一种动态的自适应前瞻嵌套规划算法  

Dynamic adaptive look-ahead nested planning algorithm

作　　者：李明宇 赵喜东 刘峰 李超 田威[1] 李明[1] 李鹏程[1] LI Mingyu;ZHAO Xidong;LIU Feng;LI Chao;TIAN Wei;LI Ming;LI Pengcheng(College of Mechanical and Electronic Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Academy of China Changfeng ELectro-Mechanical Technology,Beijing 100854,China;CASIC Space Engineering Development Co.,Ltd.,Beijing 100854,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]中国长峰机电技术研究院,北京100854 [3]航天科工空间工程发展有限公司,北京100854

出　　处：《计算机集成制造系统》2023年第5期1528-1538,共11页Computer Integrated Manufacturing Systems

基　　金：江苏省自然科学基金资助项目(BK20210299);国防基础科研计划资助项目(JCKY2019606B001);江苏省重点研发计划资助项目(BE2021090)。

摘　　要：针对传统自适应前瞻规划算法在计算时需要将前瞻首末速度设置为固定值,且过渡衔接部分无法动态调整等问题,提出一种动态调整过渡部分的自适应前瞻嵌套规划算法。以给定误差为约束,建立拐角处圆弧转接模型。基于线性加减速模型,将自适应前瞻分段与嵌套衔接的最佳角度定为自适应前瞻分段角度,并限制自适应前瞻的末速度以实现嵌套规划。将动态调整引入前瞻规划中,动态调整过渡圆弧半径以实现全局最优。实验表明,通过动态的自适应前瞻嵌套规划算法,可以对路径进行有效规划,既提升了路径的最大允许速度、平均轮廓精度,又降低了加工耗时。In response to the problems that the traditional adaptive look-ahead planning algorithm needed to set the look-ahead first and last speed to fixed values during the calculation,and the transition articulation part could not be dynamically adjusted,an adaptive look-ahead nested planning algorithm with dynamically adjusted transition part was proposed.With the given error as the constraint,a circular arc transition model at the corner was established.Based on the linear acceleration and deceleration model,the optimal angle between adaptive look-ahead segmentation and nested articulation was set as the adaptive look-ahead segmentation angle,and the end velocity of adaptive look-ahead was restricted to achieve nested planning.Dynamic adjustment was introduced into the look-ahead planning to dynamically adjust the transition arc radius to achieve the global optimum.The experiments showed that the path could be planned effectively by the dynamic adaptive look-ahead nesting planning algorithm,which improved the maximum allowable speed of the path,the average contour accuracy,and reduces the machining elapsed time at the same time.

关 键 词：微线段 自适应前瞻 嵌套规划 动态调整 插补 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]