一种S型加减速组合的速度规划算法

李甍材; 赵东标; 冯胜利

doi:10.13433/j.cnki.1003-8728.20220198

一种S型加减速组合的速度规划算法

doi: 10.13433/j.cnki.1003-8728.20220198

南京航空航天大学机电学院, 南京 210016

基金项目:

国家重点基础研究发展计划 2014CB046501

详细信息

作者简介:
李甍材, 硕士研究生, 747097713@nuaa.edu.cn

通讯作者:
赵东标, 教授, 博士生导师, zdbme@nuaa.edu.cn

中图分类号: TP659;TP273
计量
- 文章访问数: 87
- HTML全文浏览量: 40
- PDF下载量: 18
- 被引次数: 0
出版历程
- 收稿日期: 2021-10-30
- 刊出日期: 2024-01-25

A Speed Planning Algorithm for S-type Acceleration and Deceleration Combination

School of Mechanical and Electronic Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

摘要

摘要: 针对传统NURBS曲线插补S型加减速的改进难以在加工柔性和加工效率上同时兼顾的问题，提出一种将多种S型加减速组合的速度规划算法。选取分别在加工柔性和加工效率上单独改进的两种S型加减速，并设计了一种兼顾柔性和效率的新改进S型加减速。在速度规划中，根据简化后的4种加减速形式，灵活组合这3种S型加减速，并采取合并曲线分段的速度平滑方式，减少了曲线段间的速度波动。仿真结果表明: 该算法能在提高加工效率的同时满足加加速度的连续，最终实现加工柔性和加工效率的兼得。
- NURBS插补 /
- S型加减速 /
- 速度平滑 /
- 速度规划
Abstract: Because it is difficult to take into account the machining flexibility and machining efficiency at the same time in improving the S-type acceleration and deceleration for the traditional NURBS curve interpolation, a speed planning algorithm that combines multiple S-type accelerations and decelerations is proposed. Two S-type acceleration and deceleration models which have been separately improved for machining flexibility and efficiency are selected. A novel and improved S-type acceleration and deceleration model with both flexibility and efficiency considered is designed. According to the simplified four acceleration and deceleration forms, the speed planning algorithm flexibly combines the three models, and the speed smoothing method that merges curve segments is adopted to reduce the velocity fluctuation between the curve segments. The simulation results show that the speed planning algorithm can improve the machining efficiency and satisfy the continuity of jerk, finally achieving both machining flexibility and machining efficiency.
- NURBS interpolation /
- S-type acceleration/deceleration /
- velocity smoothing /
- speed planning

HTML全文

图 1 基于速度敏感点的NURBS曲线分段加减速

Figure 1. Segmental acceleration and deceleration of NUBRS curve based on velocity sensitive points

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图 2 改进S型加减速模型

Figure 2. Improved S-type acceleration and deceleration model

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图 3 加速段的加加速度曲线

Figure 3. Jerk curve of acceleration section

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图 4 3种S型加减速模型

Figure 4. Three S-shaped acceleration and deceleration models

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图 5 基于3种S型加减速组合的加减速规划流程图

Figure 5. Acceleration and deceleration planning flow chart based on three S-type acceleration and deceleration combinations

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图 6 平滑前后的速度位移曲线

Figure 6. Smoothed velocity displacement curve

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图 7 合并曲线段后的速度超限

Figure 7. Speed overrun after merging curve segments

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图 8 蝴蝶型NURBS曲线

Figure 8. Butterfly-shaped NURBS curve

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图 9 有无段间平滑的改进S型加减速速度位移曲线

Figure 9. Improved S-shaped acceleration and deceleration velocity displacement curves with and without inter-segment smoothing

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图 10 有无段间平滑的改进S型加减速速度时间曲线

Figure 10. Improved S-shaped acceleration and deceleration speed time curves with and without inter-segment smoothing

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图 11 加减速仿真比较图

Figure 11. Comparison of acceleration and deceleration simulation

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图 12 弓高误差图

Figure 12. Diagram of arch height error

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图 13 速度波动率

Figure 13. Volatility of velocity

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表 1 3种S型加减速模型加速段结束时的速度位移变化

Table 1. The velocity and displacement changes at the end of the acceleration segment for the three models

	W型加减速	N型加减速	V型加减速
ΔV
ΔS

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表 2 W型和N型加减速各加速阶段的速度与位移变化

Table 2. Velocity and displacement changes in each acceleration phase of W type and N type acceleration and deceleration

表 3 弓高误差和速度波动率统计表

Table 3. Chord error and speed fluctuation statistical table

参数	本文算法	S型算法
平均弓高误差/mm	8.357 4×10^-5	1.105 1×10^-4
最大弓高误差/mm	2.831 2×10^-4	3.407 9×10^-4
平均速度波动率	1.248 3×10^-5	1.837 6×10^-5
最大速度波动率	6.414 7×10^-4	9.341 1×10^-4

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