摘要
传统连续轨迹加工过程由于需要频繁变速而存在加工效率低,精度差的缺点。为此,提出一种面向连续轨迹的动态前瞻算法。该算法根据加工轨迹的几何特征、误差、加减速要求,计算出连续轨迹各段之间衔接处的最大允许速度,实现连续轨迹的平滑过渡。在基于ARM+DSP+FPGA多核架构的独立式控制器中对所提算法进行了实现和验证。结果表明本文所提的动态前瞻算法与传统算法相比加工效率提高20%以上。
Due to frequently speed changing , poor precision and low efficiency are still defects of processing continuous trajectory in a traditional way.To figure out what mentioned above, a dynamic look-ahead algorithm for processing continuous trajectory is proposed in this paper.For continuous trajectory smooth transition, the highest permitted speed at the joint should be figured out, which must depend on geometric features of continuous trajectory, processing error and required acceleration and deceleration. The dynamic look-ahead algorithm was implemented with the multi-core and Independent motion controller, which is based on ARM, DSP and FPGA proeessers. At last itwas verified that processing continuous trajectory with this algorithm was more than 20% faster than processing continuous trajectory in a traditional way.
出处
《电子设计工程》
2017年第7期152-155,160,共5页
Electronic Design Engineering
基金
国家科技支撑计划项目资助(2015BAF20B01)
广东省科技计划项目(2009B010900016
2012A090100012
2013B010134010
2014B090921003
2014A050503009)
广州市科技计划项目资助(201508030007
201604010064)
关键词
连续轨迹
动态前瞻算法
平滑过渡
运动控制器
continuous trajectory
dynamic look-ahead algorithm
smooth transition
motion controller
