多轴联动条件下插补速度实时可调的前瞻控制算法
收稿日期: 2013-05-20
修回日期: 2013-09-13
网络出版日期: 2013-09-19
基金资助
江苏省产学研前瞻性联合研究项目（BY2009103）；江苏省精密与微细制造技术重点实验室资助项目（JSPM200701）；中央高校基本科研业务费项目（2009B30814）
A Look-ahead Algorithm with Adjustable Real-time Feedrate Based on Multi-axis Synchronous Interpolation
Received date: 2013-05-20
Revised date: 2013-09-13
Online published: 2013-09-19
Supported by
Jiangsu Province Prospective Research Program(BY2009103); Program of Jiangsu Key Laboratory for Precision and Micro-manufacturing Technology(JSPM200701); The Fundamental Research Funds for the Central Universities(2009B30814)
针对目前多轴联动条件下S形加减速算法复杂，一条插补线段内最大进给速度不能实时可调的问题，提出了一种插补速度实时可调的前瞻控制算法。算法首先根据机床特性和线段夹角建立了小线段衔接处进给速度的约束条件，然后采用加速度跟随原理提出了最大进给速度连续可调的S形加减速控制方法，在此基础上设计了一种加速度自适应调整的前瞻处理算法。该算法在不降低轨迹插补精度的前提下，能以最大的速度通过线段的转接点，从而使整个线段插补过程具有高度的柔性和快速性，能满足现代数控系统对前瞻处理的实时性要求。结果表明该算法有效降低了机床运动时的振动，与传统速度规划算法相比，同等加工条件下，加工效率明显提高，工件表面质量也得到改善。
史中权 , 叶文华 . 多轴联动条件下插补速度实时可调的前瞻控制算法[J]. 航空学报, 2014 , 35(2) : 582 -592 . DOI: 10.7527/S1000-6893.2013.0386
Generally a multi-axis motion algorithm based on S-shaped acceleration and deceleration is complicated, and its maximum feedrate in one interpolation line cannot be real-time adjusted. To solve these problems, a look-ahead algorithm with adjustable real-time feedrate is proposed, in which the connected speed is established according to the dynamic characteristics of a CNC machine tool and the angle between two interpolation lines. And an S-shaped acceleration and deceleration speed control method with acceleration following theory is presented. The proposed algorithm does not reduce the path interpolation precision with maximum connected speed between two lines, so that the entire line interpolation process is highly flexible and rapid, and can satisfy a modern CNC system's requirements for real-time look-ahead processing. Experimental results show that the proposed algorithm can effectively reduce the vibration of machine tool motion, improve processing efficiency and the surface quality of machined workpieces.
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