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Machining track movement planning method based on sine square acceleration prospect

A technology of machining trajectory and motion planning, applied in the direction of electrical program control, digital control, etc., can solve problems such as large vibration excitation

Active Publication Date: 2019-08-16
XI AN JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The common motion planning algorithms such as trapezoidal, cubic, quintic, and trigonometric functions only focus on discussing smoothness and speed-forward issues, and basically default the acceleration at both ends of the planning segment to zero, which is indeed convenient for calculation, but in practice During work, the motor will be in the process of frequent acceleration and deceleration, which will cause a large vibration excitation

Method used

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  • Machining track movement planning method based on sine square acceleration prospect
  • Machining track movement planning method based on sine square acceleration prospect
  • Machining track movement planning method based on sine square acceleration prospect

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Embodiment Construction

[0058] The algorithm will be described in detail below in conjunction with the accompanying drawings, so that the advantages and characteristics of the algorithm can be more easily understood by those skilled in the art, so as to make a clearer definition of the protection scope of the algorithm.

[0059] This algorithm is suitable for all motion planning applications, figure 1 is based on the traditional sine 2 Accelerated motion curve. We call the basic element of the motion planning algorithm a planning segment that satisfies the initial velocity v s to drive out of the speed limit V e , to complete the planning with path length l, jerk limit J, and speed limit A, and a planning segment takes time T and is divided into four segments. The first paragraph and the third paragraph respectively have sine 2 half cycle acceleration, the second stage is the uniform acceleration stage, the acceleration is equal to A, and the elapsed time is T 1 , the fourth stage is the constan...

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Abstract

The invention discloses a machining track movement planning method based on sine square acceleration prospect. The method comprises the following steps: firstly realizing accelerated acceleration continuing by adopting a way that the acceleration is sine2, and reducing system excitation; secondly, judging rationality of a set parameter, analyzing shorter path and like special conditions, thereby realizing the automatic correction of the parameter when the path and speed limitation is satisfied, wherein the movement planning of the path in any length can be accomplished under a limitation condition; splitting acceleration and deceleration processes, and allowing the acceleration at each of two ends of a planning section to be non-zero, thereby avoiding the frequent acceleration and deceleration of the motor, and reducing the vibration excitation on a mechanical system; and finally designing a reverse planning algorithm, performing prospecting on the speed at the deceleration section andthe acceleration, thereby realizing any acceleration and deceleration planning demands on a specified path, wherein the speed acceleration change is stable and smooth, and the machining quality and machining efficiency of the mechanical equipment are improved.

Description

technical field [0001] The invention belongs to the technical field of motion control in numerical control systems, and in particular relates to a motion planning method for machine tool processing trajectory based on sinusoidal square acceleration look-ahead. Background technique [0002] In the high-speed machining of complex curved surface parts, the dynamic error of the mechanical system caused by high feed rate, acceleration and jerk often exceeds the geometric error and becomes the main reason affecting the machining accuracy of the part. The dynamic error is sensitive to the tool path and feed rate. The rougher the tool path is, the more severe the speed change of each axis is, and the greater the dynamic error is. If the command speed trajectory is not smooth, the command bandwidth will increase, and the servo system will not be able to follow the useful frequency components of the command beyond the servo bandwidth, resulting in a following error. The command accel...

Claims

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19
Inventor 孙铮路介鑫赵飞王文君梅雪松
Owner XI AN JIAOTONG UNIV
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