A Quaternary Polynomial Speed ​​Planning Algorithm for Spline Interpolation

Abstract

The invention discloses a quartic polynomial speed planning algorithm for spline interpolation. For example, at a deceleration section, the algorithm comprises the following steps: performing fast pre-interpolation on a numerical control machining curve, recording the length of an interpolation path, as well as a deceleration starting point and a speed minimum point which meet the machining accuracy requirements, calculating to judge whether the maximum reverse acceleration A can be reached or not, segmenting the deceleration process, and calculating quartic polynomial speed equations of all segments; then determining the needed theoretical distance from the deceleration starting point to the speed minimum point according to the speed equations, and calculating interpolation parameters corresponding to the theoretical distance; finally performing real-time spline interpolation according to the speed equations obtained in the pre-interpolation stage and the interpolation parameters at the starting and ending moments of acceleration and deceleration. By adopting the method, the continuous change of the speed, acceleration and acceleration change rate of a numerical control machine tool in a high-speed machining process can be realized, overshoot caused by high-speed machining is reduced, and thus smooth and flexible acceleration and deceleration control on a servo shaft is realized.

Description

technical field [0001] The invention relates to a quartic polynomial speed planning algorithm for spline interpolation, which belongs to the technical field of numerical control processing. Background technique [0002] With the development of CAD / CAM technology, spline curve interpolation technology is applied to the field of numerical control machining, which promotes the overall level of high-speed and high-precision machining technology. Acceleration and deceleration control is an important part of the trajectory planning of the CNC system and one of the key technologies of spline interpolation. In the modern manufacturing industry, the high-speed and high-quality processing of the CNC system can provide strong support for the manufacturing industry to pursue the goal of "fast, low consumption and high quality". On the one hand, it is required that the CNC machine tool responds quickly, and each coordinate moving part can reach a given speed in a very short time, and ca...

AI Technical Summary

Problems solved by technology

Although the traditional linear acceleration and deceleration control methods and exponential acceleration and deceleration control methods have a small amount of calculation and simple programming, there is a phenomenon of sudden acceleration and deceleration during the acceleration and deceleration phase, which causes severe vibration of the machine tool and affects the processing quality.

S-curve acceleration and deceleration control minimizes the impact on the machine by controlling the rate of acceleration change (jerk), but this method is complex to calculate and cannot achieve continuous changes in jerk, and there are often aftershocks in the acceleration and deceleration process

The cubic polynomial speed planning method simplifies the design process of the S-curve acceleration and deceleration method. However, this method still has a sudden change in the jerk at the beginning and end of the acceleration and deceleration, that is, the jerk is still discontinuous, and it is difficult to avoid the high-speed machining process. CNC Machine Tool Overshoot and Vibration in

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