摘要
结合NURBS曲线加减速机制,依据插补精度与进给速度的关系,提出了一种实时前瞻的NURBS曲线加减速控制方法。在保证给定弓高误差的基础上,通过对速度尖点的划分,将NURBS曲线划分为若干段,并对各个分段进行相应的速度规划处理。在速度规划过程中,选择相应的加减速曲线,重新计算并修正加减速时间段,得到相应的速度和加加速度,从而得到平滑的速度过渡曲线。通过仿真比较,验证了所提出的实时前瞻的五段S曲线加减速控制算法的正确性、有效性和实时性。
An acceleration-deceleration control method of NURBS curve with real-time look-ahead function is proposed based on the relation between the interpolation accuracy and the feedrate as well asflexible acceleration ＆ deceleration mechanisms.Firstly,according to the curvature to decide which point is the special point and,secondly according to the special point to divide the NURBS curve ard replan the federate.According to the demand of interpolationprecision,the feedrate is adaptively changed in order to get the smooth federate profile.Compared with that of conventional linear acceleration and deceleration algorithm,the system performance has been significantly improved.Verify the validity of the five phased S-curve control utilizing the simulation results.
出处
《机械设计与制造》
北大核心
2016年第6期103-106,110,共5页
Machinery Design & Manufacture
基金
国家自然科学基金(51075078)
辽宁省自然科学基金(2015020128)
关键词
实时前瞻
NURBS曲线
加减速控制
自适应
Real-Time Look-Ahead
NURBS Curve
Acceleration-Deceleration Control
Adaptive
