Rapid-response point-to-point S-shaped velocity planning method

Abstract

The embodiment of the invention provides a fast-response point-to-point S-shaped velocity planning method. The method comprises the steps that S1 if user parameter adjustment occurs at a stop or uniform velocity phase, S1.1 the time required for each phase is iteratively calculated to minimize the sum, and the step S3 is carried out; S2 if user parameter adjustment occurs at a non-uniform velocityphase, S2.1 current speed curve back-up is carried out, and then two types of trials are carried out in order; S2.2 modified user parameters are used to reversely virtualize an inverted virtual speedcurve; S2.3 a forward virtual speed curve is forwardly virtualized; S2.4 if the trials fail, the backup is restored to wait for trials at the time of next parameter change, and the step S2.1 is carried out again; and S3 according to the planned speed curve, a pulse value is output. The method provided by the invention has the advantages of small overall movement shock, small vibration and improved overall efficiency.

Description

technical field [0001] The invention relates to the technical field of numerical control systems, in particular to a fast-response point-to-point S-shaped speed planning method. Background technique [0002] At present, the open numerical control system research has become a research hotspot in the numerical control circles all over the world, especially the research on acceleration and deceleration control technology is a more current focus. The feeding accuracy, productivity and surface roughness of the workpiece are closely related to the CNC machine tool. The feed speed of the CNC machine tool should be stable and the stop position should be accurate. Therefore, the CNC machine tool system must have the function of acceleration and deceleration control. [0003] The more popular acceleration and deceleration control is S-type acceleration and deceleration control. Compared with linear acceleration and deceleration and exponential acceleration and deceleration control, S...

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Problems solved by technology

[0006] At present, many CNC systems have to use relatively low-level trapezoidal speed curves for planning in manual movements that require higher real-time performance, resulting in large movement impact, severe vibration, and poor positioning accuracy; finally, parameters have to be lowered, which in turn affects efficiency

Or even if the S-shaped speed curve algorithm is used, it is only allowed to adjust the end position and maximum speed midway

[0007] The difficulty and the key point are: when the start-stop acceleration is zero, iteratively calculate the time required for each stage and minimize the sum; but if the current state is in a non-uniform state, how to quickly respond to changes in user parameters and make The velocity curve remains smooth

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