Method, device, processor and computer-readable storage medium for realizing interpolation and superposition processing based on dynamic programming in numerical control system

Abstract

The present invention relates to a method for realizing interpolation and superposition processing based on dynamic programming in a numerical control system, comprising the following steps: initializing waveform parameters; iteratively calculating the current acceleration waveform parameters according to the left-segment acceleration waveform, and interpolating until Vx and V2 have the same sign; judging whether Vx reaches V2; judging whether it is a case of same-direction deceleration and no solution for the area; judging whether u1 is less than Ta; judging whether it is a case of same-direction deceleration superposition or the area makes the waveform parameters have a solution, and processing; recalculating the current acceleration waveform parameters; continuing interpolation according to the waveform parameters until the end. The present invention also relates to a device, a processor and a computer-readable storage medium for realizing interpolation and superposition based on dynamic programming. The method, device, processor and a computer-readable storage medium for realizing interpolation and superposition processing based on dynamic programming in a numerical control system using the present invention have high speed, high precision, simple processing, strong adaptability to changes in input parameters and instruction parameters, and have high practical value in the numerical control system.

Description

Technical Field

[0001] The present invention relates to the field of numerical control machine tools, in particular to the field of interpolation, and specifically refers to a method, device, processor and computer-readable storage medium thereof for implementing interpolation superposition processing based on dynamic programming in a numerical control system. Background Art

[0002] The core of CNC machine tools is CNC software, and the core of CNC software is interpolation. Interpolation determines the accuracy, smoothness and efficiency of parts processed by CNC machine tools. One important type of interpolation is linear interpolation. Among linear interpolation algorithms, the algorithms that can take into account processing accuracy, smoothness and speed at the same time in the CNC industry are not yet mature. The reason is that if the accuracy requirement is high, the speed cannot be very fast; conversely, if the speed is fast, the accuracy cannot be very high; some algorithms require complex calculations to take into account the processing accuracy, smoothness and speed requirements at the same time, which does not meet the real-time requirements of CNC systems. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a method, device, processor and computer-readable storage medium for realizing interpolation and superposition processing based on dynamic programming in a numerical control system which is easy to operate, simple to calculate and has a wide range of applications.

[0004] In order to achieve the above-mentioned object, the method, device, processor and computer-readable storage medium for implementing interpolation superposition processing based on dynamic programming in the numerical control system of the present invention are as follows:

[0005] The method for realizing interpolation and superposition processing based on dynamic programming in the numerical control system has the following main features:

[0006] (1) Initialize waveform parameters;

[0007] (2) Iteratively calculate the current acceleration waveform parameters and Vx, Sa, and Sb based on the left acceleration waveform, and interpolate until Vx and V2 have the same sign;

[0008] (3) Determine whether Vx reaches V2. If so, proceed to step (4); otherwise, proceed to step (5);

[0009] (4) Determine whether it is a case of same-direction deceleration and no area solution, handle it, and continue to step (8);

[0010] (5) Determine whether u1 is less than Ta, process it, and continue with step (6);

[0011] (6) Determine whether the same-direction deceleration superposition or area causes the waveform parameters to have a solution, and handle it;

[0012] (7) Recalculate the current acceleration waveform parameters and Vx, Sa, Sb;

[0013] (8) Continue interpolation according to the waveform parameters until the end.

[0014] Preferably, the step (4) specifically comprises the following steps:

[0015] (4.1) Determine whether the deceleration is superimposed in the same direction and the area has no solution. If so, continue with step (4.2); otherwise, calculate step (4.3);

[0016] (4.2) Iterate and interpolate until the area is solved or Vx and V2 are reversed, and continue with step (4.3);

[0017] (4.3) Calculate the length W of the uniform speed segment and proceed to step (8).

[0018] Preferably, the step (5) specifically comprises the following steps:

[0019] (5.1) Determine whether u1 is less than Ta. If so, proceed to step (5.2); otherwise, proceed to step (5.3);

[0020] (5.2) The waveform parameter u1 is u1+T, and then proceed to step (5.4);

[0021] (5.3) At the stage when the acceleration of the previous acceleration waveform is a constant value, the waveform parameter p1 is obtained as p1+T;

[0022] (5.4) Calculate the current acceleration waveform parameters and Vx, Sa, and Sb.

[0023] Preferably, the step (6) specifically comprises the following steps:

[0024] (6.1) Determine whether the same-direction deceleration superposition or area makes the waveform parameters have a solution. If so, proceed to step (6.2); otherwise, proceed to step (6.3);

[0025] (6.2) If the current stage is before the acceleration of the previous acceleration waveform reaches a constant value, then interpolate one time period in the segment t0 to t1; otherwise, interpolate one time period in the segment t1 to t2 and continue with step (3);

[0026] (6.3) If the current state is in the stage before the acceleration of the previous acceleration waveform becomes a constant value, the waveform parameter u1 is u1+T; otherwise, the waveform parameter p1 is p1+T.

[0027] Preferably, the step (3) of determining whether Vx reaches V2 specifically includes the following steps:

[0028] If V1>V2, if Vx<=V2, then Vx reaches V2; otherwise, if Vx>=V2, then Vx reaches V2.

[0029] Preferably, in step (6), determining the same-direction deceleration superposition or area so that the waveform parameters have a solution specifically includes the following steps:

[0030] If V2>0, then if Sa+Sb<=S, there is a solution; otherwise, if Sa+Sb>=S, there is a solution;

[0031] Wherein, S is the sum of the remaining displacement when the previous instruction starts to decelerate and the displacement of the next instruction.

[0032] The main feature of the device for realizing interpolation and superposition processing based on dynamic programming in a numerical control system is that the device comprises:

[0033] a processor configured to execute computer executable instructions;

[0034] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the method for realizing interpolation and superposition processing based on dynamic programming in the above-mentioned numerical control system are realized.

[0035] The processor for implementing interpolation and superposition processing based on dynamic programming in a numerical control system has the main feature that the processor is configured to execute computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the method for implementing interpolation and superposition processing based on dynamic programming in the above-mentioned numerical control system are implemented.

[0036] The main feature of the computer-readable storage medium is that a computer program is stored thereon, and the computer program can be executed by a processor to implement the various steps of the method for implementing interpolation and superposition processing based on dynamic programming in the above-mentioned numerical control system.

[0037] The method, device, processor and computer-readable storage medium for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention have the characteristics of high speed, high precision, simple processing, and strong adaptability to changes in input parameters and instruction parameters. It has high practical value in the numerical control system and meets the real-time requirements of the numerical control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The invention provides a smooth speed transition for the same-direction acceleration situation of a method for realizing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention.

[0039] Figure 2It is a schematic diagram of acceleration waveform of the speed transitioning from v1 to v2 in the method of realizing interpolation and superposition processing based on dynamic programming in the numerical control system of the present invention.

[0040] Figure 3 The present invention is a flow chart of a method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system.

[0041] Figure 4 It is a waveform diagram of a scene illustration of a method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention.

[0042] Figure 5 It is a waveform diagram of scene 000 of an embodiment of a method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention.

[0043] Figure 6 It is a waveform diagram of scene 010 of an embodiment of a method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention.

[0044] Figure 7 It is a waveform diagram of scene 100 of an embodiment of a method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention.

[0045] Figure 8 It is a waveform diagram of scene 101 of an embodiment of a method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention.

[0046] Fig. 9 It is a waveform diagram of scene 110 of an embodiment of a method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention.

[0047] Fig.10 It is a waveform diagram of scene 111 of an embodiment of a method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention. DETAILED DESCRIPTION

[0048] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0049] The method for implementing interpolation and superposition processing based on dynamic programming in the numerical control system of the present invention comprises the following steps:

[0050] (1) Initialize waveform parameters;

[0051] (2) Iteratively calculate the current acceleration waveform parameters and Vx, Sa, and Sb based on the left acceleration waveform, and interpolate until Vx and V2 have the same sign;

[0052] (3) Determine whether Vx reaches V2. If so, proceed to step (4); otherwise, proceed to step (5);

[0053] (4) Determine whether it is a case of same-direction deceleration and no area solution, handle it, and continue to step (8);

[0054] (5) Determine whether u1 is less than Ta, process it, and continue with step (6);

[0055] (6) Determine whether the same-direction deceleration superposition or area causes the waveform parameters to have a solution, and handle it;

[0056] (7) Recalculate the current acceleration waveform parameters and Vx, Sa, Sb;

[0057] (8) Continue interpolation according to the waveform parameters until the end.

[0058] As a preferred embodiment of the present invention, the step (4) specifically comprises the following steps:

[0059] (4.1) Determine whether the deceleration is superimposed in the same direction and the area has no solution. If so, continue with step (4.2); otherwise, calculate step (4.3);

[0060] (4.2) Iterate and interpolate until the area is solved or Vx and V2 are reversed, and continue with step (4.3);

[0061] (4.3) Calculate the length W of the uniform speed segment and proceed to step (8).

[0062] As a preferred embodiment of the present invention, the step (5) specifically comprises the following steps:

[0063] (5.1) Determine whether u1 is less than Ta. If so, proceed to step (5.2); otherwise, proceed to step (5.3);

[0064] (5.2) The waveform parameter u1 is u1+T, and then proceed to step (5.4);

[0065] (5.3) At the stage when the acceleration of the previous acceleration waveform is a constant value, the waveform parameter p1 is obtained as p1+T;

[0066] (5.4) Calculate the current acceleration waveform parameters and Vx, Sa, and Sb.

[0067] As a preferred embodiment of the present invention, the step (6) specifically comprises the following steps:

[0068] (6.1) Determine whether the same-direction deceleration superposition or area makes the waveform parameters have a solution. If so, proceed to step (6.2); otherwise, proceed to step (6.3);

[0069] (6.2) If the current stage is before the acceleration of the previous acceleration waveform reaches a constant value, then interpolate one time period in the segment t0 to t1; otherwise, interpolate one time period in the segment t1 to t2 and continue with step (3);

[0070] (6.3) If the current state is in the stage before the acceleration of the previous acceleration waveform becomes a constant value, the waveform parameter u1 is u1+T; otherwise, the waveform parameter p1 is p1+T.

[0071] As a preferred embodiment of the present invention, the step (3) of determining whether Vx reaches V2 specifically includes the following steps:

[0072] If V1>V2, if Vx<=V2, then Vx reaches V2; otherwise, if Vx>=V2, then Vx reaches V2.

[0073] As a preferred embodiment of the present invention, the step (6) of determining whether the same-direction deceleration superposition or area makes the waveform parameters have a solution specifically includes the following steps:

[0074] If V2>0, then if Sa+Sb<=S, there is a solution; otherwise, if Sa+Sb>=S, there is a solution;

[0075] Wherein, S is the sum of the remaining displacement when the previous instruction starts to decelerate and the displacement of the next instruction.

[0076] The device for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention comprises:

[0077] a processor configured to execute computer executable instructions;

[0078] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the method for realizing interpolation and superposition processing based on dynamic programming in the above-mentioned numerical control system are realized.

[0079] The processor of the present invention is used for implementing interpolation and superposition processing based on dynamic programming in a numerical control system, wherein the processor is configured to execute computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the method for implementing interpolation and superposition processing based on dynamic programming in the above-mentioned numerical control system are implemented.

[0080] The computer-readable storage medium of the present invention stores a computer program thereon, and the computer program can be executed by a processor to implement the various steps of the method for implementing interpolation and superposition processing based on dynamic programming in the above-mentioned numerical control system.

[0081] In a specific implementation manner of the present invention, the speed superposition scheme adopted is as follows:

[0082] In the connection between the previous and next two instructions, in order to increase the processing speed, this algorithm does not adopt the solution of reducing the speed of the previous instruction to 0 and then executing the next instruction, but adopts the solution of superimposing the next instruction with the previous instruction when the previous instruction starts to decelerate. In this way, a smooth transition from the speed of the previous instruction to the speed of the next instruction is achieved, the time for the previous instruction to decelerate and the next instruction to accelerate is shortened, and a smooth speed transition is achieved. The superposition of the above two instructions includes three situations: same-direction acceleration, same-direction deceleration, and reverse direction, which can be handled by this algorithm. Here, we only take the superposition of the same-direction acceleration as an example, and give the speed-time waveform and acceleration-time waveform as shown below Figure 1 shown.

[0083] Figure 1 It shows that the integral of acceleration over time is the velocity difference over the corresponding time range, and the integral of velocity over time is the displacement moved over the corresponding time range.

[0084] Among them, Sa is the displacement during the speed transition period, Sc is the displacement during the uniform speed period, and Sb is the displacement during the deceleration period. From the start of speed superposition to the end of the execution of the next instruction, there are 7 stages, and their time lengths are u1, p1, u1, w, u2, p2, and u2 respectively.

[0085] Figure 1 In the example, if the displacement is sufficient, v2 is the speed value specified in the user processing instruction. Otherwise, the speed of the subsequent instruction cannot reach the speed value specified in the user processing instruction and can only reach vx, so there is no uniform speed period.

[0086] The rate of change of acceleration over time, J, is a parameter determined by the performance of the machine tool, and Ta is the time it takes for the acceleration to increase from 0 to its maximum value.

[0087] The calculation formula is as follows:

[0088] v2=v1+J×u1×(u1+p1);

[0089] Sa=(v1+v2)×(2×u1+p1) / 2;

[0090] Sb = v2 × (2 × u2 + p2) / 2;

[0091] The calculation formulas for u2 and p2 are as follows:

[0092]

[0093] The algorithm works as follows:

[0094] 1. Achievement of the fastest goal:

[0095] Under the condition that displacement allows, use the highest processing speed possible; use the highest acceleration possible during acceleration and deceleration; and use the highest acceleration possible during acceleration changes.

[0096] 2. Dynamic programming algorithm:

[0097] In order to achieve the goal in 1, we need to Figure 2 Among a series of possible acceleration waveform schemes for the transition from velocity v1 to v2 shown, find the best (i.e., fastest) interpolation and superposition scheme.

[0098] In the process of the difference between v1 and v2 changing from small to large, the acceleration-time waveforms correspond to OA1B1, OA2B2, ..., OA n B n OA n A n+1 B n+1 ,……,OA n A n+m B n+m .

[0099] Among them, OA n B n It is the transition from an isosceles triangle to an isosceles trapezoid, that is, the acceleration just increases to the maximum value (the time it takes for the acceleration to increase to the maximum value is Ta).

[0100] The area of ​​the isosceles triangle or isosceles trapezoid formed by the acceleration-time waveform and the time axis increases from left to right, and its value is equal to v2-v1. The larger the area, the larger v2, and thus the faster the processing speed.

[0101] The constraints in the above waveform change process are:

[0102] 1. The total displacement of the process where v1 increases to v2 and v2 decreases to 0 (i.e. Figure 1 Sa+Sb) in cannot exceed the given total displacement value;

[0103] 2. The v2 speed cannot exceed the given maximum speed.

[0104] This is an optimization problem. If the method of solving multivariate high-order equations is used, the calculation will be complex and cannot meet the real-time requirements of the CNC system.

[0105] The present invention adopts a dynamic programming algorithm, and the algorithm flow is as follows: Figure 3 The principle of the algorithm is as follows:

[0106] For each interpolation step, the calculation is performed to determine whether the current displacement is allowed and whether the speed and acceleration can continue to increase. During the interpolation and calculation process, if the critical value of the constraint condition is reached, the fastest speed superposition solution is found. Here, calculation is only required in the acceleration increase stage and the acceleration constant stage (i.e., uniform acceleration stage). Once the adjacent value is found, the optimal solution is obtained. Figure 1 The waveform parameters u1 and p1 in are found, and according to the previous formula, the waveform parameters w, u2, and p2 can be obtained, and the dynamic programming is completed. The subsequent interpolation process does not need to perform dynamic programming calculations. In this way, the same mathematical model can be used to deal with various scenarios, and the calculation is relatively simple.

[0107] Here, inU1=true means that the current state is before the acceleration of the previous acceleration waveform becomes a constant value, and inU1=false means that the current state is when the acceleration of the previous acceleration waveform becomes a constant value.

[0108] Among them, the method for judging whether Vx reaches V2 is:

[0109] If V1>V2, then if Vx<=V2, it will arrive;

[0110] Otherwise, if Vx>=V2, it is reached.

[0111] The same-direction deceleration superposition means: 0<V2<V1 or 0>V2>V1.

[0112] Among them, the method for judging whether the area Sa+Sb makes the waveform parameters have a solution is as follows:

[0113] If V2>0, then if Sa+Sb<=S, there is a solution;

[0114] Otherwise, if Sa+Sb>=S, there is a solution;

[0115] Among them, S is the sum of the displacement remaining when the previous instruction starts to decelerate and the displacement of the next instruction.

[0116] The interpolation method mentioned in this method is:

[0117] Record the current time as t, displacement as s, velocity as v, and acceleration as a;

[0118] Then (T is the interpolation time period):

[0119] t+=T;

[0120] s+=v×T;

[0121] If the current speed is uniform, v remains unchanged, otherwise v+=a×T;

[0122] There are three situations according to the different stages:

[0123] If it is in the stage of increasing acceleration, then a+=J×T;

[0124] If it is in the stage of decreasing acceleration, then a-=J×T;

[0125] Otherwise, a remains unchanged.

[0126] The calculation verification example adopted by this method is as follows:

[0127] The total displacement S, velocity v1, v2 are different, and the acceleration waveform after superposition has different situations. Definition Figure 4 The legend shown is:

[0128] In the left and right segments, the case of 0 corresponds to an isosceles trapezoid, and the case of 1 corresponds to an isosceles triangle.

[0129] There are a total of 8 scenario combinations, 2 of which are impossible to occur. Their combinations and waveforms are shown in Table 1.

[0130] Table 1 Summary of verification scenarios

[0131]

[0132] The specific implementation scheme of this embodiment can refer to the relevant description in the above embodiment, which will not be repeated here.

[0133] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0134] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0135] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0136] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0137] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the corresponding program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0138] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0139] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0140] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0141] The method, device, processor and computer-readable storage medium for implementing interpolation and superposition processing based on dynamic programming in a numerical control system of the present invention have the characteristics of high speed, high precision, simple processing, and strong adaptability to changes in input parameters and instruction parameters. It has high practical value in the numerical control system and meets the real-time requirements of the numerical control system.

[0142] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it is apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive.

Claims

1. A method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system, characterized in that: The method comprises the following steps: (1) Initialize waveform parameters; (2) Iteratively calculate the current acceleration waveform parameters and Vx, Sa, and Sb based on the left acceleration waveform, and interpolate until Vx and V2 have the same sign, where Sa is the displacement during the speed transition period, Sb is the displacement during the deceleration period, and V2 is the speed value specified in the user processing instruction; (3) Determine whether Vx reaches V2. If so, proceed to step (4); otherwise, proceed to step (5); (4) Determine whether it is a case of same-direction deceleration and no area solution, handle it, and continue to step (8); (5) Determine whether u1 is less than Ta, process, and continue to step (6), where Ta is the time it takes for the acceleration to increase from 0 to the maximum value; (6) Determine whether the same-direction deceleration superposition or area causes the waveform parameters to have a solution, and handle it; (7) Recalculate the current acceleration waveform parameters and Vx, Sa, Sb; (8) Continue interpolation according to the waveform parameters until the end; The step (4) specifically comprises the following steps: (4.1) Determine whether the deceleration is superimposed in the same direction and the area has no solution. If so, continue with step (4.2); otherwise, calculate step (4.3); (4.2) Iterate and interpolate until the area is solved or Vx and V2 are reversed, and continue with step (4.3); (4.3) Calculate the length W of the uniform speed segment and continue with step (8); The step (5) specifically comprises the following steps: (5.1) Determine whether u1 is less than Ta. If so, proceed to step (5.2); otherwise, proceed to step (5.3); (5.2) The waveform parameter u1 is u1+T, and the process continues with step (5.4), where T is the interpolation time period; (5.3) At the stage when the acceleration of the previous acceleration waveform is a constant value, the waveform parameter p1 is obtained as p1+T; (5.4) Calculate the current acceleration waveform parameters and Vx, Sa, Sb; The step (6) specifically comprises the following steps: (6.1) Determine whether the same-direction deceleration superposition or area makes the waveform parameters have a solution. If so, proceed to step (6.2); otherwise, proceed to step (6.3); (6.2) If the current stage is before the acceleration of the previous acceleration waveform reaches a constant value, then interpolate one time period in the segment t0 to t1; otherwise, interpolate one time period in the segment t1 to t2 and continue with step (3); (6.3) If the current state is in the stage before the acceleration of the previous acceleration waveform becomes a constant value, the waveform parameter u1 is u1+T; otherwise, the waveform parameter p1 is p1+T.

2. The method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system according to claim 1, characterized in that: In the step (3), determining whether Vx reaches V2 specifically includes the following steps: If V1>V2, if Vx<=V2, then Vx reaches V2; otherwise, if Vx>=V2, then Vx reaches V2.

3. The method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system according to claim 1, characterized in that: In the step (6), determining the same-direction deceleration superposition or area so that the waveform parameters have a solution specifically includes the following steps: If V2>0, then if Sa+Sb<=S, there is a solution; otherwise, if Sa+Sb>=S, there is a solution; Wherein, S is the sum of the remaining displacement when the previous instruction starts to decelerate and the displacement of the next instruction.

4. A device for implementing interpolation and superposition processing based on dynamic programming in a numerical control system, characterized in that: The device comprises: a processor configured to execute computer-executable instructions; A memory storing one or more computer executable instructions, wherein when the computer executable instructions are executed by the processor, the steps of the method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system according to any one of claims 1 to 3 are implemented.

5. A processor for implementing interpolation and superposition processing based on dynamic programming in a numerical control system, characterized in that: The processor is configured to execute computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program can be executed by a processor to implement the various steps of the method for implementing interpolation and superposition processing based on dynamic programming in a numerical control system in any one of claims 1 to 3.

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