一种基于函数逼近的柔性加减速算法研究  

Research on a Flexible Acceleration&Deceleration Algorithm Based on Function Approximation

作　　者：丁承君[1] 李涛 段萍[1] 申敏 DING Chengjun;LI Tao;DUAN Ping;SHEN Min(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;Production Collaboration Center,Tianjin Aviation Electromechanical Co.,Ltd.,Tianjin 300000,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]天津航空机电有限公司生产协作中心,天津300000

出　　处：《机床与液压》2024年第7期68-74,共7页Machine Tool & Hydraulics

摘　　要：嵌入式数控系统优点诸多,但系统资源、处理能力有限。三角函数加减速算法拥有柔性冲击小、精度高的优点,但其计算复杂,当运用在嵌入式数控系统时,难以满足系统的高实时性要求。针对这个问题,提出一种加减速算法,基于最佳平方逼近方法,利用多项式函数逼近三角函数,进而推理、构建出完整的加减速方程,随后分析算法在不同情况下的速度规划。最终对该算法进行了仿真分析并在以MCU为控制器的数控平台进行了实验,结果表明:算法在保留三角函数曲线柔性的同时降低了计算复杂度,提高了加工效率。Embedded CNC system has many advantages,but its system resources and processing capacity are limited.The trigonometric function acceleration/deceleration algorithm has the advantages of small flexible impact and high accuracy,but its calculation is complex,and it is difficult to meet the high real-time requirements of the system when applied to the embedded numerical control system.To solve this problem,an acceleration/deceleration algorithm was proposed.Based on the best square approximation,the polynomial function was used to approximate the trigonometric function,then the complete acceleration/deceleration equation was deduced and constructed.Then the speed planning of the algorithm under different conditions was analyzed.Finally,the algorithm was simulated and then tested on a CNC platform controlled by MCU.The results show that the algorithm reduces the computational complexity and improves the processing efficiency while preserving the flexibility of the trigonometric function curve.

关 键 词：加减速算法 最佳平方逼近 嵌入式数控系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]