve contour error is kept within 0.025 mm,the acceleration curve meets G 1 continuous,and the processing time is shortened by 13%.The high-speed and high-precision multi-axis smooth motion control of the label die-cutting machine is effectively realized.

关 键 词：模切机 小线段 柔性加工 拐弯速度 双轴同步 轮廓误差 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]