基于自定义时间的数控加工运动规划方法

The New Motion Planning Method for CNC Machining Based on Self-defining Time

为了让运动规划符合实际,分析了数控加工轨迹运动几何特性、运动特性和时间特性,建立了轨道函数与运动参数的联系,推导出轨迹运动微分方程组。针对以轨迹运动目标建立的运动微分方程不能完全求解的问题通过定义实际运动过程为参考时间,建立规划与实际的联系,提出了基于自定义时间的运动规划方法。结果表明:在静止状态,可以根据几何特性分析,计算轨迹运动的微分方程组,得到以坐标值和参考时间为变量的简单算式;在运动状态,根据参考时间的适时信息和简化算式,计算出轨迹运动的动态参数。实验和仿真证明该方法能处理加工过程中的不确定事件,能满足适时性要求,是轨迹运动规划的好方法。

In order to make motion planning firing practice, many characteristic of CNC trajectory motion were discussed, such as the geometric, the motion and the time, the relation between orbit function and motional parameter was set up, the differential simuhaneous equation about the trajectory motion was derived. For it is no solution to calculate the simultaneous equation set up by the goal of trajectory motion, through defining actual motion process as reference time, linking planning and practice, a new movement planning method based on self-defining time was presented. The result shows that, at rest state, the differential simultaneous equation can be calculated according to geometric characteristic analysis, the simple function which only has coordinate and reference time variants can be gotten ; at motive state, dynamic parameter can be worked out according to practical value of reference time. It is proved by experiment and simulation that this way can control geometry and motion comprehensively, reduce computation times and increase the capacity of environmental adaptation for path planning.