梯形速度控制变插补周期的实时插补算法研究

Study of Real-time Interpolation Algorithm with Varying Interpolation Period Based on Trapezoidal Velocity Profile

提出了基于梯形速度控制的变插补周期实时插补算法。在固定插补步长条件下,依据直线加减速算法,确定出加速段、恒速段和减速段的插补次数,进而生成变化的进给速度和相应的插补周期;同时,形成各坐标轴的运动增量。仿真实例结果表明,该算法可有效地控制加工精度,充分发挥联动各轴的加速能力,有效缩短加减速过程时间,且易于在CNC系统中实现。

Based on analyzing the conventional feedrate control algorithm, a varying interpolation period real time algorithm with trapezoidal velocity profile was introduced. This algorithm maintains the constant position increment at each step to produce interpolation steps in acceleration stage, constant speed stage and deceleration stage individually, according to linear acceleration/deceleration mode. Varying feedrate and interpolation period were calculated. The movement increments of individual axis were made out. Finally, it was confirmed effectively and feasibly by simulations. In a conclusion, the algorithm can improve the position accuracy, shorten the position time and realize easily in CNC system.