An Algorithm of Sampled-data Linear and S shape Acceleration and Deceleration for CNC Controller

Abstract

Abstract:

A new method of sampled-data linear and S-shape acceleration/deceleration for industrial robots and CNC machine tools were put forward, which eliminated the running stage at low speed for a long time after deceleration because the actual deceleration point did not overlap the theoretical deceleration point. The velocity of iterative formula for acceleration/deceleration was proposed. The velocity was recalculated based on the acceleration so that the distance was exactly the integral times of the velocity. The acceleration and jerk was recalculated based on the velocity. It avoided the prediction of the deceleration point by every sampled time. The simulation and experimental results demonstrate that the proposed method can eliminate the running stage at low speed for a long time and significantly improve the productivity by avoiding the prediction of decelerating point.

Key words:

linear acceleration/deceleration, S-shape acceleration/deceleration, CNC, interpolation

摘要：

提出了一种新的直线和S形加减速控制算法，给出了直线和S形加减速的速度迭代公式。程序段长度不能满足理论上加减速计算的时间分割条件，即理论减速点和实际减速点不重合，这导致在减速阶段结束时需要低速运行一段时间。在插补开始时根据加速度重新计算速度，以保证该速度运行时能够保证插补路径的长度刚好是直线段的整数倍。以此速度重新计算加速度和加加速度，并将其用于加减速运动，可以避免处理“尾巴”。根据采样次数决定加减速，可以避免预测减速点。



关键词:

直线加减速, S形加减速, CNC, 插补

CLC Number:

TP273

CHEN You-Dong, WEI Hong-Xin, WANG Qi-Kuai.

An Algorithm of Sampled-data Linear and S shape Acceleration and Deceleration for CNC Controller

[J]. China Mechanical Engineering, 2010, 21(05): 567-570.

陈友东, 魏洪兴, 王琦魁.

数控系统的直线和S形加减速离散算法

[J]. 中国机械工程, 2010, 21(05): 567-570.

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