Acceleration and deceleration planning method and device for numerical control system and numerical control machine tool

A technology of numerical control machine tools and numerical control systems, which is applied in the field of numerical control machine tools, can solve problems such as excessive speed and distance, calculation errors of speed and distance, etc., and achieve the effect of improving speed planning efficiency.

Active Publication Date: 2014-08-06
BEIJING A&E TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When calculating the distance during this time, it is actually the entire Δt 1 +Δt' 1 It is carried out according to the jerk within the time period, so the calculated speed and distance will be too large, which will cause errors in the calculation of the speed and distance in the subsequent time period

Method used

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  • Acceleration and deceleration planning method and device for numerical control system and numerical control machine tool
  • Acceleration and deceleration planning method and device for numerical control system and numerical control machine tool
  • Acceleration and deceleration planning method and device for numerical control system and numerical control machine tool

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Embodiment 1

[0057] Embodiment 1, please refer to image 3 , an acceleration and deceleration planning method for a numerical control system provided by an embodiment of the present invention includes:

[0058] Step S301, performing T-curve speed planning on the machining trajectory of the CNC machine tool operating equipment, and obtaining the time of uniform acceleration, constant speed and uniform deceleration in the T-curve. The CNC machine tool operating equipment is the hardware execution unit in the CNC system, including CNC cutting head, CNC laser welding head, CNC operating platform, robot arm and other components that can be controlled by software programs. This step includes: determining the time of uniform acceleration and the track length of uniform acceleration in the T-shaped curve according to the preset target speed, initial velocity and maximum acceleration of the CNC machine tool operating equipment; then according to the preset target speed and end point of the CNC mach...

Embodiment 2

[0082] Such as Figure 4 As shown, an acceleration and deceleration planning device 100 for a numerical control system provided by an embodiment of the present invention includes:

[0083] The speed planning module 10 is used to perform T-curve speed planning on the machining trajectory of the CNC machine tool operating equipment, and obtain the time of uniform acceleration, constant speed and uniform deceleration in the T-curve. The speed planning module 10 also includes: a track length acquisition unit of uniform acceleration, which is used to determine the time of uniform acceleration and the track length of uniform acceleration in the T-shaped curve according to the preset target speed, initial velocity and maximum acceleration of the CNC machine tool operating equipment; The trajectory length acquisition unit for deceleration determines the time of uniform deceleration and the trajectory length of uniform deceleration in the T-shaped curve according to the preset target s...

Embodiment 3

[0088] Such as Figure 5 As shown, the present invention provides a numerically controlled machine tool 200, comprising a control device 201, a drive device 202 and a power supply device 203, the power supply device 203 supplies power to the numerically controlled machine tool 200, and the control device 201 controls the drive device 202 to drive the operating equipment of the numerically controlled machine tool 200 For operation, the CNC machine tool 200 also includes an acceleration and deceleration planning device 100, and the acceleration and deceleration planning device 100 includes: a speed planning module 10, which is used to perform T-curve speed planning on the machining trajectory of the CNC machine tool operating equipment, and obtain the T-curve. The time of acceleration, uniform speed and uniform deceleration; the rounding compensation module 20 is used to separately adjust the three time periods of uniform acceleration, uniform speed and uniform deceleration in th...

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Abstract

The invention discloses an acceleration and deceleration planning method and device for a numerical control system and a numerical control machine tool. The acceleration and deceleration planning method includes the steps of carrying out T-type curve velocity planning on a machining path of an operating device of the numerical control machine tool to obtain time of the constant acceleration, time of the constant velocity and time of the constant deceleration in a T-type curve; independently adjusting the three time periods of the constant acceleration, the constant velocity and the constant deceleration in the T-type curve, and complementing the step length shorter than an interpolation period to form a whole interpolation period; obtaining the target velocity of the T-type curve velocity planning again according to the adjusted time periods; adjusting the acceleration, the deceleration and the path lengths of the time periods of the T-type curve according to the target velocity. According to the acceleration and deceleration planning method and device for the numerical control system and the numerical control machine tool, the problems of rounding errors and machine tool shaking can be accurately solved; meanwhile, complex steps for solving a high-degree equation when velocity planning is carried out on the operation device are omitted, the velocity planning efficiency of the whole numerical control system is greatly improved, and the method is relatively easy and convenient to use and easy to achieve.

Description

technical field [0001] The invention relates to the field of automation control, in particular to an acceleration and deceleration planning method and device for a numerical control system, and a numerical control machine tool. Background technique [0002] In the field of automation control, the CNC system of CNC machine tools, industrial robots and other equipment will involve the link of speed planning to ensure the efficient and stable work of machine tools, industrial robots and other equipment. [0003] CNC systems usually use T-curve speed planning and S-curve speed planning to plan the acceleration and deceleration of the system. Although T-curve speed planning has a small amount of calculation and simple programming, because each time period of the curve may not be an integer multiple of the interpolation cycle, Then in the last interpolation cycle of each time period, the speed and acceleration will have a sudden change, especially in the final stage, if the last i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/41
Inventor 汤中华郭涛
Owner BEIJING A&E TECH
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