A polynomial acceleration and deceleration motion control method and equipment applied to numerical control machining

Abstract

The invention relates to a polynomial acceleration and deceleration motion control method and equipment applied to numerical control machining. The method includes: polynomial acceleration and deceleration parameter reservation, polynomial acceleration and deceleration algorithm discretization processing, polynomial acceleration and deceleration parameter fine-tuning preprocessing; the equipment includes PC, programmable I / O interface card, peripheral equipment and machine tool host. The jerk of the polynomial acceleration and deceleration motion control method of the present invention is first-order continuous, has high flexibility, and avoids sudden changes in acceleration and jerk; through discrete processing, the control method is suitable for data sampling interpolation; through fine-tuning preprocessing The parameters of the deceleration law make the acceleration and deceleration law meet the time division conditions, eliminate the rounding error, and ensure the motion accuracy and smoothness of motion. The motion control method is realized in the self-developed open CNC system based on Ubuntu PC+programmable I / O interface.

Description

technical field [0001] The invention relates to a polynomial acceleration and deceleration motion control method and equipment applied to numerical control machining. Background technique [0002] The acceleration and deceleration motion control method is an important link that affects the precision of high-precision and high-speed CNC machining. The current commonly used T-type acceleration and deceleration motion control method has continuous speed, but the acceleration will change abruptly, which will cause vibration and noise, and there is a flexible impact. The acceleration curve of the S-type acceleration and deceleration method is first-order continuous and has high flexibility, but the step change of the jerk of the S-type acceleration and deceleration method still has a certain flexibility impact. The jerk of the cubic S-curve acceleration and deceleration algorithm basically changes steadily, and the processing efficiency is slightly improved compared with the tra...

AI Technical Summary

Problems solved by technology

The current commonly used T-type acceleration and deceleration motion control method has continuous speed, but the acceleration will change suddenly, which will cause vibration and noise, and there is a flexible impact

The acceleration curve of the S-type acceleration and deceleration method is continuous in the first order, and the flexibility is relatively high, but the jerk step change of the S-type acceleration and deceleration method still has a certain flexibility impact

The jerk of the three-time S-curve acceleration and deceleration algorithm basically changes steadily, and the processing efficiency is slightly improved compared with the traditional S-curve acceleration and deceleration algorithm, but the jerk still has a sudden change

The jerk of the polynomial acceleration and deceleration motion control method is at least one-order continuous, and the system has higher motion flexibility, but if the jerk order is too high, it will affect the real-time performance of the system

Aiming at the rounding error problem in the acceleration and deceleration control process, the common method in the past is to eliminate the rounding error by extending a low-speed motion process after the deceleration process, but sometimes it needs to run at a low speed for a long distance to reach the target position, and the efficiency is low

In this regard, a speed value smaller than the maximum speed can be selected during the deceleration process to correct the rounding error, which can effectively improve the motion efficiency, but when the end speed is not zero and the error is less than the distance of one interpolation cycle at the end speed, will not be able to correct the error

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