High-precision parameter path interpolation method and system

A high-precision, parametric technology, used in general control systems, control/regulation systems, instruments, etc., can solve the problem that the interpolation parameter path cannot suppress acceleration fluctuations, etc., to improve motion stability and reduce output trajectory acceleration fluctuations. Effect

Pending Publication Date: 2022-04-01
HANGZHOU DIANZI UNIV
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Problems solved by technology

[0006] In order to overcome the deficiency that the interpolation parameter path of existing numerical control and other electromechanical integration devices cannot suppress acceleration fluctuations, the purpose of the present invention is to provide a high-precision parameter path interpolation method and system, based on speed planning and arc length calculation parameter mapping interpolation Compensation, suppressing fluctuations in interpolation output acceleration, meeting high-speed feed stability requirements such as high-speed machining

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  • High-precision parameter path interpolation method and system
  • High-precision parameter path interpolation method and system
  • High-precision parameter path interpolation method and system

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Embodiment Construction

[0072] The technical solutions of the present invention will be further explained below through specific examples.

[0073] Such as figure 1 As shown, the high-precision parameter path interpolation method in the embodiment of the present invention includes the following steps:

[0074] S0, acquisition parameter curve path;

[0075] S1. Based on the curvature monotonicity of the parameter curve path, the parameter curve path is divided according to the critical curvature value point and the curvature extremum point, and the arc length of each segment is obtained;

[0076] S2. Use the S-curve acceleration and deceleration algorithm with bounded jerk to plan the speed of each segment respectively;

[0077] S3. Based on the arc length of each segment and the velocity of each segment, the arc length versus time spline and the parameter versus arc length spline are respectively obtained by cubic spline fitting; more specifically, the cubic spline;

[0078] S4. In the process of ...

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Abstract

The invention relates to a high-precision parameter path interpolation method and system, and the method comprises the steps: S1, segmenting a parameter curve path based on the curvature monotonicity of the parameter curve path according to a critical curvature value point and a curvature extreme point, and solving the arc length of each segment; s2, respectively planning the speed of each segment by adopting a jump-bounded S curve acceleration and deceleration algorithm; s3, based on the arc length of each segment and the speed of each segment, performing cubic spline fitting to obtain an arc length-to-time spline and a parameter-to-arc length spline; s4, in the interpolation process, the arc length corresponding to the actual feeding step is obtained through the arc length pair time spline, corresponding parameters are obtained through the parameter pair arc length spline, and therefore the coordinate increment of interpolation is calculated. According to the method, the output feeding acceleration fluctuation can be remarkably suppressed, and the interpolation precision is improved.

Description

technical field [0001] The invention belongs to the technical field of feed path control of numerical control and electromechanical integration systems, and in particular relates to a high-precision parameter path interpolation method and system, in particular, the method of parameter mapping for speed planning of feed components can be used to interpolate the parameter path to reduce the Interpolate the acceleration fluctuation of the output trajectory of the high-speed feed component to improve its motion stability. Background technique [0002] Traditional CNC machine tools generally use linear and exponential methods to describe the relationship between feed speed and time. The calculation is simple, but there is a sudden change in acceleration at the beginning and end of acceleration and deceleration, so the driver has an impact on the driven part at the beginning and end of acceleration and deceleration. Force, so it is not suitable for high-speed machining. [0003] ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/41
Inventor 季国顺李蓉张巨勇陈志平
Owner HANGZHOU DIANZI UNIV
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