摘要
鉴于当前数控系统对圆弧的速度规划未能发挥设备的最大性能,提出一种基于切线矢量的速度积分方法,并将切线矢量应用于圆弧的速度规划和插补处理,其核心思想是利用圆弧切线矢量求解合成加速度,保证在每个圆弧点上均用允许的最大加速度进行速度规划,从而用更短的时间和距离完成对速度变化的响应。在圆弧插补阶段,利用切线矢量判断脉冲最长轴,以求解下一个插补点的理论坐标和脉冲发送的依据,其中切线矢量具有方向的特性大大简化了圆弧插补模型,使整体运算简单高效,符合当前高速高精的发展要求。最后通过仿真和实际加工验证了算法的可行性。
The current CNC system for the speed planning and interpolation processing of circular arc fails to maximize the performance of the equipment.On this basis,a speed integration method based on tangent vector and applies the tangent vector was proposed to the speed planning and interpolation processing of circular arc.Its core idea was to utilize the tangent vector of circular arc to solve the synthetic acceleration,which ensured that the maximum allowable acceleration was used for velocity planning at each circular arc point.In the circular arc interpolation stage,the tangent vector was used to determine the longest axis of the pulse,which solved the theoretical coordinates of the next interpolation point and the basis of pulse sending.The velocity planning method based on circular arc tangent vector proposed could accomplish the response of velocity change with shorter time and distance,which was in line with the current development requirements of high-speed and high-precision,and the feasibility of the proposed algorithm was verified by simulation.
作者
刘清建
刘硕
黄刚鹏
张旭
胡佳雨
魏玉龙
刘志刚
LIU Qingjian;LIU Shuo;HUANG Gangpeng;ZHANG Xu;HU Jiayu;WEI Yulong;LIU Zhigang(Tianjin Municipal Key Laboratory of Advanced Mechanical System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Experimental Mechanical and Electrical Engineering Education Demonstration Center,Tianjin University of Technology,Tianjin 300384,China)
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2024年第10期3600-3612,共13页
Computer Integrated Manufacturing Systems
基金
国家自然科学基金资助项目(12132010)
天津市科技计划资助项目(技术创新引导专项)(20YDTPJC01730)。
关键词
圆弧插补
速度规划
合成加速度
切线矢量
速度积分
circular interpolation
feedrate scheduling
synthetic acceleration
tangent vector
speed integral
