CNC系统中“S曲线加减速”规划算法的研究与实现

Studying and Realization of S Curve Acceleration Deceleration Algorithm in CNC System

速度控制、位置控制、多轴联动、直线插补和圆弧插补等是开放式CNC(Computer numerical control)系统的关键技术。运动过程中的升降速控制是高档CNC系统开发中的一大技术难题。优良的升降速控制能在很大程度上提高加工精度。对S曲线加减速算法进行了深入的理论和应用研究,通过该算法使系统的速度变化尽可能的平稳,实现系统加减速的柔性控制,减少对电机的冲击,延长整个系统的使用寿命。应用于工业PC、基于TMS320LF2407A的运动控制器、Lexium17D伺服驱动器和伺服电机组成的伺服系统中,其效果明显优于“梯形曲线加减速”。

Control of speed and position, uniform motion of multi-axis system, straight-line interpolation and circular interpolation are the key technologies in the opening CNC （Computer numerical control ） system development. Control of the process of AC/DE （Acceleration/ Deceleration） is one of key complicated problems in CNC system development. The ＂S＂ curve AC/ DE is a very important function in advanced CNC system. The excellent AC/DE control can improve the processing precision. In this paper, the ＂S＂ curve algorithm is deeply studied, which can make the speed of the machine change steadily, realize the flexible control of the AC/DE,also can reduce the strike to the electromotor,what＇s more, it can prolong the lifespan of the system. It is used in the servo system which is consisted of PC, motion controller based of TMS320LF2407A, Lexium17D servo driver and servo motor, its effect is excellent than the system used ＂trapezium AC/DE＂ algorithm.