基于离线插补的数控减速区域规划研究

Planning researching on numerical control deceleration area based on off-line interpolation

在传统的速度规划中,受系统实时性的影响,采用前瞻作速度规划时,前瞻段数和计算量都会受到限制。根据离线插补的思想,论述了基于离线插补的最后段减速区域路程量的求解;引入递归算法的思路,详细分析了减速区域可能出现的几种情况,完成了前瞻速度规划中很难有效实现的减速点查找,得到了减速区域的规划算法。实验显示:这种算法简单、可行,规划出来的减速区域曲线平滑,能有效降低机床可能产生的失程和超程程度。

In the traditional speed planning,the number of look-ahead segments and the amount of calculation would be restrained if it is influenced by real-time of the system when using the look-ahead to plan the speed.Based on the idea of off-line interpolation,this paper expounds the solution of the distance at the final decelerating area based on off-line interpolation.Then,by introducing the idea of recursive algorithm,and several situations that the decelerating area possibly occurs is analyzed in detail,the deceleration point search that is difficult to perform in the look-ahead speed planning is achieved,obtaining the planning algorithm on decelerating area.The result shows that this algorithm is simple and feasible,the planned curve is smooth,allowing to reduce the extent of stroke loss and over stroke of machine tool effectively.