Numerical control discrete speed curve planning method

Abstract

The invention relates to a numerical control discrete speed curve planning method. According to the method, a trapezoidal speed track curve is set, and speed planning is carried out on the trapezoidalspeed track curve by using constraint conditions; a periodic discrete displacement value is acquired through the trapezoidal speed track curve; a discrete tracking differentiator is designed, the discrete displacement value is inputted into the discrete tracking differentiator; and discrete displacement and speed signals are obtained from the output of the discrete tracking differentiator. According to the method of the invention, smooth speed curve planning is realized by means of trapezoidal planning and the tracking differentiator; the acceleration and the speed of a system can be physically constrained by utilizing the trapezoidal speed trajectory curve which is easy to realize, so that the defect that the tracking differentiator cannot be constrained is avoided; and the tracking differentiator which is simple in calculation is used for smoothing the curve, so that the defect that an S-shaped speed curve is complex to achieve or large in calculated amount is overcome.

Description

technical field [0001] The invention relates to the field of motion control, in particular to a numerically controlled discrete speed curve planning method. Background technique [0002] During the speed change process of the entire running path, there is a step in the start-stop phase, which will cause the use of the machine to be subjected to a large impact force due to inertia when it starts and stops, which will affect the overall use of the machine and its life. At present, the commonly used acceleration and deceleration control algorithms include trapezoidal speed curve control algorithm and S-shaped speed curve control algorithm. Although the trapezoidal speed curve control algorithm is simple and easy to implement, there are still mutations at the junction between the acceleration and deceleration phase and the constant speed phase. It can not solve the problem of the impact caused by the sudden change of speed very well; the S-shaped speed curve control algorithm ov...

AI Technical Summary

Problems solved by technology

[0002] During the speed change process of the entire running path, there is a step in the start-stop phase, which will cause the use of the machine to receive a large impact due to inertia when it starts and stops, which will affect the overall use of the machine and its life.

At present, the commonly used acceleration and deceleration control algorithms include trapezoidal speed curve control algorithm and S-shaped speed curve control algorithm. Although the trapezoidal speed curve control algorithm is simple and easy to implement, there are still mutations at the junction between the acceleration and deceleration phase and the constant speed phase. It can not solve the problem of the impact caused by the sudden change of speed very well; the S-shaped speed curve control algorithm overcomes the unfavorable situation of the sudden change, but due to the complex structure of the segment, it increases the calculation amount of the algorithm, resulting in relatively difficult implementation. Complex, high processor requirements

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