Non-uniform rational B-spline (NURBS) interpolation feed speed planning method aiming at embedded system

An embedded system and feed speed technology, applied in the field of CNC machine tools, can solve problems affecting machining accuracy and large amount of calculation, and achieve the effect of simplifying complexity and improving calculation efficiency

Active Publication Date: 2013-03-20
HANGZHOU DIANZI UNIV
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Problems solved by technology

Because the curvature of the NURBS curve changes with the parameters, traditional acceleration and deceleration methods such as trapezoidal acceleration and deceleration planning, S-shaped acceleration and deceleration planning, and exponential acceleration and deceleration planning have great limitations, a

Method used

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Embodiment Construction

[0022] A kind of NURBS interpolation feed speed planning method aimed at embedded system of the present invention comprises the following steps:

[0023] Step (1) The NURBS parameter curve is defined as:

[0024] (1)

[0025] in, (i= 0,1,…,n) are control points, (i=0,1,…,n) is the control point weighting factor, is a basis function with recursive properties, and k is the order of the canonical B-spline basis function. First, five speed modal values ​​are given fixedly: slow acceleration , rapid acceleration , the highest speed , rapid deceleration , slow down , as shown in formulas (2) to (6):

[0026] (2)

[0027] (3)

[0028] (4)...

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Abstract

The invention discloses a non-uniform rational B-spline (NURBS) interpolation feed speed planning method aiming at an embedded system. The prior method cannot satisfy requirements of the embedded system. The method disclosed by the invention comprises the steps that firstly, simulation values of the interpolation feed speed are stipulated; and afterwards, the feed speed is planned in a segmented manner according to turning points of a NURBS curve. The method disclosed by the invention has the advantages that the minimum acceleration-deceleration contour curves of feed shafts in respective integral intervals are computed from a global view, so that the computing efficiency is effectively improved; and through screening effective feature switching points and correcting the minimum contours of the acceleration-deceleration curves of the feed shafts at the feature switching points, the complexity of a planning algorithm is greatly simplified.

Description

technical field [0001] The invention belongs to the technical field of numerical control machine tools, and in particular relates to a NURBS interpolation feed speed planning method for an embedded system. Background technique [0002] Feed rate planning plays an important role in real-time interpolation of CNC machine tools. Reasonable feed speed planning can effectively avoid instantaneous shock and vibration during processing, improve processing quality and efficiency, and greatly improve the processing performance of machine tools. Because the curvature of the NURBS curve changes with the parameters, traditional acceleration and deceleration methods such as trapezoidal acceleration and deceleration planning, S-shaped acceleration and deceleration planning, and exponential acceleration and deceleration planning have great limitations, and the amount of calculation is too large, which is difficult to implement on embedded systems. accomplish. Although the fixed feed rate...

Claims

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Application Information

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IPC IPC(8): G05B19/4103
Inventor 吴占雄高明煜何志伟黄继业曾毓李芸
Owner HANGZHOU DIANZI UNIV
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