Flexible acceleration and deceleration control interpolation method for embedded numerical control equipment
An acceleration and deceleration control, embedded numerical control technology, applied in the direction of digital control, electrical program control, etc., can solve the problems of shortening the S-curve acceleration and deceleration speed planning time, complex algorithm, and many system resources.
Inactive Publication Date: 2016-09-21
JIAXING UNIV
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[0004] Aiming at the acceleration mutation in the speed planning of the linear acceleration and deceleration model of the digital control system in the prior art, which causes vibration and impact on the numerical control equipment during movement, and the speed planning of the S-shaped curve acceleration and deceleration model has a large amount of calculation, complex algorithms, and requires system resources. Many, time-consuming and other problems, the technical problem to be solved by the present invention is to provide a method to effectively reduce the vibration and impact generated by the digital control system during the high-speed movement of the numerical control equipment, shorten the speed planning time of S-shaped curve acceleration and deceleration, and realize Interpolation Calculation Method for Flexible Acceleration and Deceleration Control of Numerical Control Equipment
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[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.
[0039] The overall technical solution of this embodiment is as follows figure 1As shown, the hardware structure is mainly composed of embedded motion controller, servo driver and servo motor. As the core of the digital control system, the embedded motion controller is mainly composed of ARM and FPGA, and realizes data information through network interface and PC. Transmission and communication, the ARM completes the tasks of forward-looking processing of the motion path, linear acceleration and deceleration interpolation calculation, flexible processing and smooth interpolation length, and the FPGA completes the fine ...
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The invention relates to a flexible accelerating and decelerating control interpolation method for embedded NC equipment, and belongs to the technical field of numerical control machining and robots. The method comprises the steps that prospective processing is conducted on input motion path information, and relevant parameters needed by interpolation of each section of motion path are determined; speed planning is conducted on each section of motion path according to a linear accelerating and decelerating module, and the interpolation length of each interpolation period is obtained through interpolation calculation; flexible processing is conducted on the interpolation length obtained by linear accelerating and decelerating interpolation calculation, accelerated speed smooth transition is achieved through simple operation, so that an interpolation method with the flexible accelerating and decelerating control function is obtained, and the interpolation method can be applied to high-speed high-precision motion embedded NC equipment.
Description
technical field [0001] The invention relates to a motion control method of a digital control system in the technical fields of numerical control machining and robots, in particular to a flexible acceleration and deceleration control interpolation method for embedded numerical control equipment. Background technique [0002] The speed planning method of the digital control system will have a great impact on the processing quality of the CNC machine tool parts and the robot movement. If the speed planning method is unreasonable, the acceleration will undergo a large mutation, which will easily cause the CNC equipment to vibrate, thereby affecting the machining accuracy of the parts and the robot. movement precision. The commonly used speed planning methods mainly include the speed planning method of the linear acceleration and deceleration model and the speed planning method of the S-curve acceleration and deceleration model. [0003] The linear acceleration and deceleration ...
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IPC IPC(8): G05B19/4103
Inventor 吴婷张礼兵黄风立
Owner JIAXING UNIV