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Continuous locus intersegment connecting speed processing method for numerical control system

A technology that connects speed and numerical control systems, and is used in digital control, electrical program control, etc.

Inactive Publication Date: 2012-11-21
GUANGXI UNIV
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Problems solved by technology

However, the existing algorithm for the joint speed between continuous trajectory segments does not consider the path length of two adjacent trajectories based on S-curve acceleration and deceleration control as a constraint condition, resulting in the actual feed rate at the joint point of two adjacent trajectories. The speed does not reach the pre-calculated speed, the connection speed between two adjacent trajectory segments changes suddenly, and the feed speed cannot be smoothly connected between two adjacent trajectory segments; when the part processing is completed, the tool speed cannot be reduced to zero, resulting in gouging

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  • Continuous locus intersegment connecting speed processing method for numerical control system
  • Continuous locus intersegment connecting speed processing method for numerical control system
  • Continuous locus intersegment connecting speed processing method for numerical control system

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Embodiment Construction

[0062] The present invention will be further described below in conjunction with accompanying drawing.

[0063] as attached figure 1 As shown in the overall flow chart of the method for processing the joint speed between continuous trajectory segments of the present invention, the numerical control system in the numerical control equipment performs decoding processing on the numerical control code program, and stores the decoding result in the decoding buffer, and utilizes the The processing of the connection speed between the continuous trajectory segments of the program segment information to be processed, the processing of the connection speed between the continuous trajectory segments includes the following steps:

[0064] (1) Determine the connection model of two adjacent sections of trajectories, and obtain the motion parameters of the adjacent two sections of trajectories to be processed;

[0065] Adjacent two sections of trajectory cohesion models described in the pr...

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Abstract

The invention discloses a continuous locus intersegment connecting speed processing method for a numerical control system, which comprises the following steps of: determining an adjacent two-segment locus connecting model, and acquiring the movement parameter of the adjacent two-segment locus to be processed; calculating the path length of the adjacent two-segment locus to be processed; calculating the speed of a connecting point of the adjacent two-segment locus under the conditions of acceleration, arch height error, instruction feeding speed and corner constraint; calculating the speed of the connecting point of the adjacent two-segment locus satisfying the condition S curve acceleration and deceleration control-based path length constraint of the front segment locus in the adjacent two-segment locus; and calculating the speed of the connecting point of the adjacent two-segment locus satisfying the condition S curve acceleration and deceleration control-based path length constraintof the rear segment locus in the adjacent two-segment locus, wherein the calculated speed is used as a final value of the adjacent two-segment locus connecting speed. The invention provides the continuous locus intersegment connecting speed processing method for numerical control equipment, so that the processing locus of the numerical control equipment is continuous and the speed is smooth.

Description

technical field [0001] The invention relates to a trajectory planning method in the field of numerical control systems, in particular to a method for processing connection speeds between continuous trajectory segments used in numerical control systems in numerical control machine tools and robot motion control technologies. Background technique [0002] Trajectory planning plays an important role in CNC machine tool processing and robot motion control. In machine tool processing, trajectory planning is mainly to plan the speed of the machine tool. For continuous cutting CNC machine tools, the control of feed speed is of great significance. It not only directly affects the roughness and precision of machined parts, but also is closely related to the life and production efficiency of cutting tools and machine tools. In the motion control of the robot, the running process of the robot requires the movement to be continuous and smooth and to be able to avoid obstacles smoothl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/18
Inventor 潘海鸿谭华卿陈琳孙红涛蒋敬杰朱江新
Owner GUANGXI UNIV
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