嵌入式数控系统速度前瞻规划算法研究

Research on Speed Preview Planning Algorithm of Embedded CNC System

梯形加减速法被广泛地应用到嵌入式数控系统当中,为了进一步追求平稳和高效,在连续多段前瞻算法的基础之上做了改进,提出了单段前瞻后顾算法;通过仿真实验,对比分析了3种不同速度规划算法的效率和平稳性。结果表明,单段前瞻后顾算法能有效避免单次连续规划段数对效率和平稳性的影响,且能够有效减少电机加减数次数,执行效率也得到了小幅提升,与前人相比有不同程度提高。此外,算法能够在嵌入式数控系统平台(STM32F407)上实现,测量结果与仿真吻合。

The trapezoidal acceleration/deceleration method is widely used in embedded CNC systems.In order to further pursue stability and efficiency.Secondly,based on the continuous multi-stage forward-looking algorithm,the improvement was proposed.The single-stage forward-looking algorithm was used.Finally,the efficiency and stability of three different speed planning algorithms were compared and analyzed through simulation experiments.The results show that the single-stage forward-looking algorithm can effectively avoid the impact of single continuous planning on the efficiency and stationarity,and can effectively reduce the number of motor additions and subtractions,and the execution efficiency is also slightly improved,compared with the predecessors.In addition,the algorithm can be implemented on the embedded CNC system platform(STM32F407),and the measurement results are consistent with the simulation.