中圖分類號:TP13 文獻標(biāo)志碼:A DOI: 10.16157/j.issn.0258-7998.234117 中文引用格式: 謝翰君,,王林,,王欽若. 基于動力學(xué)的自適應(yīng)多段回溯前推實時速度規(guī)劃算法開發(fā)[J]. 電子技術(shù)應(yīng)用,2023,,49(12):120-126. 英文引用格式: Xie Hanjun,,Wang Lin,Wang Qinruo. Development of a dynamics-based adaptive multi-segment look-ahead real-time velocity planning algorithm[J]. Application of Electronic Technique,,2023,,49(12):120-126.
Development of a dynamics-based adaptive multi-segment look-ahead real-time velocity planning algorithm
Xie Hanjun1,,Wang Lin2,Wang Qinruo1
1.School of Automation,, Guangdong University of Technology,, Guangzhou 510000, China,; 2.Guogongxin (Cangzhou) Robot Co.,, Ltd., Cangzhou 061000,, China
Abstract: A real-time velocity planning algorithm is proposed to improve the processing accuracy and efficiency of small line segments. The algorithm consists of two parts: a dynamics-based preliminary planning algorithm is proposed to optimize the actual acceleration of short line segments and improve the smoothness of motion, addressing the jitter problem of rigid-flexible coupling and heavy-load platforms in numerical control (NC) motion; a dynamics-based adaptive multi-segment look-ahead velocity planning algorithm is proposed to enhance processing efficiency for small straight lines/arcs, addressing the inefficiency issue of the single-segment look-ahead algorithm. The algorithm was tested on a PC-based real-time controller and a gantry dual-drive XY laser cutting platform and was compared with the adaptive feed-rate algorithm and single-segment look-ahead algorithm. The results show that the proposed algorithm improves both processing quality and efficiency. Additionally, the algorithm is simple and effective, and thus suitable for high real-time application environments.
Key words : CNC system,;velocity planning;dynamics,;look-ahead algorithm,;gantry dual-drive