基于曲线物理模型的轨迹运动规律研究

Study of Trajectory Motion Law Based on Physical Motion Model

为了把轨迹的位置控制转变为运动规律控制,取消插补运算,建立数控机床运动控制的物理模型。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,写出了轨迹运动微分方程组。根据轨迹函数、规划参数可以计算出各坐标轴的瞬态运动参数。运动规律的代表是一组运动参数,用运动参数控制运动等于同时控制运动规律和几何规律。一条轨迹的位置点有无穷多个,但规律只有一个,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,证明运动参数控制轨迹的方法是能够同时控制位置和运动的好方法。

In order to change the position control of a trajectory into its physical motion control, the paper gave up interpolation calculation, established the physical motion control model for a CNC machine tool and studied the relationship among the trajectory＇s geometrical parameter, motion parameter and planning parameter in accordance with the kinematics principle and the geometrical principle, thus working out its motion differential equations. Its geometrical parameter and planning parameter should be followed in calculating the transient motion parameters of all coordinate axes. Its motion law is represented as a set of motion parameters, its motion control by motion law is identical with the simultaneous control of motion law and geometrical law. The number of locus points of a trajectory is infinite but its law is unique. Therefore the motion control with motion law is a short cut and comprehensive. The experiment and simulation given in Figs 2 and 3 in the full paper prove that the trajectory motion control by motion parameter can control both position and motion simultaneously.