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Continuous micro-line segment look-ahead control interpolation algorithm

An interpolation algorithm and line segment technology, which is applied in the field of forward control interpolation algorithms for continuous tiny line segments, can solve problems such as speed fluctuations and acceleration sudden changes, and achieve the effects of smooth motion, reduced impact, and reduced errors.

Inactive Publication Date: 2017-06-06
苏州达尔普工业控制有限公司
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AI Technical Summary

Problems solved by technology

[0004] The position turning, speed fluctuation, acceleration mutation, and a large number of code processing brought about by these small straight line segments have a great impact on machining accuracy, surface quality, stability and machining efficiency.

Method used

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  • Continuous micro-line segment look-ahead control interpolation algorithm

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Embodiment

[0017] see figure 1 , this embodiment shows a forward-looking control interpolation algorithm for continuous tiny line segments:

[0018] Including the following steps:

[0019] 1) Sequentially read the three endpoints P1, P2 and P3 of the first two tiny line segments, and set the initial speed of the line segment v1=0, since there is no transition angle at the beginning of the line segment, α1 =0, the local transition distance of P1 point Δl1 = 0; use the cosine formula to calculate the transfer angle α2 at P2, solve the theoretical maximum feed speed v2 at P2 according to the calculation formula of the angle bisector transfer algorithm, and calculate the local transfer distance Δl2 at P2; calculate the distance from P1 to P2 The distance L2 from L1 and P2 to P3, and then calculate the actual interpolation distance s1 of the first small line segment using the actual interpolation distance formula in the solution of the maximum transfer speed, s1=L1-Δl1-Δl2;

[0020] 2) Read...

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Abstract

The invention provides a continuous micro-line segment look-ahead control interpolation algorithm. The algorithm includes the following steps: calculating an actual interpolation distance s1 of a first micro-line segment; calculating an actual interpolation distance si-2 of a previous micro-line segment; through speed reachability determination of prospect optimization analysis, analyzing speed reachability between corresponding switch speeds of two ends (Pi-2 and Pi-1) of a (i-2) line segment; determining a speed segmenting point: if [alpha]i-3<[alpha]i-2 and [alpha]i-2=[alpha]i-1, needing to calculate the switch angle of the next point and conducting analysis, and if [alpha]i-2<[alpha]i-3, indicating that Pi-2 is not the speed segmenting point; if the speed segmenting point is not found, repeating the above 2-4 steps, and if the speed segmenting point is found, ending the look-ahead, and carrying out a look-ahead speed plan with the previous speed segmenting point being a starting point during the next look-ahead. According to the invention, the machining speed changes steadily, and the machining efficiency is greatly increased.

Description

technical field [0001] The invention relates to intelligent control technology, and specifically shows a forward-looking control interpolation algorithm for continuous micro-line segments used in robots and high-precision numerical control machine tools. Background technique [0002] The high-end CNC system is one of the key technical equipment for the transformation of my country's manufacturing industry to the high-end manufacturing industry. Over the years, the state has invested heavily in actively supporting enterprises to carry out research and development, and has achieved remarkable results in the field of popular and economical and other medium and low-end CNC systems. , but in the field of high-end CNC systems, it is still monopolized by a few foreign manufacturers. Its core interpolation technology, rich functions, and system reliability under complex processing requirements and conditions are still not comparable to domestic systems. [0003] Among them, the core ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/404
CPCG05B19/404G05B2219/35408
Inventor 汪永生隋海涛徐怡
Owner 苏州达尔普工业控制有限公司
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