五轴数控系统的关节柔性速度控制方法

Joint Flexible Velocity Control Method for Five-Axis CNC System

为避免五轴数控机床运行过程中出现的速度波动冲击问题,提出一种计算量少、易于在嵌入式系统实现的关节柔性速度控制方法。基于平动轴和旋转轴的关系模型,利用关节自适应限速的方法防止各运动轴超限报警,并通过S型速度规划插补输出给伺服电机执行。实验结果验证了本方案的有效性,相比于旋转轴线性跟随加工,介绍的控制方法成功将运动过程中的速度、加速度、加加速度限制在合理的运动学约束阈值范围内。

In order to avoid the impact of speed fluctuation during the operation of five-axis CNC system,a joint flexible velocity control method with less calculation and easy realization in embedded system was proposed.Based on the relationship model between XYZ axes and rotary axes,the joint adaptive velocity constraint method was used to prevent the overrun alarm of each motion axis,and the S-type velocity planning interpolation output was performed to the servo motor.The experimental results verified the effectiveness of this scheme.Compared with the linear following machining of rotation axes,the introduced control method successfully limited the velocity,acceleration and acceleration in the motion process to a reasonable range of kinematic constraint threshold.