40results about How to "Acceleration continuous" patented technology

The invention discloses a machining track movement planning method based on sine square acceleration prospect. The method comprises the following steps: firstly realizing accelerated acceleration continuing by adopting a way that the acceleration is sine2, and reducing system excitation; secondly, judging rationality of a set parameter, analyzing shorter path and like special conditions, thereby realizing the automatic correction of the parameter when the path and speed limitation is satisfied, wherein the movement planning of the path in any length can be accomplished under a limitation condition; splitting acceleration and deceleration processes, and allowing the acceleration at each of two ends of a planning section to be non-zero, thereby avoiding the frequent acceleration and deceleration of the motor, and reducing the vibration excitation on a mechanical system; and finally designing a reverse planning algorithm, performing prospecting on the speed at the deceleration section andthe acceleration, thereby realizing any acceleration and deceleration planning demands on a specified path, wherein the speed acceleration change is stable and smooth, and the machining quality and machining efficiency of the mechanical equipment are improved.

The invention discloses a S curve-based PVT control method, and solves the problems that an existing method is easy to have jitters in a running process if the acceleration is too big; the method canensure speed and acceleration continuity, and the acceleration has no jitter phenomenon when the speed largely changes in a time, thus enabling a numerical control system to be more stable in processing, and providing a higher processing efficiency; the method comprises the following steps: using S curve acceleration and deceleration to obtain a motion total time T' according to a given start/stopposition, a start/stop speed, a start/stop motion time and motion parameter limits; determining the relation between the motion total time T' and the given start/stop motion time T, and rounding theT' to the time T according to the equivalent periodic S curve if T' cannot satisfy the given start/stop motion time T; calculating the interpolation displacement under an interpolation period if the T' satisfies the given start/stop motion time T.

The invention discloses a multi-point motion track planning method for a mechanical arm. The method comprises the following steps of acquiring a starting point and an end point in a mechanical arm connecting joint space, acquiring any number of path points in the mechanical arm connecting joint space, fitting a key point by adopting a self-adaptive polynomial to obtain a continuous curve equation of an angle, a speed and an acceleration about time, calculating moments of all joints of the mechanical arm through inverse dynamics, completing motion control over the mechanical arm and feeding back angles of all the joints of the mechanical arm so as to update the motion track in real time. According to the method, the self-adaptive polynomial fitting track curve is adopted, it is guaranteed that the motion process of the mechanical arm is always kept continuous and stable under any working condition, meanwhile, the speed of the solving process is high, and implementation control over the mechanical arm is facilitated.

The invention discloses a rotary vane pump stator inner contour curve design method based on a normal distribution function. The method comprises the following steps: step 1, determining initial values of an arc radius B, a radius increment e, a rotary vane and stator inner width matching top arc radius r and a standard deviation [sigma] according to design requirements; step 2, calculating the arc length rho corresponding to each theoretical angle [gamma] of the arc; 3, constructing a theoretical inner contour curve; 4, determining a correction coefficient k, and calculating a correction angle [beta]; 5, calculating the actual arc length [eta]; 6, solving each actual angle [epsilon] corresponding to the actual arc length eta; 7, constructing an inner contour curve; and step 8, judging whether the inner contour curve meets the design requirement or not, if so, taking the inner contour curve obtained in the step 7 as a final inner contour curve, and if not, repeating the steps 1-7. According to the method, the adverse effect on the movement rule of the actual meshing point due to the fact that the thickness of the rotary vane cannot be ignored in the actual movement process of the rotary vane can be eliminated; and the speed and acceleration maximum value positions can be adjusted according to the speed increment and the rotating speed. By integrating the advantages, abrasion isreduced, the mechanical impact influence is reduced, and therefore the service life is prolonged.

The invention relates to the technical field of chip mounter control, and particularly discloses a trigonometric function expression curve planning method and system with continuous jerk and a chip mounter, and the method comprises the following steps: dividing curve planning into an acceleration section, a constant speed section and a deceleration section, and dividing the acceleration section and the deceleration section into a jerk section, a uniform acceleration section and a deceleration section respectively; motion parameters of curve planning are set and initialized; defining the average acceleration ratio of the deceleration section to the acceleration section as a softening factor, and defining the ratio of the maximum acceleration to the average acceleration in the deceleration section or the acceleration section as an acceleration coefficient; according to the motion parameter, the softening factor and the acceleration coefficient, calculating a curve, and planning a time node of each stage; and planning the state of each stage according to the time node updating curve. In combination with the characteristic that the second derivative of the trigonometric function is continuous, the S curve planning with continuous jerk is designed, the motion impact is effectively reduced, the in-place stabilization time is ensured, and the operation is simple.

The invention provides a five-axis tool path transfer fairing transition method, a medium and numerical control equipment of a five-axis machine tool, and the five-axis tool path transfer fairing transition method comprises the following steps: obtaining instruction information from a processing file of a workpiece, and analyzing the instruction information to obtain a five-axis track when the workpiece is processed; performing track preprocessing on at least two sections of tracks in the five-axis track; constructing a transfer transition curve between two adjacent sections of preprocessed tracks; and optimizing the tool machining path according to the speed constraint and the interpolation point of the transfer transition curve. The invention provides a transition method for transfer fairing, which can ensure the machining precision of a workpiece and ensure that the feeding speed/acceleration/jerk of a cutter is within a range allowed by a system.

The invention discloses a multi-axis track compression method for multiple machining scenes, which belongs to the field of numerical control machining. According to the method, parameter synchronization between a tool nose track and a tool shaft track is carried out by adopting a C2 continuous cubic rational spline which ensures monotonicity, the C2 continuity ensures continuous change of a tool shaft vector, the acceleration is continuous, a rotating shaft moves to enable the acceleration to be continuous; and due tomonotonicity, the cutter shaft point spline parameters are ensured to be increased or unchanged along with increasing of the cutter point spline parameters, and the condition that the cutter shaft point retreats is avoided. According to the method, decoupling of error calculation and a track compression method is achieved, when a new processing scene appears, only a new allowance space and a corresponding OTE calculation method need to be designed, and any step in the track compression process does not need to be modified. According to the method, the target compression ratio is combined with the feature curvature integral, iteration is not needed, the effect of rapidly selecting the initial fitting node can be achieved, and the compression efficiency is improved.