Method and device for processing displacement instruction with non-zero end point speed based on dynamic programming, processor and storage medium thereof

Abstract

The application relates to a displacement instruction processing method based on dynamic programming and realizing that the end point speed is not zero, which comprises the following steps: judging whether two target speeds can form a target speed range; judging the inclusion relation of the start point speed, the end point speed and the target speed range; determining the speed change direction; calculating the displacement Sse required for changing from the displacement start point to the displacement end point with the maximum jerk; judging the direction of the target speed used during movement; calculating the whole displacement Ssvve; judging the speed change mode during movement; calculating the movement axis control parameter of each time period; and calculating the coordinates of all movement axes of each time period. The displacement instruction processing method based on dynamic programming and realizing that the end point speed is not zero, the device, the processor and the computer readable storage medium thereof adopt the application, the fastest machining during turning interpolation is realized, the control is flexible, the precision is high, the processing is simple, the adaptability to the change of input parameters and instruction parameters is high, and the application has high practical value.

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