智能化数控系统轨迹规划方法的研究与应用  

Research and Application of Trajectory Planning Method for Intelligent Numerical Control System

作　　者：郎言书 于东[1,3] 何无为 韩文业 LANG Yan-shu;YU Dong;HE Wu-wei;HAN Wen-ye(Shenyang Institute of Computing Technology,Chinese Academy of Sciences,Shenyang 110168,China;University of Chinese Academy of Sciences,Beijing 100049,China;Shenyang CASNC Technology Co.,Ltd.,Shenyang 110168,China)

机构地区：[1]中国科学院沈阳计算技术研究所,沈阳110168 [2]中国科学院大学,北京100049 [3]沈阳中科数控技术股份有限公司,沈阳110168

出　　处：《小型微型计算机系统》2023年第10期2242-2248,共7页Journal of Chinese Computer Systems

基　　金：国家科技重大专项项目(2018ZX04035001)资助.

摘　　要：随着科学技术的发展和生产工艺的进步,智能化数控系统是必然的发展趋势.智能化数控系统的软硬件平台是算法运行的基础.因此,从系统的整体效能出发,阐述数控系统智能化软硬件平台、软件架构、轨迹规划方法.同时测试软件模块在智能化数控系统架构中的主要功能,并分析试验测试结果.本文提出了一种智能化轨迹规划方法,包括算法的智能选取、智能前瞻、动态规划等模块.根据加工路径信息,自适应地选取合适的算法进行轨迹规划,提高表面质量或加工效率.智能前瞻模块自动调整线段两端的速度可达性,对拐角速度有一个下压的过程.动态轨迹规划根据外界信号和当前的加工状况,按原有的加减速规律实时地调整速度曲线,在单段内响应或者跨段响应.在中科数控系统的智能化软硬件平台上进行验证,试验结果表明,所提出的方法能够在实时响应外界环境变化的同时,缩短加工时间.With the development of science and technology and the progress of production processes,intelligent numerical control system is an inevitable development trend.The software and hardware platform of the intelligent numerical control system is the basis of algorithm execution.Therefore,considering the overall system efficiency,this paper introduces the intelligent software and hardware platform,software architecture and trajectory planning method of the numerical control system.We test the main functions of the software modules in the intelligent numerical control system architecture,and analyze test results.This paper proposes an intelligent trajectory planning method includes modules such as intelligent selection and execution of algorithms,intelligent look-ahead,and dynamic planning.According to path information,the appropriate algorithm is adaptively selected for trajectory planning to improve surface quality and processing efficiency.The intelligent look-ahead module automatically adjusts the speed accessibility at both ends of the line segment,and makes corner speed a bit slower.Dynamic trajectory planning adjusts the velocity curve in real time according to the original acceleration and deceleration profile according to external signals and current processing conditions,and responds within a single segment or across multiple segments.The methods we proposed are verified on the intelligent software and hardware platform of CAS CNC system.Test results show that the proposed method can respond to the changes of the external environment in real time and shorten the processing time.

关 键 词：智能化数控系统 轨迹规划 运动控制 动态规划 解释器 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]