高质量加工中四次多项式速度规划算法研究

中国机械工程 ›› 2014, Vol. 25 ›› Issue (5): 636-341.

高质量加工中四次多项式速度规划算法研究

王允森1,2;盖荣丽1,3,4;孙一兰1,3;杨东升1

1.中国科学院沈阳计算技术研究所，沈阳，110168
2.中国科学院大学，北京，100049
3.中国科学院沈阳自动化研究所，沈阳，110016;;4.大连大学，大连，116021

出版日期:2014-03-10 发布日期:2014-03-21
基金资助:
国家科技重大专项 (2011ZX04016-071)

Research on Quartic Polynomial Velocity Planning Algorithm for High-Quality Machining

Wang Yunsen1,2;Gai Rongli1,3,4;Sun Yilan1,3;Yang Dongsheng1

1.Shenyang Institute of Computing Technology,Chinese Academy of Science,Shenyang,110168
2.Graduate University,Chinese Academy of Science,Beijing,100049
3.Shenyang Institute of Automation,Chinese Academy of Science,Shenyang,110016
4.Dalian University,Dalian,116021

Online:2014-03-10 Published:2014-03-21
Supported by:
National Science and Technology Major Project ( No. 2011ZX04016-071)

摘要/Abstract

摘要：

通过分析数控机床加工时常用的速度规划算法，针对加工过程中由于加速/减速时速度不平滑、加速度及加加速度突变导致数控机床振动的问题，提出一种四次多项式加减速控制方法，并给出了四次速度方程的详细推导步骤，然后介绍了基于四次多项速度规划的参数曲线插补方法。该方法能保证数控机床在高速加工过程中的速度、加速度及加加速度实现连续变化，缓解高速加工产生的过冲。仿真实验表明，四次多项式速度规划算法能够使机床实现柔性加减速控制，从而满足高质量加工的要求。

关键词: 速度规划, 四次多项式速度曲线, 柔性加减速控制, 高质量加工

Abstract:

Through analyzing commonly used velocity planning algorithm in CNC machining, aiming at the CNC machine tool vibration due to unsmoothed velocity，acceleration and jerk during acceleration/deceleration stage, an quartic polynomial acceleration and deceleration control model was proposed. The derived steps of the quartic polynomial velocity equation were also given in detail. Then a parametric curve interpolation algorithm based on quartic polynomial velocity equation was proposed. The algorithm can provide smooth velocity curve, acceleration curve and jerk curve and relieves intense vibration in high speed CNC machining. Simulation experimental results show that the quartic polynomial velocity planning algorithm can realize flexible acceleration/deceleration control and implement high-quality CNC processing.

Key words: velocity planning, quartic polynomial velocity curve, flexible acceleration/deceleration control, high-quality processing

中图分类号:

TP273
TP311

王允森, 盖荣丽, 孙一兰, 杨东升. 高质量加工中四次多项式速度规划算法研究[J]. 中国机械工程, 2014, 25(5): 636-341.

Wang Yunsen, Gai Rongli, Sun Yilan, Yang Dongsheng. Research on Quartic Polynomial Velocity Planning Algorithm for High-Quality Machining[J]. China Mechanical Engineering, 2014, 25(5): 636-341.

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