摘要
现有的NURBS曲线插补算法大多只关注合成加速度的平稳过渡,却忽略了各轴加速度是否超出电机的加减速能力。为了把弓高误差、各轴的速度及加速度同时限制在允许范围内,对现有限制合成加速度的自适应插补算法提出改进。算法主要包括两部分:预处理和实时插补。预处理首先对NRUBS曲线进行分段;接着在实时插补中设计了一个前瞻模块,对各分段曲线进行速度规划,使进给速度同时满足弓高误差和各轴加速度限制,并确定减速点。采用高性能处理器,使前瞻处理和插补计算同时进行,实现实时插补。最后通过MATLAB实例仿真,验证了算法的正确性和可行性。
Most of the exiting NURBS interpolation algorithm focus on the fluctuating of synthetical acceleration but ignore the individual axis acceleration. The approach proposed in this paper aims at restricting the chord error and axis acceleration in the permission range simultaneously. The proposed algorithm includes two main parts： pre-processing and real-time interpolation. Firstly, the NURBS curve is divided into some segments in the pre-processing part. And a look-ahead module is designed in the real-time interpolation, which conducts the feedrate profile of each segment, as the result of that, the feed rate is restricted by both of the chord error and the axis acceleration, and then the deceleration points are deter- mined. With high performance processor, the look-ahead module and real-time interpolation can be practically conducted simultaneously. Finally, MATLAB simulations are performed to verify the correctness and feasibility of the proposed algorithm.
出处
《组合机床与自动化加工技术》
北大核心
2012年第9期16-20,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
广东省科技计划重点攻关资助项目(2009B010900041)
