A look-ahead control method

Abstract

The invention discloses a forward-looking control method, which is suitable for arbitrary interpolation curves including tiny line segments, and specifically includes the following steps: calculating the maximum velocity v1 at the inflection point at the end point of the interpolation curve, and adding the included angle at the inflection point Constitute a constraint, and perform curve interpolation under this constraint; the target interpolation point of the last point of curve interpolation is not the end point of the curve, but the midpoint of the real trajectory arc; the acceleration and deceleration control of curve interpolation ensures that the interpolation is reached The speed of the upper point of the end point is just v1, the structure of the present invention is scientific and reasonable, safe and convenient to use, the present invention is scientific and reasonable, the calculation is simple, and it is easy to realize by computer; this forward-looking control method, including any interpolation curve including tiny line segments, is extremely efficient. Great extension.

Description

technical field [0001] The invention relates to the technical field of numerical control systems and robot control systems, in particular to a forward-looking control method. Background technique [0002] The processing of workpieces with complex surfaces generally resolves the surface curves into a large number of straight lines or arcs, including tiny line segments, and then realizes trajectory processing by means of linear interpolation or arc interpolation through the motion control system, and the speed of tiny line segments Control is of great significance. It not only directly affects the processing quality and processing efficiency of the workpiece, but also affects the life of the processing equipment. If the feed speed of each tiny line segment is accelerated from zero and then decelerated to zero, the average feed rate will be greatly reduced. In addition, frequent acceleration and deceleration will also reduce the surface quality of the processed workpiece, incre...

AI Technical Summary

Problems solved by technology

[0004] (1) In order to make the terminal speed of the last section 0, the current control system needs the user to point out that a certain section of trajectory is the last section, which is the case when the user does not know which section is the last section (for example, the trajectory of a small line segment is obtained by visual inspection). obtained by the system), it cannot be used, or there is a jump in the final speed;

[0005] (2) The number of forward-looking segments needs to be determined, which will not only cause the motion control system to require relatively large storage resources, but also need to wait for the next tiny line segment trajectory block to complete the forward-looking calculation before re-interpolation , this defect will reduce the overall efficiency;

[0006] (3) The linking speed between trajectory segments does not take into account the influencing factor that the interpolation cycle can only be an integer multiple. This defect will lead to some trajectory segments whose interpolation cycle is less than 2, or whose initial speed is equal to the running speed and equal to the stop speed. When planning, the actual planned start speed or stop speed deviates, which leads to a sudden change in the speed during interpolation and affects the machining accuracy;

[0007] (4) When the angle between two adjacent straight-line trajectory segments is extremely small, there is no fitting process, which will increase the forward-looking calculation time and reduce the processing efficiency, but this method is too cumbersome

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