A Dynamic High Speed ​​Nested Forward Planning Method

Abstract

The invention discloses a dynamic high-speed nested forward-looking planning method, which includes: calculating the initial value of the radius of the transition arc; detecting the existence of the transition arc, and if it does not exist, adjusting the radius of the current transition arc for the first time; Adjust the radius of the transition arc; check whether the adjustment is excessive; judge whether the speed from the previous arc to the next arc is an acceleration process or a deceleration process; The radius of an arc; if it is a deceleration process, judge whether the deceleration is in place, if it can, do not adjust, otherwise adjust the radius of the previous arc, adjust the speed on the previous arc; correct the maximum allowable speed of the arc, judge Whether the current lookahead is the last lookahead, nested lookahead. The present invention uses the nesting method to dynamically adjust the radius of the transition arc at the same time, thereby increasing the processing speed, reducing the processing time and improving the efficiency.

Description

technical field [0001] The invention belongs to the technical field of numerical control, and in particular relates to a dynamic high-speed nested forward-looking planning method. Background technique [0002] Most of the middle and low-end CNC machine tools basically only have the function of linear and circular interpolation. The complex parts to be processed are approximated by computer-aided manufacturing (CAM) software using continuous straight lines or circular arcs to interpolate each segment of the trajectory. , to realize the processing of complex parts. In order to achieve high-speed machining, it is necessary to add a transition curve at the inflection point of the line segment, supplemented by a suitable forward-looking path planning algorithm and speed planning algorithm, to obtain high speed. [0003] The existing path planning mainly includes the following types: one is circular arc transition, which is also the most commonly used method. The second is the t...

AI Technical Summary

Problems solved by technology

The second is the transition model represented by the quadratic NURBS arc model, but the calculation of this model is more complicated

Compared with linear acceleration and deceleration methods, although these acceleration and deceleration methods are better in performance, they are difficult to calculate and affect the real-time performance of the system, so they are not suitable for low-end machine tools

[0005] In terms of the forward-looking algorithm, although the forward-looking method with a fixed number of segments achieves better results than a single-segment straight line acceleration and deceleration, because the selection of a fixed number of segments will cut off the connection between the line segments, the information between the line segments cannot be fully utilized, and it cannot adapt to the changeable micro-line segments Happening

[0006] The adaptive forward-looking method solves the above difficulties, but when there are too many line segments that meet the conditions, it will cause the problem of complex data, resulting in a long calculation time

Therefore, the adaptive forward-looking algorithm usually sets a maximum number of forward-looking segments, but when the maximum number of forward-looking segments is too large, the efficiency of forward-looking will not be improved too much, but will increase complexity and reduce real-time performance

[0007] For the adaptive forward-looking planning method, the maximum number of forward-looking segments needs to be set, but there is no literature to clarify the optimal number of forward-looking segments

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