基于路径夹角的加加速度可变前瞻算法研究

Research on Look-ahead Algorithm with Variable Jerk based on Path Angle

为提升数控系统中连续轨迹插补算法加减速的柔性控制,针对两段轨迹衔过渡问题,提出一种基于路径夹角的加加速度可变(Variable Jerk, VJ)前瞻算法。首先,根据四象限中上一段轨迹末点速度矢量与下一段起点速度矢量取值范围推导出相邻轨迹段衔接角计算公式;其次,采用正矢函数对路径夹角与轨迹段加加速度的映射;最终实现对轨迹段加加速度值的单独设定。以S曲线为例通过仿真验证所提出的路径夹角与加加速度前瞻控制策略,测试结果表明该算法能够有效设定不同路径夹角下,每段轨迹的加加速度值,保证进给速度并减少系统加减速冲击,提高运动控制系统柔性。

To improve the flexible control of acceleration and deceleration of continuous trajectory interpolation algorithm in CNC system,a look-ahead algorithm with variable jerk based on path angle is proposed to solve the problem of the transition of two stages of trajectory.Firstly,according to the value range of the velocity vector at the end of the upper trajectory and the starting velocity vector in the next section of the four quadrants,the formula for calculating the convergence angle of the adjacent trajectory segment is derived.Then,the vector function is used to map the angle of the path and the jerk of the trajectory segment.Finally,the jerk value of the track segment is set separately.Taking S curve as an example,the proposed look-ahead control strategy of path angle and jerk is verified by simulation.The simulation results show that the algorithm can effectively set the jerk value of each trajectory under different path angles,ensuring the feed speed and reducing the acceleration and deceleration impact of the system,and improve the flexibility of the motion control system.