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High-speed feeding acceleration and deceleration method for numerical control device based on linear continuous jerk speed

A numerical control device, acceleration and deceleration technology, applied in the direction of digital control, electrical program control, etc., can solve the problem of not being able to plan the continuous change of jerk speed, and achieve the effect of suppressing vibration and impact and improving high-speed machining accuracy.

Active Publication Date: 2017-11-24
HANGZHOU DIANZI UNIV
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  • Application Information

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Problems solved by technology

[0004] In order to overcome the deficiency that the existing numerical control acceleration and deceleration methods cannot plan continuously changing jerk speeds, the present invention provides a new acceleration and deceleration method based on segmental polynomials to realize continuous jerk speeds. This method can plan flexible and variable high-speed machining feeds speed

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  • High-speed feeding acceleration and deceleration method for numerical control device based on linear continuous jerk speed
  • High-speed feeding acceleration and deceleration method for numerical control device based on linear continuous jerk speed
  • High-speed feeding acceleration and deceleration method for numerical control device based on linear continuous jerk speed

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Embodiment Construction

[0062] The following is attached figure 1 The present invention is further described.

[0063] Take the performance index adopted by the planning speed, v fmax =100mm / s, A=2000mm / s 2 、J=60000mm / s 3 And R=6000000mm / s 4 , can be calculated as s cr1 =9.13mm, s cr2 =7.51mm, s cr3 = 0.48 mm.

[0064] Case 1, l>s cr1

[0065] When the feed movement stroke is equal to 12mm, because the stroke is greater than s cr1 , then have

[0066] T 1 =T 3 =T 5 =T 7 =T 9 =T 11 =T 13 =T 15 =J / R=0.01s

[0067] T 2 =T 6 =T 10 =T 14 =(A-JT 1 ) / J=0.023s

[0068] and

[0069] T 4 =T 12 =v fmax / A-(2T 1 +T 2 ) = 0.0067s

[0070] uniform motion time

[0071] T 8 =(l-s cr1 ) / v fmax =0.0287s

[0072] The corresponding feed motion characteristic curve is as follows figure 2 shown. here for the text Figure 2-7 The unit of the symbol in the middle is a unified description, the unit of displacement s is mm, the unit of velocity v is mm / s, and the unit of acceleration a...

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Abstract

The invention relates to a high-speed feeding acceleration and deceleration method for a numerical control device based on a linear continuous jerk speed. A jerk speed change rate is introduced, and the linear continuous jerk speed is constructed based on the jerk speed change rate. The method is characterized in that the whole acceleration and deceleration process is divided into 15 phases, the front seven phases are acceleration phases, the last seven phases are deceleration phases, and the middle phase is a constant speed phase. According to the kinetic characteristic parameters of the numerical control device: jerk speed, acceleration and maximum speed limit, the acceleration and deceleration process of the numerical control device is divided into a constant speed phase and non-constant speed phases, and then a feeding speed is planned according to the actual feeding travel of the numerical control device. By adopting the method, a flexible feeding speed having a linear changed jerk speed can be obtained, vibration and shock of a high-speed feeding executor on a supporting component of the numerical control device are suppressed, and the high-speed machining precision of a contour is improved.

Description

technical field [0001] The invention relates to a method for accelerating and decelerating feed speed of a numerical control device, especially capable of planning high-speed flexible feed speed with linear continuous jerk speed, so as to reduce the vibration impact caused by high-speed feed parts to machine tool parts and improve the high-speed machining accuracy of contours . Background technique [0002] Traditional CNC machine tools generally use linear and exponential methods to describe the relationship between feed speed and time. These two methods are simple to calculate, but there are sudden changes in acceleration and deceleration at the beginning and end of acceleration and deceleration. There is an impact force, so it is not suitable for high-speed processing. [0003] Since Erkorkmaz (ERKORKMAZ K, ALTINTAS Y. High speed cnc system design, part I: jerk limited trajectory generation and quintic spline interpolation [J]. International Journal of Machine Tools & Ma...

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Application Information

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IPC IPC(8): G05B19/416
Inventor 季国顺俞武嘉陈子辰王文
Owner HANGZHOU DIANZI UNIV