连续轨迹段平滑过渡的前瞻插补算法  

Forward interpolation algorithm for smooth transition of continuous trajectory segments

作　　者：王树峰 孟新宇[1] 杜毅龙 WANG Shufeng;MENG Xinyu;DU Yilong(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学机械工程学院,沈阳110870

出　　处：《现代制造工程》2023年第6期64-70,共7页Modern Manufacturing Engineering

摘　　要：针对数控机床处理连续轨迹段时启停频繁、加工过程中因加速度突变所引起的冲击振动,进而导致加工效率及精度降低等问题,以多项式为基础,构建一种柔性加减速控制的前瞻插补算法。首先,在相邻轨迹转折点处建立圆弧过渡模型,根据轨迹误差及加速度等约束条件求得过渡圆弧处的最大转接速度;其次,为实现加加速度可导、加速度连续可导,提出一种基于多项式的柔性加减速算法;再次,基于柔性加减速算法和前瞻控制实现对连续轨迹圆弧衔接处速度的规划;最后,在运动平台上进行对比试验验证。试验结果表明,提出的前瞻插补算法满足系统的轨迹精度要求,速度和加速度曲线连续平滑且没有突变,保证了加工过程中的平稳性并提高了效率。In order to solve the problems such as frequent start and stop when NC machine tools deal with continuous trajectory segment,shock vibration caused by abrupt acceleration in machining process,which lead to the reduction of machining efficiency and accuracy,a forward interpolation algorithm for flexible acceleration and deceleration control was constructed based on polynomial.Firstly,the arc transition model was established at the turning point of the adjacent trajectory,and the maximum transition velocity at the transition arc was obtained according to the constraint conditions such as trajectory error and acceleration.Secondly,a flexible acceleration and deceleration algorithm based on polynomial was proposed to realize jerk conductibility and acceleration continuous conductibility.Thirdly,the velocity planning of the arc junction of the continuous trajectory was realized based on the flexible acceleration and deceleration algorithm and forward control.Finally,the comparison experiment was carried out on the moving platform.The experiment results show that the proposed forward interpolation algorithm meets the trajectory accuracy requirements of the system,and the velocity and acceleration curves are continuously smooth without abrupt change,which ensures the smoothness and improves the efficiency in the machining process.

关 键 词：数控机床 加减速控制 圆弧过渡 前瞻插补 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]