《電子技術(shù)應(yīng)用》
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基于動(dòng)力學(xué)的自適應(yīng)多段回溯前推實(shí)時(shí)速度規(guī)劃算法開(kāi)發(fā)
電子技術(shù)應(yīng)用
謝翰君1,,王林2,,王欽若1
1.廣東工業(yè)大學(xué) 自動(dòng)化學(xué)院,,廣東 廣州 510000,;2.國(guó)工信(滄州)機(jī)器人有限公司,河北 滄州 061000
摘要: 為了提高微小線(xiàn)段的加工精度和效率,,提出一種實(shí)時(shí)速度規(guī)劃算法,。該算法由兩部分組成:針對(duì)剛?cè)狁詈稀⒅刎?fù)載平臺(tái)在數(shù)控運(yùn)動(dòng)中的抖動(dòng)問(wèn)題,,提出基于動(dòng)力學(xué)的初步規(guī)劃算法,,以?xún)?yōu)化短線(xiàn)段的實(shí)際加速度,提高運(yùn)動(dòng)的平穩(wěn)性,;針對(duì)單段回溯前推算法對(duì)于微小直線(xiàn)/圓弧加工效率不高的問(wèn)題,,提出基于動(dòng)力學(xué)的自適應(yīng)多段回溯前推速度規(guī)劃算法,以提升加工效率,。在基于PC的實(shí)時(shí)控制器和龍門(mén)雙驅(qū)XY激光切割平臺(tái)上進(jìn)行了測(cè)試,并將該算法與自適應(yīng)速率算法和單段回溯前推算法進(jìn)行了比較,。結(jié)果表明,,所提算法在加工質(zhì)量和加工效率方面均有所提高。此外,,該算法簡(jiǎn)單有效,適用于高實(shí)時(shí)性的應(yīng)用環(huán)境。 關(guān)鍵詞:數(shù)控系統(tǒng),;速度規(guī)劃,;動(dòng)力學(xué);回溯前推算法,;龍門(mén)雙驅(qū)
中圖分類(lèi)號(hào):TP13 文獻(xiàn)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(dòng)力學(xué)的自適應(yīng)多段回溯前推實(shí)時(shí)速度規(guī)劃算法開(kāi)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

0 引言

數(shù)控系統(tǒng)中,,速度規(guī)劃算法是研究的熱點(diǎn)之一,,因?yàn)樗鼘?duì)數(shù)控系統(tǒng)的速度、精度和運(yùn)動(dòng)平穩(wěn)性具有重要的影響[1-2],。在加工復(fù)雜曲線(xiàn)時(shí),,為了實(shí)現(xiàn)高效加工,通常希望電機(jī)按照最大加速度盡可能加速,,以達(dá)到理想的最大速度,。但是,這樣的加減速過(guò)程可能會(huì)引起剛?cè)狁詈?、重?fù)載平臺(tái)的殘余振動(dòng)[3-4],,從而影響零件的加工精度和表面質(zhì)量。因此,,如何平衡加工平穩(wěn)性和高效性是一個(gè)具有挑戰(zhàn)性的問(wèn)題,,也是眾多學(xué)者長(zhǎng)期以來(lái)關(guān)注和研究的熱點(diǎn)問(wèn)題。

文獻(xiàn)[5]充分論述了單段(線(xiàn)段)回溯前推算法,,避免了由于速度突變所引起的沖擊,,并在嵌入式平臺(tái)仿真測(cè)試了該算法。文獻(xiàn)[6]給出了直線(xiàn)間構(gòu)造圓弧平滑過(guò)渡的軌跡規(guī)劃算法,,為解決因加工路徑方向改變而引起沖擊的問(wèn)題提供了較好的解決思路,。文獻(xiàn)[7]給出了雙向掃描速度規(guī)劃算法,實(shí)現(xiàn)連續(xù)小線(xiàn)段的速度銜接,,但該算法本質(zhì)上屬于離線(xiàn)規(guī)劃,,不太適合實(shí)時(shí)高速的應(yīng)用。文獻(xiàn)[8]-[10]通過(guò)計(jì)算相鄰小線(xiàn)段拐角處所允許的最大速度,,給出微小線(xiàn)段連續(xù)前瞻算法,。文獻(xiàn)[11]給出了考慮弓高誤差和向心加速度的自適應(yīng)速率規(guī)劃算法。但上述算法都沒(méi)有考慮實(shí)際平臺(tái)動(dòng)力學(xué)的影響,,可能會(huì)激起剛?cè)狁詈?、重?fù)載平臺(tái)的殘余振動(dòng),影響零件的加工精度,。文獻(xiàn)[12]提出的實(shí)時(shí)速度前瞻算法基于系統(tǒng)模型動(dòng)力學(xué),,但該模型僅為一階模型,,因此對(duì)于難以建立精確模型的剛?cè)狁詈稀⒅刎?fù)載龍門(mén)雙驅(qū)平臺(tái)系統(tǒng),,該算法可能不太適用,。


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作者信息:

謝翰君1,王林2,,王欽若1

(1.廣東工業(yè)大學(xué) 自動(dòng)化學(xué)院,,廣東 廣州 510000;2.國(guó)工信(滄州)機(jī)器人有限公司,,河北 滄州 061000)




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