基于自适应前瞻和预测校正的实时柔性加减速控制算法

中国机械工程

基于自适应前瞻和预测校正的实时柔性加减速控制算法

李浩1,2;吴文江2,3;韩文业2,3;郭安1,2

1.中国科学院大学，北京，100049
2.中国科学院沈阳计算技术研究所高档数控国家工程研究中心，沈阳，110168
3.沈阳高精数控智能技术股份有限公司，沈阳，110168

出版日期:2019-03-25 发布日期:2019-03-28
基金资助:
国家科技重大专项 (2017ZX04011004)

Real-time Flexible Acceleration and Deceleration Control Algorithm Based onAdaptive Look-ahead and Predictor-corrector Method

LI Hao1,2;WU Wenjiang2,3;HAN Wenye2,3;GUO An1,2

1. University of Chinese Academy of Sciences, Beijing, 100049
2.National Engineering Research Center for High-end CNC, Shenyang Institute of Computing Technology, Chinese Academy of Sciences, Shenyang, 110168
3.Shenyang Golding NC Intelligent Tech. Co., Ltd., Shenyang, 110168

Online:2019-03-25 Published:2019-03-28

摘要/Abstract

摘要： 为了提高离散小线段的加工效率和质量，提出一种实时柔性加减速控制算法。该算法由三部分组成：前瞻处理部分利用加减速可行性判断条件，保证加减速可达和实时前瞻；速度规划部分在保证速度和加速度连续变化的条件下，实时计算下一插补周期的进给速度；动态修调部分对当前速度规划结果进行调整，及时响应加工中机床参数的改变。实验结果表明，该算法能够实现数控系统的实时柔性加减速控制，支持动态修调，满足实际加工的要求。

关键词: 自适应前瞻, 预测校正, 柔性加减速控制, 动态修调

Abstract: To improve high-speed and high-quality machining of continuous line segments, a novel real-time flexible acceleration and deceleration control algorithm was proposed. This algorithm contained three parts: the acceleration-deceleration feasibility and real-time forward-looking function were guaranteed in look-ahead processes with acc-dec feasibility conditions; the velocity planning module calculated next feedrate with smooth velocity and acceleration curves; in order to respond to changes of machining parameters immediately, adjusting current velocity planning results was carried out in dynamic override module. The experimental results reveal that the proposed algorithm may realize real-time flexible acceleration/deceleration control, support dynamic override and implement high-quality processing.

Key words: adaptive look-ahead, predictor-corrector, flexible acceleration and deceleration control, dynamic override

中图分类号:

TP273
TP391

李浩1,2;吴文江2,3;韩文业2,3;郭安1,2. 基于自适应前瞻和预测校正的实时柔性加减速控制算法[J]. 中国机械工程.

LI Hao1,2;WU Wenjiang2,3;HAN Wenye2,3;GUO An1,2. Real-time Flexible Acceleration and Deceleration Control Algorithm Based onAdaptive Look-ahead and Predictor-corrector Method[J]. China Mechanical Engineering.

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