Circle center mode space circular interpolation method applied to motion control system
A space circular arc and circular interpolation technology, which is applied in general control systems, control/regulation systems, program control, etc., can solve the problems of heavy calculation workload, complicated calculation process, and reduced calculation efficiency of space circular interpolation points. Accuracy and other issues
Active Publication Date: 2014-03-26
大连爱智控制系统有限公司
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[0004] The space arc interpolation method of the boundary point mode can well realize the machining and control of the space arc at any position in space, but this method needs to calculate the center coordinates of the space arc first, the calculation workload is large, the calculation process is complicated, and the interpolation process is in It is carried out in the space three-dimensional coordinate system, which reduces the calculation efficiency and accuracy of space circular interpolation points
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[0051] The present invention will be further described below in conjunction with accompanying drawing.
[0052] Such as figure 1 As shown, the motion control system is composed of a block diagram, including a motion controller 1, a driver 2, an actuator 3, a controlled object 4, and a sensor 5. The motion controller 1 includes a space circular interpolation module, a position closed-loop control module, and an execution device interface and sensor interface; the space circular interpolation module is connected with the position closed-loop control module, mainly used to generate space circular interpolation point coordinates, and the position closed-loop control module is respectively connected with the actuator interface and the sensor interface, mainly The coordinates of the space arc supplementary points generated by the space arc interpolation module are used for position closed-loop control; the driver 2 includes an X-axis driver, a Y-axis driver and a Z-axis driver, sele...
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The invention relates to a circular interpolation method, in particular to a circle center mode space circular interpolation method applied to a motion control system. The circle center mode space circular interpolation method applied to the motion control system comprises the following steps that a coordinate transformation matrix of a rectangular coordinate system OXYZ and an O'X'Y'Z' coordinate system built in the plane where a space circular arc is located is calculated according to circle center coordinates given by a circle center mode; the length of the whole space circular arc is calculated; an arc length calculation formula satisfying the plane circular arc interpolation process based on trapezoid curve acceleration and deceleration control is determined in an O'X'Y' plane; the coordinates of a plane circular arc interpolation point of each interpolation period in the O'X'Y' plane are calculated; the coordinates of a space circular arc interpolation point under the OXYZ coordinate system are calculated; a space circular arc interpolation module outputs the coordinates of the space circular arc interpolation point to a position closed loop control module to carry out position closed loop control. The circle center mode space circular interpolation method applied to the motion control system reduces the calculation amount of space circular arc parameters, and improves calculation efficiency and interpolation accuracy.
Description
technical field [0001] The invention relates to a space circular interpolation method in the field of industrial control, in particular to a space circular interpolation method in a circle center mode for a motion control system of a numerically controlled machine tool or a robot. Background technique [0002] In modern motion control and mechanical processing and manufacturing, the complex space curve processing is generally approached by a small line segment of the space straight line. This method is complex in programming, and the machining accuracy and efficiency are low. In order to achieve high-speed and high-precision machining and control, the motion control system is required to have space. Circular interpolation function, through the use of space arc and space straight line to fit the space curve. [0003] At present, the space arc interpolation method of the boundary point mode is widely used, that is, the coordinates and radius of the center of the space arc are ...
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IPC IPC(8): G05B19/41
Inventor 仲崇权李稚春龚中强孙红涛刘雪梅刘雪喆刘鑫
Owner 大连爱智控制系统有限公司
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