The feedrate profile of non-uniform rational B-spline （NURBS） interpolation due to the contour errors is analyzed. A NURBS curve interpolator with adaptive acceleration-deceleration control is presented. In interpo-...The feedrate profile of non-uniform rational B-spline （NURBS） interpolation due to the contour errors is analyzed. A NURBS curve interpolator with adaptive acceleration-deceleration control is presented. In interpo- lation preprocessing, the sensitive zones of feedrate variations are processed with acceleration-deceleration control. By using the proposed algorithm, the machining accuracy is guaranteed and the feedrate is adaptively adjusted to he smoothed. The mechanical shock imposed in the servo system is avoided by the first and the second time derivatives of feedrates. A simulation of NURBS interpolation is given to demonstrate the validity and the effectiveness of the algorithm. The proposed interpolator can also be applied to the trajectory planning of the other parametric curves.展开更多
To satisfy the need of high speed NC (numerical control) machining, an acceleration and deceleration (acc/dec) control model is proposed, and the speed curve is also constructed by the cubic polynomial. The proposed c...To satisfy the need of high speed NC (numerical control) machining, an acceleration and deceleration (acc/dec) control model is proposed, and the speed curve is also constructed by the cubic polynomial. The proposed control model provides continuity of acceleration, which avoids the intense vibration in high speed NC machining. Based on the discrete characteristic of the data sampling interpolation, the acc/dec control discrete mathematical model is also set up and the discrete expression of the theoretical deceleration length is obtained furthermore. Aiming at the question of hardly predetermining the deceleration point in acc/dec control before interpolation, the adaptive acc/dec control algorithm is deduced from the expressions of the theoretical deceleration length. The experimental result proves that the acc/dec control model has the characteristic of easy implementation, stable movement and low impact. The model has been applied in multi-axes high speed micro fabrication machining successfully.展开更多
Generally complex 3D contours are divided into a lot of continuous small line blocks by CAD/CAM software. When these small line blocks are used in conventional way,machine tool has to stop at the end of one move befor...Generally complex 3D contours are divided into a lot of continuous small line blocks by CAD/CAM software. When these small line blocks are used in conventional way,machine tool has to stop at the end of one move before continuing on to the next to meet accuracy requirement,which results in inefficiency.Look-ahead is an intelligent function that aims at adjusting the feed rate automatically to achieve maximum productivity while maintaining accuracy.By now most researchers just utilize the simplest linear acceleration(ACC)and deceleration(DEC)to deal with look-ahead intelligence.A generalized ACC/DEC ap- proach and corresponding optimal look-ahead algorithm based on dynamic back tracking along a doubly linked list are proposed.An improved rounding strategy for reducing interpolation errors is also presented.By using the proposed techniques,arbitrary velocity profiles that offer look-ahead feature and have the desired ACC/DEC characteristics for movement of a lot of continuous line blocks can be generated efficiently.Both simulations and experiments showed the productivity was dramatically increased without sacri- fice of accuracy.展开更多
The algorithms for feedrate profile generation,such as linear and S-curve profiles,have been widely used in machinery controllers,and these algorithms can greatly improve the smoothness of motion.However,most of the a...The algorithms for feedrate profile generation,such as linear and S-curve profiles,have been widely used in machinery controllers,and these algorithms can greatly improve the smoothness of motion.However,most of the algorithms lead to the discontinuous acceleration/deceleration and jerk,or high jerk levels,which is very harmful to machine tool or robot in most occasions. This paper presents a smooth S-curve feedrate profiling generation algorithm that produces continuous feedrate,acceleration,and jerk profiles.Smooth jerk is obtained by imposing limits on the first and second time derivatives of acceleration,resulting in trapezoidal jerk profiles along the tool path.The discretization of smooth S-curve feedrate is realized with a novel approach that improves the efficiency without calculating the deceleration point in each sampled time.To ensure that the interpolation time is a multiple of the value of sampled time,the feedrate,acceleration,jerk,and jerk derivative are recalculated.Meantime,to improve the efficiency,the interpolation steps of all regions are computed before interpolation.According to the distance of trajectory,the smooth S-curve acceleration and decelerations are divided into three blocks：normal block,short block type-Ⅰ,and short block type-Ⅱ.Finally feedrate discretization of short block type-Ⅰand type-Ⅱis obtained with considering the efficiency.The proposed generation algorithm is tested in machining a part on a five axis milling machine,which is controlled with the CNC system for newly developed high-speed machine tools.The test result shows that the smooth S-curve approach has the smoother feedrate,acceleration,deceleration,and jerk profiles than S-curve.The proposed algorithm ensures the automated machinery motion smoothness,and improves the quality and efficiency of the automated machinery motion planning.展开更多
Studies show that different geometries of a Variable Cycle Engine(VCE)can be adjusted during the transient stage of the engine operation to improve the engine performance.However,this improvement increases the complex...Studies show that different geometries of a Variable Cycle Engine(VCE)can be adjusted during the transient stage of the engine operation to improve the engine performance.However,this improvement increases the complexity of the acceleration and deceleration control schedule.In order to resolve this problem,the Transient-state Reverse Method(TRM)is established in the present study based on the Steady-state Reverse Method(SRM)and the Virtual Power Extraction Method(VPEM).The state factors in the component-based engine performance models are replaced by variable geometry parameters to establish the TRM for a double bypass VCE.Obtained results are compared with the conventional component-based model from different aspects,including the accuracy and the convergence rate.The TRM is then employed to optimize the control schedule of a VCE.Obtained results show that the accuracy and the convergence rate of the proposed method are consistent with that of the conventional model.On the other hand,it is found that the new-model-optimized control schedules reduce the acceleration and deceleration time by 45%and 54%,respectively.Meanwhile,the surge margin of compressors,fuel–air ratio and the turbine inlet temperature maintained are within the acceptable criteria.It is concluded that the proposed TRM is a powerful method to design the acceleration and deceleration control schedule of the VCE.展开更多
基金Supported by the Natural Science Foundation of Jiangsu Province(BK2003005)~~
文摘The feedrate profile of non-uniform rational B-spline （NURBS） interpolation due to the contour errors is analyzed. A NURBS curve interpolator with adaptive acceleration-deceleration control is presented. In interpo- lation preprocessing, the sensitive zones of feedrate variations are processed with acceleration-deceleration control. By using the proposed algorithm, the machining accuracy is guaranteed and the feedrate is adaptively adjusted to he smoothed. The mechanical shock imposed in the servo system is avoided by the first and the second time derivatives of feedrates. A simulation of NURBS interpolation is given to demonstrate the validity and the effectiveness of the algorithm. The proposed interpolator can also be applied to the trajectory planning of the other parametric curves.
基金the Hi-Tech Research and Development Pro-gram (863) of China (No. 2006AA04Z233)the National NaturalScience Foundation of China (No. 50575205)the Natural ScienceFoundation of Zhejiang Province (Nos. Y104243 and Y105686),China
文摘To satisfy the need of high speed NC (numerical control) machining, an acceleration and deceleration (acc/dec) control model is proposed, and the speed curve is also constructed by the cubic polynomial. The proposed control model provides continuity of acceleration, which avoids the intense vibration in high speed NC machining. Based on the discrete characteristic of the data sampling interpolation, the acc/dec control discrete mathematical model is also set up and the discrete expression of the theoretical deceleration length is obtained furthermore. Aiming at the question of hardly predetermining the deceleration point in acc/dec control before interpolation, the adaptive acc/dec control algorithm is deduced from the expressions of the theoretical deceleration length. The experimental result proves that the acc/dec control model has the characteristic of easy implementation, stable movement and low impact. The model has been applied in multi-axes high speed micro fabrication machining successfully.
文摘Generally complex 3D contours are divided into a lot of continuous small line blocks by CAD/CAM software. When these small line blocks are used in conventional way,machine tool has to stop at the end of one move before continuing on to the next to meet accuracy requirement,which results in inefficiency.Look-ahead is an intelligent function that aims at adjusting the feed rate automatically to achieve maximum productivity while maintaining accuracy.By now most researchers just utilize the simplest linear acceleration(ACC)and deceleration(DEC)to deal with look-ahead intelligence.A generalized ACC/DEC ap- proach and corresponding optimal look-ahead algorithm based on dynamic back tracking along a doubly linked list are proposed.An improved rounding strategy for reducing interpolation errors is also presented.By using the proposed techniques,arbitrary velocity profiles that offer look-ahead feature and have the desired ACC/DEC characteristics for movement of a lot of continuous line blocks can be generated efficiently.Both simulations and experiments showed the productivity was dramatically increased without sacri- fice of accuracy.
基金supported by Major National S&T Program of China (Grant No.2009ZX04009-014-02)National Hi-tech Research and Development Program of China(863 Program,Grant No. 2009AA043901)
文摘The algorithms for feedrate profile generation,such as linear and S-curve profiles,have been widely used in machinery controllers,and these algorithms can greatly improve the smoothness of motion.However,most of the algorithms lead to the discontinuous acceleration/deceleration and jerk,or high jerk levels,which is very harmful to machine tool or robot in most occasions. This paper presents a smooth S-curve feedrate profiling generation algorithm that produces continuous feedrate,acceleration,and jerk profiles.Smooth jerk is obtained by imposing limits on the first and second time derivatives of acceleration,resulting in trapezoidal jerk profiles along the tool path.The discretization of smooth S-curve feedrate is realized with a novel approach that improves the efficiency without calculating the deceleration point in each sampled time.To ensure that the interpolation time is a multiple of the value of sampled time,the feedrate,acceleration,jerk,and jerk derivative are recalculated.Meantime,to improve the efficiency,the interpolation steps of all regions are computed before interpolation.According to the distance of trajectory,the smooth S-curve acceleration and decelerations are divided into three blocks：normal block,short block type-Ⅰ,and short block type-Ⅱ.Finally feedrate discretization of short block type-Ⅰand type-Ⅱis obtained with considering the efficiency.The proposed generation algorithm is tested in machining a part on a five axis milling machine,which is controlled with the CNC system for newly developed high-speed machine tools.The test result shows that the smooth S-curve approach has the smoother feedrate,acceleration,deceleration,and jerk profiles than S-curve.The proposed algorithm ensures the automated machinery motion smoothness,and improves the quality and efficiency of the automated machinery motion planning.
基金supported by the Aviation Power Foundation of China(6141B09050382)。
文摘Studies show that different geometries of a Variable Cycle Engine(VCE)can be adjusted during the transient stage of the engine operation to improve the engine performance.However,this improvement increases the complexity of the acceleration and deceleration control schedule.In order to resolve this problem,the Transient-state Reverse Method(TRM)is established in the present study based on the Steady-state Reverse Method(SRM)and the Virtual Power Extraction Method(VPEM).The state factors in the component-based engine performance models are replaced by variable geometry parameters to establish the TRM for a double bypass VCE.Obtained results are compared with the conventional component-based model from different aspects,including the accuracy and the convergence rate.The TRM is then employed to optimize the control schedule of a VCE.Obtained results show that the accuracy and the convergence rate of the proposed method are consistent with that of the conventional model.On the other hand,it is found that the new-model-optimized control schedules reduce the acceleration and deceleration time by 45%and 54%,respectively.Meanwhile,the surge margin of compressors,fuel–air ratio and the turbine inlet temperature maintained are within the acceptable criteria.It is concluded that the proposed TRM is a powerful method to design the acceleration and deceleration control schedule of the VCE.
