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Global optimal feeding speed planning method for cradle type machine tool

A feed rate, global optimal technology, applied in the field of CNC machine tools, can solve problems such as poor robustness, low computational efficiency, and exceeding limits

Active Publication Date: 2021-07-30
UNIVERSITY OF CHINESE ACADEMY OF SCIENCES
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Problems solved by technology

In the existing technology, although some can strictly abide by the kinematic constraints and geometric precision constraints, the number of iterations of the solution method is closely related to the complexity of the tool path, resulting in poor robustness and low computational efficiency
Some discretize the tool path into some sampling points, so that only the sampling points are constrained, causing the motion curve of each axis to exceed the preset limit

Method used

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  • Global optimal feeding speed planning method for cradle type machine tool
  • Global optimal feeding speed planning method for cradle type machine tool
  • Global optimal feeding speed planning method for cradle type machine tool

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Embodiment Construction

[0034] In order to make the purpose, technical solutions and advantages of one or more embodiments of this specification more clear, the technical solutions of one or more embodiments of this specification are clearly and completely described below. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of one or more embodiments of this specification.

[0035] A brief description of the technical concept of the present invention is given below: the embodiment of this specification provides a complete and novel method for planning the optimal feed speed of a five-axis parameter path. This method constrains the velocity, acceleration and jerk in the machine coordinate system (Machine Coordinate System, MCS), and constrains the bow height err...

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Abstract

The embodiment of the invention discloses a global optimal feeding speed planning method for a cradle type machine tool. According to the scheme, the method comprises the steps that the speed, the acceleration and the jerk are restrained in a machine tool coordinate system, and the bow height error is restrained in a workpiece coordinate system. Then, the optimal feeding speed planning problem is converted into an optimal control problem, and it is indicated that the optimal solution of the optimal control problem is 'bang-bang' control. And finally, an optimal solution of the optimal control problem is solved by adopting an iterative control vector parameter method, and the solution meets 'bang-bang' control. According to the method, various constraints including motion constraints and geometric error constraints in the whole machining process of the cradle type machine tool can be fully considered, and the whole cutting task is completed in the shortest time, so that the performance of the machine tool can be fully utilized.

Description

technical field [0001] The present application relates to the technical field of numerical control machine tools, in particular to a global optimal feed speed planning method for cradle machine tools. Background technique [0002] CNC machining has been widely used in the manufacturing industry. Its processing quality and processing efficiency are the key factors affecting the competitiveness of CNC machining. Therefore, how to shorten the processing time as much as possible under the constraints of machine tool performance and workpiece accuracy is crucial. In five-axis CNC machining, since the machine tool has two more rotation axes than the three-axis machine tool, the nonlinear transformation between the workpiece coordinate system and the machine tool coordinate system must be considered in speed planning. And this transformation undoubtedly makes the problem of feed rate planning under optimal time more difficult, so the problem of optimal feed rate planning under five...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/416
CPCG05B19/4163G05B2219/36521G05B2219/45129G05B13/021G05B2219/50165
Inventor 申立勇袁春明马鸿宇高小山
Owner UNIVERSITY OF CHINESE ACADEMY OF SCIENCES
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