Single-axis reciprocating motion speed planning method and related equipment thereof

Abstract

The invention discloses a speed planning method for single-axis reciprocating motion and related equipment thereof, which are applied to speed planning of single-axis reciprocating motion in numerical control machine tool processing, and effectively avoid the speed step problem caused by the fact that the acceleration of a conventional S-shaped speed curve at a turning point suddenly changes to zero by configuring a non-zero acceleration at the turning point. By calculating the first displacement compensation and the second displacement compensation, the two stages of the reciprocating motion are subjected to constant-speed motion compensation, so that a speed curve is smoother in the whole motion process, continuous change of the acceleration is ensured, acceleration fluctuation is remarkably reduced, fluctuation of a lagging period of a servo system is effectively inhibited, and the stability of the servo system is improved. Suddenly changed force applied to the motion shaft by the motor is reduced, and the vibration phenomenon of the machine tool in high-speed reciprocating motion is reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of CNC machine tool processing, and specifically relates to a speed planning method for single-axis reciprocating motion and related equipment. Background Art

[0002] Single-axis reciprocating motion is common in CNC machine tool processing, such as spring compression machines, universal machines, and laser heads of planar laser machines. The common characteristics of this type of motion are single motion form, large motion parameters, and high efficiency requirements. Please refer to Figure 1 The reciprocating motion is described as: points A, B, and C are on the same straight line, A and B are on the same side of C, A and B can coincide, C is the turning point, and the motion is required to pass through A, C, and B in sequence.

[0003] The S-shaped velocity profile for single-axis reciprocating motion—that is, a velocity profile with continuous acceleration—is typically planned as two separate steps, A→C→B. At point C, acceleration must be reduced to zero before acceleration is applied again. This creates a speed step at point C (the turning point) of the velocity profile. This speed profile can cause servo lag cycles to vary in machines with aggressive parameters. Acceleration fluctuations are reflected in fluctuations in the force exerted by the motor on the moving axis, causing the machine tool to vibrate along the axis. Summary of the Invention

[0004] The embodiments of the present application provide a machining motion planning method, apparatus, device and storage medium to solve the problem that the S-shaped speed curve of the existing single-axis reciprocating motion will cause the servo lag period to change, and the fluctuation of acceleration is reflected in the fluctuation of the force applied by the motor to the motion axis in reality, and the machine tool vibrates following the motion axis.

[0005] In a first aspect, an embodiment of the present application provides a method for speed planning of a single-axis reciprocating motion, comprising:

[0006] A speed planning method for single-axis reciprocating motion, comprising:

[0007] Configure the acceleration A of the turning point r ;

[0008] According to the acceleration A r Calculate a first displacement compensation ΔS1 and a second displacement compensation ΔS2;

[0009] Use the first displacement compensation ΔS1 to perform uniform motion compensation on the first segment of speed planning for uniaxial reciprocating motion;

[0010] And the second displacement compensation ΔS2 is used to perform uniform motion compensation on the second speed planning of the uniaxial reciprocating motion.

[0011] Furthermore, configure the acceleration A of the turning pointr The step of determining the speed peak value V

[0012] The speed peak value V max1 of the second segment of the speed planning, and determining the speed peak value V max2 of the second segment of the speed planning.

[0013] Obtaining the maximum acceleration A max of the numerical control machine tool parameter.

[0014] According to the speed peak value V max1 of the first segment of the speed planning, the speed peak value V max2 of the second segment of the speed planning, and the maximum acceleration A max , determining the acceleration A r of the turning point.

[0015] Further, the acceleration A r of the turning point is calculated based on the following formula:

[0016]

[0017] In the formula, J is the maximum jerk of single-axis reciprocating motion.

[0018] Further, the step of calculating the first displacement compensation ΔS1 according to the acceleration A r , specifically includes:

[0019] The acceleration a and the speed v at any time are recorded as a two-element array (a, v);

[0020] Calculating the displacement size S[(0, V max1 )→(A r ,0)] required when (0, V max1 ) is decelerated to (A r ,0) in the first segment of the speed planning.

[0021] Calculating the displacement size S[(0, V max1 )→(0,0)] required when (0, V max1 ) is decelerated to (0,0) in the preset third segment of the speed planning, wherein the third segment of the speed planning is the speed planning segment matched with the first segment of the speed planning in the conventional S-shaped curve speed planning.

[0022] Calculating the first displacement compensation ΔS1 = S[(0, V max1 )→(0,0)]-S[(0, V max1 )→(A r ,0)].

[0023] Further, the step of calculating the second displacement compensation ΔS2 according to the acceleration A r , specifically includes:

[0024] calculating a displacement size S[(A r ,0)→(0,V max2 )] required when accelerating from (A r ,0) to (0,V max2 ) in the second segment of the speed planning;

[0025] calculating a displacement size S[(0,0)→(0,V max2 )] required when accelerating from (0,0) to (0,V max2 ) in the fourth segment of the speed planning, wherein the third segment of the speed planning is a segment of the speed planning matched with the second segment of the speed planning in the conventional S-shaped curve speed planning;

[0026] calculating a second displacement compensation ΔS2=S[(0,0)→(0,V max2 )]-S[(A r ,0)→(0,V max2 )].

[0027] Further, the step of using the first displacement compensation ΔS1 to compensate the first segment of the speed planning of the single-axis reciprocating motion with uniform motion includes:

[0028] when the single-axis reciprocating motion reaches a speed peak V max1 of the first segment of the speed planning, compensating the uniform motion, the supplement speed being the speed peak V max1 of the first segment of the speed planning, and the compensation distance being the first displacement compensation ΔS1.

[0029] Further, the step of using the second displacement compensation ΔS2 to compensate the second segment of the speed planning of the single-axis reciprocating motion with uniform motion includes:

[0030] when the single-axis reciprocating motion reaches a speed peak V max2 of the second segment of the speed planning, compensating the uniform motion, the supplement speed being the speed peak V max2 of the second segment of the speed planning, and the compensation distance being the second displacement compensation ΔS2.

[0031] In a second aspect, the embodiments of the present application provide a speed planning device for single-axis reciprocating motion, comprising:

[0032] A speed planning device for single-axis reciprocating motion, comprising:

[0033] a turnaround point acceleration module configured to configure an acceleration A r of the turnaround point;

[0034] a displacement compensation calculation module configured to calculate a first displacement compensation ΔS1 and a second displacement compensation ΔS2 according to the acceleration A r .

[0035] A first motion compensation module is used to perform uniform motion compensation on the first segment speed planning of the uniaxial reciprocating motion using a first displacement compensation ΔS1;

[0036] The second motion compensation module is used to perform uniform motion compensation on the second segment speed planning of the uniaxial reciprocating motion using the second displacement compensation ΔS2.

[0037] In a third aspect, an embodiment of the present application provides a processing device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the speed planning method for single-axis reciprocating motion described in any one of the first aspects above is implemented.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the speed planning method for single-axis reciprocating motion described in any one of the first aspects above is implemented.

[0039] The beneficial effects of the embodiments of the present application are:

[0040] The present application discloses a method for speed planning of single-axis reciprocating motion and related equipment, which are applied to the speed planning of single-axis reciprocating motion in CNC machine tool processing. By configuring a non-zero acceleration at the turning point, the speed step problem caused by the sudden change of acceleration to zero at the turning point of the conventional S-shaped speed curve is effectively avoided. The present application calculates the first displacement compensation and the second displacement compensation to perform uniform motion compensation for the two stages of the reciprocating motion respectively, making the speed curve smoother throughout the entire motion process, ensuring continuous acceleration changes, thereby significantly reducing acceleration fluctuations, effectively suppressing the fluctuation of the servo system hysteresis period, reducing the sudden change of the force applied by the motor to the moving axis, and reducing the vibration phenomenon of the machine tool during high-speed reciprocating motion. Compared with traditional methods, the present application not only improves the dynamic response performance and processing stability of CNC machine tool processing, but also improves the overall motion efficiency, which is of great significance for achieving high-speed and high-precision processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 It is a schematic diagram of a conventional single-axis reciprocating motion path;

[0043] Figure 2 This is a flow chart of a method for speed planning of single-axis reciprocating motion provided by an embodiment of the present application;

[0044] Figure 3 is a schematic diagram of a single-axis reciprocating motion path provided by an embodiment of the present application;

[0045] Figure 4 This is provided in one embodiment of the present application Figure 3 The displacement-time diagram of the movement process A→C→B;

[0046] Figure 5 This is provided in one embodiment of the present application Figure 3 The speed-time diagram of the movement process A→C→B;

[0047] Figure 6 This is provided in one embodiment of the present application Figure 3 The acceleration-time diagram of the motion process A→C→B;

[0048] Figure 7 This is a displacement-time comparison diagram of the motion process of the present invention and the conventional S-shaped velocity curve provided by an embodiment of the present application;

[0049] Figure 8 This is a speed-time comparison diagram of the motion process of the present invention and the conventional S-shaped speed curve provided in one embodiment of the present application;

[0050] Figure 9 This is an acceleration-time comparison diagram of the motion process of the present invention and the conventional S-shaped velocity curve provided by an embodiment of the present application;

[0051] Figure 10 This is a schematic diagram of a speed planning device for single-axis reciprocating motion provided by an embodiment of the present application;

[0052] Figure 11 It is a structural diagram of a processing equipment provided in one embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following Figures 2 to 11 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0054] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0055] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0056] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0057] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0058] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0059] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0060] The embodiments of the present application provide a method for speed planning of single-axis reciprocating motion, which can be applied to speed planning of single-axis reciprocating motion in CNC machine tool processing.

[0061] Figure 2 This is a flow chart of a method for speed planning of single-axis reciprocating motion provided by an embodiment of the present application. Figure 2 The processing motion planning method provided in the embodiment of the present application includes steps S201 to S204.

[0062] S201, configure the acceleration A of the turning point r ;

[0063] Determine the peak speed V of the first speed planning max1 , and determine the peak speed V of the second speed planning max2 ;

[0064] Get the maximum acceleration A of the CNC machine tool parameters max ;

[0065] According to the peak speed V planned for the first section max1 , the peak speed V of the second speed planning max2 and the maximum acceleration A max , determine the acceleration A at the turning point r .

[0066] The acceleration A at the turning point is calculated based on the following formula r :

[0067]

[0068] Where J is the maximum acceleration of uniaxial reciprocating motion.

[0069] Specifically, the acceleration A at the turning point r Peak speed V according to the speed planning of the first and second segments max1 and V max2 , and the maximum acceleration A that the CNC machine tool can withstand max , a comprehensive calculation results in a reasonable non-zero acceleration value, ensuring smoother velocity changes at the turning point. This acceleration value must not only ensure the continuity of the acceleration curve but also meet the dynamic performance constraints of the machine tool during actual motion, avoiding mechanical shock and system vibration caused by sudden acceleration changes. By properly configuring this acceleration, a natural transition during the turning process can be achieved, improving system operational stability and responsiveness.

[0070] In another specific embodiment of the present application, the acceleration A at the turning point rThis can be calculated based on integrals. By analyzing the velocity curves of the first segment (A→C) and the second segment (C→B), the displacements during acceleration and deceleration are calculated, respectively. Based on the continuity requirements of the two velocity curves in time and position, the velocity-displacement relationship formed by the acceleration integral is used to infer the non-zero acceleration required at the turning point. This acceleration must not only meet the smooth transition requirements of the velocity curve but also ensure optimal matching of velocity and acceleration within the given path and time constraints, avoiding sudden changes or excessive mechanical loads. The integral method enables precise control, improving the feasibility of velocity planning and system stability.

[0071] S202, according to acceleration A r Calculate a first displacement compensation ΔS1 and a second displacement compensation ΔS2;

[0072] Specifically, the acceleration a and velocity v at any time are recorded as a binary array (a, v);

[0073] When calculating the first speed plan, (0, V max1 ) decelerates to (A r ,0) when the required displacement size S[(0,V max1 )→(A r ,0)];

[0074] In calculating the preset third speed plan, (0, V max1 ) decelerates to (0,0) and the required displacement S[(0,V max1 )→(0,0)], where the third speed planning segment is the speed planning segment that matches the first speed planning segment in the conventional S-curve speed planning;

[0075] Calculate the first displacement compensation ΔS1=S[(0,V max1 )→(0,0)]-S[(0,V max1 )→(A r ,0)].

[0076] When calculating the second speed plan, (A r ,0) to (0,V max2 ) when the required displacement S[(A r ,0)→(0,V max2 )];

[0077] In the fourth stage of the preset speed planning, (0,0) is accelerated to (0,V max2 ) when the required displacement size S[(0,0)→(0,V max2 )], wherein the third speed planning segment is the speed planning segment that matches the second speed planning segment in the conventional S-curve speed planning;

[0078] Calculate the second displacement compensation ΔS2=S[(0,0)→(0,V max2 )]-S[(A t ,0)→(0,V max2 )].

[0079] The two compensation values ​​are used to correct the lengths of the uniform speed segments of the first and second speed planning respectively to ensure the accuracy of the overall displacement and the smoothness of the speed curve, thereby improving the motion control accuracy and stability of the system.

[0080] S203, using a first displacement compensation ΔS1 to perform uniform motion compensation on the first segment of the speed planning of the uniaxial reciprocating motion;

[0081] When the single-axis reciprocating motion reaches the peak speed V of the first speed planning max1 When the uniform motion compensation is performed, the supplementary speed is the peak speed V of the first speed planning. max1 , the compensation distance is the first displacement compensation ΔS1.

[0082] S204 , and performing uniform motion compensation on the second segment speed planning of the uniaxial reciprocating motion using the second displacement compensation ΔS2 .

[0083] When the single-axis reciprocating motion reaches the peak speed V of the second speed planning max2 When the uniform motion compensation is performed, the supplementary speed is the peak speed V of the second speed planning max2 , the compensation distance is the second displacement compensation ΔS2.

[0084] In the above embodiment, the present application discloses a speed planning method for single-axis reciprocating motion, which is applied to single-axis reciprocating motion in CNC machine tool processing. By configuring a non-zero acceleration at the turning point, the speed step problem caused by the sudden change of acceleration to zero at the turning point of the conventional S-shaped speed curve is effectively avoided. The present application calculates the first displacement compensation and the second displacement compensation, and performs uniform motion compensation for the two stages of the reciprocating motion respectively, so that the speed curve is smoother during the entire motion process, ensuring continuous acceleration changes, thereby significantly reducing acceleration fluctuations, effectively suppressing the fluctuation of the servo system lag period, reducing the sudden change of the force applied by the motor to the moving axis, and reducing the vibration phenomenon of the machine tool during high-speed reciprocating motion. Compared with traditional methods, the present application not only improves the dynamic response performance and processing stability of CNC machine tool processing, but also improves the overall motion efficiency, which is of great significance for achieving high-speed and high-precision processing.

[0085] Please refer to Figures 3 to 9, where the example shows a motion parameter with a jerk of 0.025 mm / ms. 3 , acceleration 0.25mm / ms 2, speed 3mm / ms, reciprocating motion speed planning curve with a displacement of 60mm. Among them, points A and B coincide. The key nodes of the first speed planning include {A, A1, A2, A3, A4, A5, C}, among which AA1 is the first variable acceleration section with increasing acceleration; A1A2 is the uniform acceleration section with constant acceleration and not 0; A2A3 is the second variable acceleration section with decreasing acceleration; A3A4 is the uniform speed section, i.e. the first uniform motion compensation section with acceleration 0, |A3A4|=ΔS1; A4A5 is the variable deceleration section with increasing acceleration in the opposite direction; A5C is the uniform deceleration section with acceleration A r , and remain unchanged.

[0086] The key nodes of the second speed planning include {C, B1, B2, B3, B4, B5, B}. Compared with the first speed planning, CB1 is the reverse uniform acceleration segment with an acceleration of A. r , and remains unchanged; B1B2 is the reverse variable acceleration section, the reverse acceleration decreases until it is 0; B2B3 is the reverse uniform speed section, that is, the second uniform speed motion compensation section, the acceleration is 0, |B2B3|=ΔS2; B3B4 is the reverse first variable deceleration section, the reverse acceleration increases; B4B5 is the reverse uniform deceleration section, the acceleration remains unchanged and is not 0; B5B is the reverse second variable deceleration section, the reverse acceleration decreases.

[0087] In this example, the displacement to be compensated is ΔS1 = ΔS2 = 1.0417 ± 10 -15 mm; Peak velocity V max1 =-V max2 =2.8197040557861328mm / ms; compensation uniform speed time 0.36943673496538143ms.

[0088] Please refer to Figure 7-9 In conventional S-curve speed planning, there is a lack of displacement compensation, and the movement will be at point C before reaching point C. ′ Turn back.

[0089] In the above embodiment, the present application discloses a speed planning method for single-axis reciprocating motion, which is applied to single-axis reciprocating motion in CNC machine tool processing. By configuring a non-zero acceleration at the turning point, the speed step problem caused by the sudden change of acceleration to zero at the turning point of the conventional S-shaped speed curve is effectively avoided. The present application calculates the first displacement compensation and the second displacement compensation, and performs uniform motion compensation for the two stages of the reciprocating motion respectively, so that the speed curve is smoother during the entire motion process, ensuring continuous acceleration changes, thereby significantly reducing acceleration fluctuations, effectively suppressing the fluctuation of the servo system lag period, reducing the sudden change of the force applied by the motor to the moving axis, and reducing the vibration phenomenon of the machine tool during high-speed reciprocating motion. Compared with traditional methods, the present application not only improves the dynamic response performance and processing stability of CNC machine tool processing, but also improves the overall motion efficiency, which is of great significance for achieving high-speed and high-precision processing.

[0090] Corresponding to the method described in the above embodiment, Figure 10 A structural block diagram of a processing motion planning device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0091] refer to Figure 10 , an embodiment of the present application provides a speed planning device 100 for a single-axis reciprocating motion, comprising:

[0092] Turning point acceleration module 101, used to configure the acceleration A of the turning point r ;

[0093] The displacement compensation calculation module 102 is used to calculate the displacement compensation according to the acceleration A. r Calculate a first displacement compensation ΔS1 and a second displacement compensation ΔS2;

[0094] A first motion compensation module 103 is configured to perform uniform motion compensation on the first segment of the speed planning of the uniaxial reciprocating motion using a first displacement compensation ΔS1;

[0095] The second motion compensation module 104 is configured to perform uniform motion compensation on the second segment of the speed planning of the uniaxial reciprocating motion using the second displacement compensation ΔS2.

[0096] Furthermore, the turning point acceleration module 101 specifically includes:

[0097] The speed peak value determination unit is used to determine the speed peak value V of the first speed planning max1 , and determine the peak speed V of the second speed planning max2 ;

[0098] The maximum acceleration determination unit of the machine tool is used to obtain the maximum acceleration A of the CNC machine tool parameters. max ;

[0099] The turning point acceleration determination unit is used to determine the peak speed V according to the first speed planning. max1 , the peak speed V of the second speed planning max2 and the maximum acceleration A max , determine the acceleration A at the turning point r .

[0100] Furthermore, the acceleration A at the turning point is calculated based on the following formula: r :

[0101]

[0102] Where J is the maximum acceleration of uniaxial reciprocating motion.

[0103] Furthermore, the displacement compensation calculation module 102 includes:

[0104] A binary array construction unit is used to record the acceleration a and velocity v at any time as a binary array (a, v);

[0105] The first displacement unit is used to calculate the first speed planning, (0, V max1 ) decelerates to (A r ,0) when the required displacement size S[(0,V max1 )→(A r ,0)];

[0106] The second displacement unit is used to calculate the preset third speed plan, (0, V max1 ) decelerates to (0,0) and the required displacement S[(0,V max1 )→(0,0)], where the third speed planning segment is the speed planning segment that matches the first speed planning segment in the conventional S-curve speed planning;

[0107] The first displacement compensation calculation unit is used to calculate the first displacement compensation ΔS1=S[(0,V max1 )→(0,0)]-S[(0,V max1 )→(A r ,0)];

[0108] The third displacement unit is used to calculate the second speed planning, (A r ,0) to (0,V max2 ) when the required displacement S[(A r ,0)→(0,V max2 )];

[0109] The fourth displacement unit is used to calculate the preset fourth speed plan, (0,0) accelerated to (0,V max2) when the required displacement size S[(0,0)→(0,V max2 )], wherein the third speed planning segment is the speed planning segment that matches the second speed planning segment in the conventional S-curve speed planning;

[0110] The second displacement compensation unit is used to calculate the second displacement compensation ΔS2=S[(0,0)→(0,V max2 )]-S[(A r ,0)→(0,V max2 )].

[0111] Furthermore, the first motion compensation module 103 is specifically configured to:

[0112] When the single-axis reciprocating motion reaches the peak speed V of the first speed planning max1 When the uniform motion compensation is performed, the supplementary speed is the peak speed V of the first speed planning. max1 , the compensation distance is the first displacement compensation ΔS1.

[0113] Furthermore, the second motion compensation module 104 is specifically configured to:

[0114] When the single-axis reciprocating motion reaches the peak speed V of the second speed planning max2 When the uniform motion compensation is performed, the supplementary speed is the peak speed V of the second speed planning max2 , the compensation distance is the second displacement compensation ΔS2.

[0115] In the above embodiment, the present application discloses a speed planning device for single-axis reciprocating motion, which is applied to single-axis reciprocating motion in CNC machine tool processing. By configuring a non-zero acceleration at the turning point, the speed step problem caused by the sudden change of acceleration to zero at the turning point of the conventional S-shaped speed curve is effectively avoided. The present application calculates the first displacement compensation and the second displacement compensation to perform uniform motion compensation on the two stages of the reciprocating motion respectively, making the speed curve smoother throughout the entire motion process, ensuring continuous acceleration changes, thereby significantly reducing acceleration fluctuations, effectively suppressing the fluctuation of the servo system lag period, reducing the sudden change of the force applied by the motor to the moving axis, and reducing the vibration phenomenon of the machine tool during high-speed reciprocating motion. Compared with traditional methods, the present application not only improves the dynamic response performance and processing stability of CNC machine tool processing, but also improves the overall motion efficiency, which is of great significance for achieving high-speed and high-precision processing.

[0116] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0117] Figure 11This is a schematic diagram of the structure of the processing equipment provided in one embodiment of the present application. Figure 11 As shown, the processing equipment 11 of this embodiment includes: at least one processor 110 ( Figure 11 Only one is shown in the figure), a memory 111, and a computer program 112 stored in the memory 111 and executable on at least one processor 110; when the processor 110 executes the computer program 112, the steps in the above-mentioned various method embodiments are implemented.

[0118] The processing equipment may include, but is not limited to, a processor 110 and a memory 111. It will be understood by those skilled in the art that Figure 11 It is only an example of processing equipment and does not constitute a limitation of the processing equipment. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, buses, etc.

[0119] The processor 110 may be a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0120] In some embodiments, the memory 111 may be an internal storage unit of the processing equipment 11, such as a hard disk or memory of the processing equipment. In other embodiments, the memory 111 may also be an external storage device of the processing equipment, such as a plug-in hard disk equipped on the processing equipment, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Furthermore, the memory 111 may also include both an internal storage unit of the processing equipment and an external storage device. The memory 111 is used to store an operating system, application programs, a boot loader (Boot Loader), data, and other programs, such as the program code of a computer program. The memory 111 may also be used to temporarily store data that has been output or is to be output.

[0121] For example, the computer program 112 may be divided into one or more modules / units, one or more of which are stored in the memory 111 and executed by the processor 110 to implement the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 112 in the processing device 11.

[0122] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0124] If the aforementioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium; when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media include: any entity or device that can carry computer program code to a device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, USB flash drive, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0125] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0126] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned various method embodiments.

[0127] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0128] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0129] In the embodiments provided in this application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0130] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0131] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A speed planning method for single-axis reciprocating motion, characterized in that: include: Configure the acceleration A of the turning point r ; According to the acceleration A r Calculate a first displacement compensation ΔS1 and a second displacement compensation ΔS2; Performing uniform motion compensation on the first segment speed planning of the uniaxial reciprocating motion using the first displacement compensation ΔS1; And the second displacement compensation ΔS2 is used to perform uniform motion compensation on the second segment speed planning of the uniaxial reciprocating motion.

2. The speed planning method for single-axis reciprocating motion according to claim 1, characterized in that: Configure the acceleration A of the turning point r The steps include: Determine the peak speed V of the first speed planning max1 , and determine the peak speed V of the second speed planning max2 ; Get the maximum acceleration A of the CNC machine tool parameters max ; According to the peak speed V of the first speed planning max1 The peak speed V of the second speed planning max2 And the maximum acceleration A max , determine the acceleration A of the turning point r .

3. The speed planning method for uniaxial reciprocating motion according to claim 2, characterized in that: The acceleration A of the turning point is calculated based on the following formula r : Wherein, J is the maximum acceleration value of the uniaxial reciprocating motion.

4. The speed planning method for uniaxial reciprocating motion according to claim 2, characterized in that: According to the acceleration A r The step of calculating the first displacement compensation ΔS1 specifically includes: Record the acceleration a and velocity v at any time as a binary array (a, v); In calculating the first speed planning, (0, V max1 ) decelerates to (A r ,0) when the required displacement size S[(0,V max1 )→(A r ,0)]; In calculating the preset third speed plan, (0, V max1 ) decelerates to (0,0) when the required displacement S[(0,V max1 )→(0,0)], wherein the third speed planning segment is a speed planning segment in the conventional S-curve speed planning that matches the first speed planning segment; Calculate the first displacement compensation ΔS1=S[(0,V max1 )→(0,0)]-S[(0,V max1 )→(A r ,0)].

5. The speed planning method for single-axis reciprocating motion according to claim 4, characterized in that: According to the acceleration A r The step of calculating the second displacement compensation ΔS2 specifically includes: When calculating the second speed plan, (A r ,0) to (0,V max2 ) when the required displacement S[(A r ,0)→(0,V max2 )]; In the fourth stage of the preset speed planning, (0,0) is accelerated to (0,V max2 ) when the required displacement size S[(0,0)→(0,V max2 )], wherein the third speed planning segment is a speed planning segment in a conventional S-curve speed planning segment that matches the second speed planning segment; Calculate the second displacement compensation ΔS2=S[(0,0)→(0,V max2 )]-S[(A t ,0)→(0,V max2 )].

6. The speed planning method for single-axis reciprocating motion according to claim 2, characterized in that: The step of using the first displacement compensation ΔS1 to perform uniform motion compensation on the first segment speed planning of the uniaxial reciprocating motion specifically includes: When the uniaxial reciprocating motion reaches the peak speed V of the first speed planning max1 When the uniform motion compensation is performed, the supplementary speed is the peak speed V of the first speed planning max1 , the compensation distance is the first displacement compensation ΔS1.

7. The speed planning method for uniaxial reciprocating motion according to claim 2, characterized in that: The step of using the second displacement compensation ΔS2 to perform uniform motion compensation on the second segment speed planning of the uniaxial reciprocating motion specifically includes: When the uniaxial reciprocating motion reaches the speed peak value V of the second speed planning max2 When the uniform motion compensation is performed, the supplementary speed is the peak speed V of the second speed planning max2 , the compensation distance is the second displacement compensation ΔS2.

8. A speed planning device for single-axis reciprocating motion, characterized in that: include: Turning point acceleration module, used to configure the acceleration A of the turning point r ; The displacement compensation calculation module is used to calculate the displacement according to the acceleration A r Calculate a first displacement compensation ΔS1 and a second displacement compensation ΔS2; a first motion compensation module, configured to perform uniform motion compensation on the first segment speed planning of the uniaxial reciprocating motion using the first displacement compensation ΔS1; The second motion compensation module is configured to perform uniform motion compensation on the second segment speed planning of the uniaxial reciprocating motion using the second displacement compensation ΔS2.

9. A processing equipment, characterized in that, The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for speed planning of single-axis reciprocating motion according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the speed planning method for single-axis reciprocating motion according to any one of claims 1 to 7 is implemented.

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