Special-shape trajectory control method and device

Abstract

The invention provides a special-shaped trajectory control method and device, relates to the field of automatic control. The method comprises a step of receiving original trajectory point data, a step of dividing the original trajectory point data into multiple trajectory intervals according to the trajectory characteristics of the original trajectory point data, a step of fitting the original trajectory point data in each trajectory interval and obtaining a corresponding fitting curve, a step of carrying out discrete processing on the fitting curve of each trajectory interval so as to obtain the 3D coordinates of a corresponding discrete curve point, a step of generating a next interpolation data point position of a synchronous axis according to a predetermined time interval and according to the structure parameters of the synchronous axis and the 3D coordinates of the discrete curve point, and a step of controlling the motion trajectory of the synchronous axis according to the interpolation data point position of the synchronous axis. Thus an acceleration process is more stable and efficient, an error rate is small, and processing equipment is protected. The accuracy is extremely high.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a method and device for controlling a special-shaped trajectory. Background technique [0002] With the development of society, all walks of life are gradually automated, liberating the labor force and improving efficiency. For knitting, hair transplant, hair insertion and other industries, the most important thing to realize automation is to control the movement of the synchronous axis along the special-shaped trajectory. And with the improvement of process requirements, the requirements for the precision and speed of special-shaped trajectory control are getting higher and higher. Obviously, the traditional hand sewing method to realize the special-shaped trajectory cannot meet the requirements. [0003] However, although the current method of combining PLC with mechanical cam or gear mechanism to realize special-shaped trajectory control has improved the speed to a certain e...

AI Technical Summary

Problems solved by technology

For example, there are many and uneven noise points, and at the same time, the track point data of the synchronous axis must be manually entered to follow the number of reciprocations. This method will inevitably lead to uneven stitch density in the final knitting and hair transplantation.

And in the process of reciprocating synchronous axis (for example, pressing needle and bur), adopting mechanical cam or gear transmission to realize the synchronous movement of pressing needle and bur axis, but due to the reason of the mechanical structure itself and the track point data is not smooth As a result, this kind of special-shaped trajectory cannot realize high-speed movement, and the messy trajectory points and the PLC control method do not have the speed forward function, which will inevitably cause frequent acceleration and deceleration during the movement process, which will produce a large acceleration impact, which is harmful to motor control and mechanical wear. unfavorable

The synchronous axes will share the overall combined speed. When fine-tuning the knitting stitch density or fine-tuning the X, Y, and Z-axis positions, the calculated single-axis dividing speed will become very slow or fast. When the speed suddenly slows down It will reduce the overall processing efficiency of the system, and when the speed suddenly becomes faster, it will cause a huge impact on the machine, affecting the service life of the machine or causing the motor to overload

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