Trigonometric function speed planning method used for spline interpolation

Abstract

The present invention relates to a trigonometric function speed planning method applied to spline interpolation and divided into the pre-interpolation and the real-time spline interpolation. The pre-interpolation is characterized by carrying out the rapid pre-interpolation on a to-be-processed curve, collecting the acceleration / deceleration starting points and the information of the speed maximum / minimum value points on the processed curve, then calculating a sped equation of each acceleration / deceleration segment, and saving in an acceleration / deceleration array. A real-time spline interpolation stage is characterized by firstly calculating the real-time feed speed of a cutter according to the acceleration / deceleration beginning and end parameters and the speed equations in the acceleration / deceleration array, then adopting a two-order Taylor expansion to calculate the next real-time interpolation parameter real-timelyto carry out the real-time spline interpolation. The method of the present invention is simple to control, can guarantee the processing accuracy, also can realize the continuous change of the speed and the acceleration during a high speed processing process of a numerical control machine tool, and enables the mutation frequency of the jerk to be reduced, thereby relieving the overshoot generated by the high speed processing, and realizing the flexible acceleration / deceleration control of a servo shaft.

Description

technical field [0001] The invention relates to a trigonometric function speed planning method 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 improves 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 c...

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 / deceleration phase, which causes severe vibration of the machine tool and affects the processing quality.

The S-curve acceleration and deceleration control minimizes the impact on the machine by controlling the acceleration change rate (jerk), and realizes the continuous change of acceleration, but the jerk will change 4 times in one acceleration and deceleration section, and this The calculation of the method is complicated, and the velocity equation, acceleration equation and jerk equation of each acceleration segment or deceleration segment are defined in segments

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