曲线物理规律控制代替位置控制的研究

The research of physics law curve control substituting position control

为了提高精度,简化控制,取消插补运算,提出用运动规律控制代替位置控制。假定工作在理想状态,建立数控机床运动的物理模型,根据运动学原理和几何学原理研究轨迹的几何参数,运动参数,规划参数之间的关系,写出轨迹运动微分方程组。将轨迹函数、规划运动参数代入轨迹运动微分方程组,可以计算出各坐标轴的瞬态运动参数,即运动参数代表的运动规律,一条轨迹的位置点有无穷多个,但规律只有一个,用运动规律控制运动,运算简单,没有原理误差。按运动规律控制的方法是最简捷、最全面的。经过试验和仿真,证明曲线物理规律控制方法是比位置控制更简单、更全面的方法。

In order to raising the accuracy class, reduction pn）cedure, give up interpolate calculation, it is presented a physical law control method to substitute position control way. Assuming working in ideal condition, a physical motion model of CNC machine tool is built. The relation between geometric parameters, motion parameters and planning parameters is studied with kinematics principle and geometric principle. The motion differential equations are worked out, calculating the equations with trajectory function and planning parameters, the transient motion parameters of coordinate axes can be gotten. In other words, the physical law can be found out. The numbers of trajectory point are infinity, the regularity, however, is one only. Therefore, the control method by physical law is a short-cut and all-sided method. It is proved by experiment and simulation that it is more simple： and more comprehensive way.