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A speed planning method for elliptical arc and circular arc in numerical control system based on tangent vector

A numerical control system and speed planning technology, applied in general control systems, control/regulation systems, digital control, etc., can solve problems such as slow speed changes, and achieve the effect of small calculation and reduced burden

Active Publication Date: 2022-06-21
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0010] The purpose of the present invention is to solve the problem of slow speed change during planning due to the limitation of the maximum synthetic acceleration value in the existing speed planning method, and proposes a tangent vector-based method for elliptical arcs and circular arcs in numerical control systems. The speed planning method of

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  • A speed planning method for elliptical arc and circular arc in numerical control system based on tangent vector
  • A speed planning method for elliptical arc and circular arc in numerical control system based on tangent vector
  • A speed planning method for elliptical arc and circular arc in numerical control system based on tangent vector

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specific Embodiment approach 1

[0039] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 1. A tangent vector-based velocity planning method for an elliptical arc of a numerical control system described in this embodiment, the method specifically includes the following steps:

[0040] Step 1: After inputting the machining program of the part into the numerical control system, the numerical control system decodes the input machining program to obtain the initial position, end position, clockwise direction of the elliptical arc, semi-axis length of the elliptical arc, and elliptical arc. The length of the short semi-axis, the expected speed and the maximum acceleration information allowed by each coordinate axis;

[0041] Step 2, solve the overall time-velocity relationship according to the information obtained in step 1;

[0042] The time-velocity running curve category of each segment of the elliptic arc is obtained, and the classification processing is done for solving the key data of each interpolation peri...

specific Embodiment approach 2

[0047] Specific implementation mode 2: Combining Figure 10 This embodiment will be described. The difference between this embodiment and the specific embodiment 1 is that the specific process of the second step is:

[0048] Step 21, such as figure 1 Said, according to the maximum allowed acceleration a on the X-axis of the plane Cartesian coordinate system x_max and the maximum allowed acceleration a on the Y axis y_max Calculate the angle θ for quadrant segmentation 分 ;

[0049]

[0050] Among them, a is the length of the semi-axis of the ellipse arc, and b is the length of the short semi-axis of the ellipse arc;

[0051] like figure 2 shown, then in the quadrant interval is θ∈([-θ 分 ,θ 分 ], [180°-θ 分 ,180°+θ 分 ]), use a y_max Calculate the resultant acceleration a 合 , in the quadrant interval is θ∈([θ 分 ,180°-θ 分 ], [180°+θ 分 ,360°-θ 分 ]), use a x_max Calculate the resultant acceleration a 合 , θ is the angle corresponding to the point on the ellipse ar...

specific Embodiment approach 3

[0081] Specific implementation three: combination Figure 11 This embodiment will be described. The difference between this embodiment and the specific embodiment 1 or 2 is: in the step 3, based on the solution result of the step 2, the speed, distance and angular position of each interpolation period are calculated; the specific process is:

[0082] If within the extracted ellipse arc That is, in the case of pure acceleration or pure deceleration in the current elliptical arc segment, the synthetic acceleration a at the beginning of the current interpolation period is used 合_T_n_s Approximate the acceleration value in the entire interpolation period T, then according to the formula Calculate the distance (ellipse arc length) S within the interpolation period T T_n_s_e ; where v T_n_s is the initial speed of the interpolation period;

[0083] Let the radius of curvature corresponding to the initial angle of the current interpolation cycle be r T_n_s , and then according ...

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Abstract

The invention relates to a speed planning method for elliptical arcs and circular arcs of a numerical control system based on a tangent vector, which belongs to the technical field of speed processing of a numerical control system. The invention solves the problem of slow speed change during planning due to the limitation of the maximum synthetic acceleration value in the existing speed planning method. The present invention uses the tangent vector method to solve the maximum synthetic acceleration value at any point on the curve, and then performs speed integration. Using such a speed planning processing method, the maximum allowable acceleration at any point on the curve can be brought into play, and the speed planning can be carried out with the maximum achievable acceleration, that is, the acceleration and deceleration can be performed with the maximum efficiency, so as to achieve faster time and distance. high speed. Moreover, compared with the existing speed planning method, the method of the present invention does not require discrete operations, so the required calculation amount is smaller, and the burden of the numerical control system is reduced. The invention can be applied to the speed planning of the numerical control system.

Description

technical field [0001] The invention belongs to the technical field of speed processing of numerical control systems, in particular to a speed planning method for elliptical arcs and circular arcs of numerical control systems based on tangent vectors. Background technique [0002] The brain of my country's CNC equipment is the CNC system. It uses the control of the servo drive and transmission equipment to achieve the trajectory motion requirements of the CNC equipment through the internal processing flow according to the processing code instructions. When we carry out motion control, we always hope that the trajectory requirements can be completed as soon as possible with the processing speed of the processing instruction code to ensure the accuracy. Therefore, the quality of the speed planning determines whether the trajectory motion requirements can be completed in less time, which is also the core issue of improving processing efficiency. [0003] The speed planning of ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/416
CPCG05B19/416G05B2219/34169
Inventor 刘清建刘志刚董潇禹李政徐文聪左中豪
Owner TIANJIN UNIVERSITY OF TECHNOLOGY