Corner transition smoothing method for smoothing axial jerk

Abstract

The invention discloses a corner transition smoothing method for smoothing axial jerk. The corner transition smoothing method comprises the following steps: designing a composite trigonometric function speed planning method; carrying out look-ahead initialization; constructing a corner transition curve, calculating axial kinematics trajectories on coordinate axes under axial speed limitation, corner section length limitation, contour error limitation, maximum feeding speed limitation and maximum axial acceleration limitation, and synthesizing the axial kinematics trajectories on the two coordinate axes to obtain the corner transition curve; and performing reverse scanning, and performing composite trigonometric function speed planning on all interpolation line segments forwards in sequencefrom the last small line segment. According to the method, a composite trigonometric function speed planning method is utilized, corner transition curve construction and uniaxial speed planning are completed at the same time within one step, the processing time consumed by motion trail control is remarkably shortened, smooth axial speed, axial acceleration and axial jerk control is achieved, andthe machining efficiency and the machining quality of the numerical control machine tool are improved.

Description

technical field [0001] The invention belongs to the technical field of numerical control machining, and in particular relates to a corner transition smoothing method for smoothing shaft jerk. Background technique [0002] The local trajectory smoothing technology is mainly to achieve the smoothness of the CNC machining trajectory by inserting transition curves, such as broken lines, arcs, and parameter curves, at the junction of adjacent small straight line segments, and to increase the speed of the moving parts of the CNC machine tool passing through the corner, thereby improving Processing efficiency and processing quality. [0003] For example, some scholars calculate the maximum speed allowed to pass through the corner according to the constraints such as the acceleration / deceleration performance of the machine tool and the corner contour error, so as to realize the continuous processing of the NC program, but the processing path can only achieve G0 continuity. Some sch...

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Problems solved by technology

Although the above algorithm can generate a smooth machining trajectory and increase the transfer speed at the corner, but only considers the kinematics limitation in the tangential direction, so it will cause the speed, acceleration and jerk in the single axis direction to fluctuate at the corner of the machining path. sudden change, causing vibration of the servo drive shaft and reducing processing quality

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