三次S曲线加减速算法研究

赵翔宇; 蔡慧林

doi:10.13433/j.cnki.1003-8728.2016.0516

三次S曲线加减速算法研究

doi: 10.13433/j.cnki.1003-8728.2016.0516

赵翔宇¹,
蔡慧林^2, ,

1.
兰州交通大学机电工程学院, 兰州 730070;
2.
兰州交通大学电子与信息工程学院, 兰州 730070

基金项目:

兰州市科技专项重点项目(20750)资助

详细信息

作者简介:
赵翔宇(1990-),硕士研究生,研究方向为数控技术研究与应用、机械装备自动化技术,zxy1247@163.com

通讯作者:
蔡慧林(联系人),教授,博士研究生,caihl@mail.lzjtu.cn

计量
- 文章访问数: 215
- HTML全文浏览量: 33
- PDF下载量: 17
- 被引次数: 0
出版历程
- 收稿日期: 2014-07-08
- 刊出日期: 2016-05-05

Research on the Acceleration/Deceleration Algorithm of Cubic S-shape

Zhao Xiangyu¹,
Cai Huilin^{2
, ,}

1.
School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;
2.
School of Electronic and Information Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China

摘要

摘要: 针对直线加减速和指数加减速算法中加速度不连续,易对机床产生冲击的问题,提出了一种三次S曲线加减速算法,给出了相应的加加速度、加速度、速度和位移的计算表达式。利用最优化原理,对加减速控制中可能出现的各种情况进行了速度规划。仿真结果表明:该算法能保证加速度和加加速度的平稳变化,避免产生大的冲击,提高了数控系统的运动稳定性;算法简单智能,可根据路径长度自适应地重新规划速度,提高了加工效率。
- 加减速 /
- 三次S曲线 /
- 运动稳定性 /
- 速度规划
Abstract: Aiming at the impact and vibration to CNC(Computer Numerical Control) machine tools due to acceleration discontinuity in the linear and exponential acceleration/deceleration(acc/dec) algorithm, a novel cubic S curve acc/dec is introduced which provides the expression of jerk, acceleration, feedrate and displacement. Feedrate planning method is carried out to deal with various conditions that may occur in acc/dec control based on the optimization theory. The simulation result shows that the present algorithm can guarantee the smooth change in the acceleration and jerk so the intense impact is avoided, and the higher motion stability in the CNC system is obtained, and it can adaptively re-plan the feedrate for the chord length so as to improve the machining efficiency by using the simple and intelligent algorithm.
- acceleration/deceleration /
- cubic S curve /
- feedrate planning /
- motion stability

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参考文献(12)

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