一种小线段平滑过渡轨迹控制算法的实现

Realization of Algorithm for Trajectory Control of Smooth Transition of Small Line Segments

将曲线分解为一系列小线段后对其进行加工,为了实现小线段之间的平滑过渡,提出了一种圆弧过渡算法:首先建立圆弧过渡的数学模型,根据加工精度和小线段长度确定过渡圆弧的参数,并根据2条线段的矢量关系确定圆弧的旋转方向,最后以加工平台的机械特性来限制过渡圆弧的进给速度.采用固高运动控制卡对算法进行测试的结果表明,该算法能够在保证加工精度和满足加工平台机械特性的情况下,较大程度地提高工件小线段的加工效率.

A curve is machined after it is decomposed into a series of small line segments. This paper presents a circular arc transition algorithm in order to achieve smooth transition for small line segments. A mathematical model of circular arc transition is established firstly. Then the parameters of transition circular arc can be determined according to machining accuracy and length of a small line segment and its direction of rotation can be obtained based on vector relation of two line segments. Finally, the feed rate of transition circular arc can be limited by mechanical property of machining platform. The algorithm is tested with googol motion controller and the result shows that this algorithm can improve the machining efficiency of small line segments to a greater degree while machining accuracy is guaranteed and mechanical property of machining platform is satisfied.