一种数控小线段拟合与速度规划的优化方法

An optimization method for numerical control small line fitting and speed planning

为解决数控加工中圆弧拟合和样条拟合等方式导致的曲率突变和计算复杂度高及加工过程速度断层等问题,文章提出了一种采用正弦曲线代替圆弧曲线的拟合方法,以自行设置的立体四叶草形状路径为对象,进行仿真分析。结果表明,正弦弧线插补与圆弧插补都有计算精度高的优点;正弦弧线插补在保证曲率连续的同时,过渡边长全长可达圆弧插补的147.5%~218%。同等过渡边长限制下,正弦弧线插补的角度范围比圆弧插补多出29%~46%。后续的速度规划中,加入速度前瞻中的回溯法,解决了速度断层和加速度及加加速的超限问题。

In numerical control machining,arc fitting and spline fitting have curvature mutation,high computational complexity and machining speed fault.A fitting method using sine curve instead of arc curve was proposed to solve the problem.The three-dimensional four-leaf clover shape path set by ourselves was taken as the object for simulation analysis.The results show that both sinusoidal arc interpolation and arc interpolation have the advantages of high computational accuracy;the full length of sinusoidal arc interpolation's transition edge length is increased to 147.5%~218%of arc interpolation while the curvature is kept continuous.When limited by the same transition length,the Angle range of sinusoidal arc interpolation is increased by about 29%~46%.In the follow-up velocity planning,the backtracking method in velocity foresight is added,and the velocity fault and acceleration and acceleration overrun problems are solved.