面向连续短线段高速加工的圆弧转接前瞻控制算法

A High-speed Smooth Arc Transition and Look-ahead Control Algorithm for Continuous Short-segments

针对连续短线段高速加工中速度和加速度突变会引起机床运动不平稳的问题,提出在相邻线段间构建满足精度且曲率连续的NURBS圆弧过渡路径,以实现拐角平滑转接的方法。在此基础上,提出一种圆弧过渡前瞻控制算法,采用7段和5段混合的双向S形加减速控制算法进行速度规划,旨在满足弦高误差和机床动力学条件下获得最大转接速度,避免电机频繁启停,实现速度、加速度的连续高速平滑转接,大大减少了对机床的冲击。算例表明,该算法能获得更高更平稳的转接速度,可有效提高加工效率和加工质量,满足高速加工的需求。

A quadratic NURBS arc transition path in the adjacent segments which was everywhere curvature-continuous was proposed to solve the problems of the machine vibration and shocks caused by abrupt change of velocity and acceleration,and then the high-speed smooth transition was obtained.Based on the arc model,a look-ahead control algorithm was established.Under the conditions of the chord errors and machine dynamics,the algorithm aimed to achieve optimal transition velocity,and control acceleration/deceleration by using the 7section and 5section mixed bidirectional S algorithm,and to avoid the motor starting/stopping frequently,then the high-speed transition was realized smoothly.The example demonstrates that the proposed algorithm can achieve more stable transition velocity,improve the machining efficiency and quality,and satisfy the demands of high-speed machining.