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Asymmetric quartic curve flexible acceleration and deceleration planning method

A quartic curve, asymmetric technology, used in program control, instrument, electrical program control, etc., can solve problems such as jerk step, achieve good smoothness, improve motion stability, and calculate stable and reliable effects.

Active Publication Date: 2020-05-15
JIANGNAN UNIV
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AI Technical Summary

Problems solved by technology

A new acceleration and deceleration control model is constructed, and a detailed algorithm implementation scheme is given. On the basis of no complex function calculation, flexible parameter control, and stable and reliable calculation, it solves the problem of the traditional S-curve acceleration step.

Method used

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  • Asymmetric quartic curve flexible acceleration and deceleration planning method
  • Asymmetric quartic curve flexible acceleration and deceleration planning method
  • Asymmetric quartic curve flexible acceleration and deceleration planning method

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Embodiment Construction

[0025] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0026] 1. Construction of asymmetric quartic curve flexible acceleration and deceleration planning model

[0027] The acceleration and deceleration planning model constructed includes the acceleration motion stage, the uniform motion stage and the deceleration motion stage; the change law of the jerk is a triangular shape continuous change, and the acceleration, velocity and displacement change law are obtained by successive integration upwards, and the planned jerk, acceleration, Velocity and displacement are linear, quadratic, cubic, and quartic curves that vary continuously, respectively; parameter values ​​can be different in both the acceleration phase and the deceleration phase.

[0028] The trajectory of acceleration and deceleration planning (the trajectory refers to the displacement, speed, acceleration or jerk of the tool during pr...

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Abstract

The invention discloses an asymmetric quartic curve flexible acceleration and deceleration planning method, and belongs to the field of numerical control machining motion control. The method comprises: firstly, constructing a new acceleration and deceleration control model; providing a detailed algorithm implementation scheme; performing algorithm implementation by adopting a method of combining classified discussion and loop iteration. Meanwhile, the problem that the algorithm is time-consuming and unstable under different precision requirements is solved by adopting a constant-speed compensation method. On the basis of no complex function operation, flexible parameter control and stable and reliable calculation, the problem that a traditional S-shaped curve jerk has a step is solved, themotion stability of numerical control machining is improved, and a feasible and practical acceleration and deceleration planning scheme is provided for a numerical control system.

Description

technical field [0001] The invention belongs to the field of numerical control machining motion control, and relates to an asymmetric quartic curve flexible acceleration and deceleration planning method. Background technique [0002] With the continuous development of industrial modernization, the manufacturing industry has put forward higher requirements for CNC machining. The CNC system is developing in the direction of high speed, high precision and high reliability. Acceleration and deceleration planning is a key technology that affects the performance of the CNC system. . [0003] At present, linear acceleration and deceleration and S-shaped acceleration and deceleration are mostly used in engineering. Linear acceleration and deceleration is simple to implement and has high calculation efficiency, but the smoothness of the planned speed curve is poor, and it is generally only suitable for low-end CNC systems. S-type acceleration and deceleration control can plan a tra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/416
CPCG05B19/4163G05B2219/36521
Inventor 张相胜朱道坤王国先
Owner JIANGNAN UNIV
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