四轴运动控制插补算法的改进及仿真

Improvement of Interpolation Algorithm for Four-axis Motion Control

为了解决传统四轴运动控制中插补算法对大段的运动轨迹数据的高精度、高速处理,在传统插补算法的基础上,提出了一种对四轴运动控制的改进算法,利用高速数据处理中二次插补的模式,对粗插补采用改进的时间分割算法,精插补采用数值积分法.研究结果表明:利用这种模式将大段数据进行数据分段,在分段后经过精插补环节转换为电机脉冲并输出.通过对输出脉冲波形的仿真,验证了电机输出脉冲最高速度可以达到4M/s.

In order to improve the interpolation algorithm to process large piece trajectory data of traditional four-axis motion control with high accuracy and at high speed, a new algorithm for four-axis motion control. A ＂quadratic interpolation＂ mode in high speed data processing is adopted, with which the improved time dividing is used for rough interpolation and numerical integral method is used for fine interpolation. Results indicate that in this way, large pieces of data are divided into smaller segments, which are converted, by fine interpolation, to motor pulse output. It is verified by simulation that the motor＇s maximum output velocity frequency reaches 4 M/s.