基于加加速度连续的函数逼近加减速算法
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摘要
三角函数加减速算法在高速高精度插补过程避免了柔性冲击,但速度变化缓慢、计算复杂。在构建加加速度三角连续函数基础上,利用切比雪夫逼近,反推加速度、速度和位置,并分别在长线段加减速与短线段加减速两种情况下推出位移公式。仿真实验表明,本算法在满足插补精度和柔性要求下,计算简单、插补速度更快。在减速定位段,根据实际剩余加工长度二次计算减速过程的起始速度,构造连续的加加速度函数,再次反推加速度、速度和位移,消除低速定位段,实现快速定位。
Trigonometric function acceleration/deceleration algorithm avoid the flexible impact,but the speed change slowly.on the bas is of constructing the jerk of trigonometric continuous function,using the Chebyshev approximation,backstepping acceleration,velocity and displacement,and in the two case of the long segment acceleration/deceleration and short segment acceleration/deceleration reverse displacement formula. Simulation results show that the algorithm calculate simply and Interpol-ate more fastly in meeting the requirements of the interpolation precision and flexibility. In the deceleration positioning section,secondary computing the initial speed of the deceleration and constructing continuous jerk function according to the actual remaining length of processing,and backstepping acceleration,velocity and displacement one more time,eliminate the low speed position section,realize fast positioning.
Trigonometric function acceleration/deceleration algorithm avoid the flexible impact,but the speed change slowly.on the bas is of constructing the jerk of trigonometric continuous function,using the Chebyshev approximation,backstepping acceleration,velocity and displacement,and in the two case of the long segment acceleration/deceleration and short segment acceleration/deceleration reverse displacement formula. Simulation results show that the algorithm calculate simply and Interpol-ate more fastly in meeting the requirements of the interpolation precision and flexibility. In the deceleration positioning section,secondary computing the initial speed of the deceleration and constructing continuous jerk function according to the actual remaining length of processing,and backstepping acceleration,velocity and displacement one more time,eliminate the low speed position section,realize fast positioning.
引文
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[8]Jian Ren-sun,Hu Chi-bing.Research on a new flexible acceleration and deceleration algorithm with continuous jerk[J].Advanced Materials Research,2011(291-294):286-289.
[9]Bo Li,Qing-jian Liu,Lu Liu.Study of trigonometric function improved acceleration-deceleration algorithm and velocity look-ahead control[J].Key Engineering Materials,2014:184-188.
[10]陈友东,王田苗,魏洪兴.数控系统的直线和S形加减速研究[J].中国机械工程,2006,17(15):1600-1604.(Chen You-dong,Wang Tian-miao,Wei Hong-xing.Linear and S-shape acceleration and deceleraiton for CNC machine tools[J].China Mechanical Engineering,2006,17(15):1600-1604.)
[2]Zhi-feng Qiao,Hui-hui Wang,Zhen-zhong Liu.Nanoscale trajectory planning with flexible Acc/Dec and look-ahead method[J].The International Journal of Advanced Manufacturing Technology,2015,79(.5-8):1377-1387.
[3]郑魁敬,钟海娜.5轴联动数控系统速度控制方法[J].计算机集成制造系统,2007(5):950-954.(Zheng Kui-jing,Zhong Hai-na.Velocity control method of 5-axis simultaneou computerized numerical control system[J].Computer Integrated Manufacturing Systems,2007,13(5):950-954,966.)
[4]徐创文.数控进给系统加减速控制研究[J].仪器仪表学报,2002(S1):360-362.(Xu Chuang-wen.Study of accelerating and decelerating control on NCfeed system[J].Chinese Journal of Scientific Inestrument,2002,23(S1):360-362.)
[5]郭新贵,李从心.S曲线加减速算法研究[J].机床与液压,2002(5):60-62.(Guo Xin-gui,Li Cong-xin.Studying S-shape acceleration and deceleration algorithm[J].Machine Tool&Hydraulics,2002(5):60-62.)
[6]郭新贵,李从心.一种新型柔性加减速算法[J].上海交通大学学报,2003,37(2):205-207,212.(Guo Xin-gui,Li Cong-xin.A new flexible acceleration and deceleration algorithm[J].Journal of Shanghai Jiaotong University,2003,37(2):205-207,212.)
[7]李加文,陈宗雨,李从心.基于函数逼近的三角函数加减速方法[J].机床与液压,2006(3):66-67.(Li Jia-wen,Chen Zong-yu,Li Cong-xin.Trigonometric function acceleration&deceleration algorithm based on function approximation[J].Machine Tool&Hydraulics,2006(3):66-67.)
[8]Jian Ren-sun,Hu Chi-bing.Research on a new flexible acceleration and deceleration algorithm with continuous jerk[J].Advanced Materials Research,2011(291-294):286-289.
[9]Bo Li,Qing-jian Liu,Lu Liu.Study of trigonometric function improved acceleration-deceleration algorithm and velocity look-ahead control[J].Key Engineering Materials,2014:184-188.
[10]陈友东,王田苗,魏洪兴.数控系统的直线和S形加减速研究[J].中国机械工程,2006,17(15):1600-1604.(Chen You-dong,Wang Tian-miao,Wei Hong-xing.Linear and S-shape acceleration and deceleraiton for CNC machine tools[J].China Mechanical Engineering,2006,17(15):1600-1604.)