A motion planning method for machine tool machining trajectory based on sinusoidal square acceleration look-ahead

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...

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

Images