基于动力学的自适应多段回溯前推实时速度规划算法开发  

Development of a dynamics-based adaptive multi-segment look-ahead real-time velocity planning algorithm

作　　者：谢翰君 王林 王钦若[1] Xie Hanjun;Wang Lin;Wang Qinruo(School of Automation,Guangdong University of Technology,Guangzhou 510000,China;Guogongxin(Cangzhou)Robot Co.,Ltd.,Cangzhou 061000,China)

机构地区：[1]广东工业大学自动化学院,广东广州510000 [2]国工信(沧州)机器人有限公司,河北沧州061000

出　　处：《电子技术应用》2023年第12期120-126,共7页Application of Electronic Technique

基　　金：河北省科技计划项目(17211805D)。

摘　　要：为了提高微小线段的加工精度和效率,提出一种实时速度规划算法。该算法由两部分组成:针对刚柔耦合、重负载平台在数控运动中的抖动问题,提出基于动力学的初步规划算法,以优化短线段的实际加速度,提高运动的平稳性;针对单段回溯前推算法对于微小直线/圆弧加工效率不高的问题,提出基于动力学的自适应多段回溯前推速度规划算法,以提升加工效率。在基于PC的实时控制器和龙门双驱XY激光切割平台上进行了测试,并将该算法与自适应速率算法和单段回溯前推算法进行了比较。结果表明,所提算法在加工质量和加工效率方面均有所提高。此外,该算法简单有效,适用于高实时性的应用环境。A real-time velocity planning algorithm is proposed to improve the processing accuracy and efficiency of small line segments.The algorithm consists of two parts:a dynamics-based preliminary planning algorithm is proposed to optimize the ac-tual acceleration of short line segments and improve the smoothness of motion,addressing the jitter problem of rigid-flexible cou-pling and heavy-load platforms in numerical control(NC)motion;a dynamics-based adaptive multi-segment look-ahead velocity planning algorithm is proposed to enhance processing efficiency for small straight lines/arcs,addressing the inefficiency issue of the single-segment look-ahead algorithm.The algorithm was tested on a PC-based real-time controller and a gantry dual-drive XY laser cutting platform and was compared with the adaptive feed-rate algorithm and single-segment look-ahead algorithm.The re-sults show that the proposed algorithm improves both processing quality and efficiency.Additionally,the algorithm is simple and effective,and thus suitable for high real-time application environments.

关 键 词：数控系统 速度规划 动力学 回溯前推算法 龙门双驱 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]