• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2022, Vol. 58 ›› Issue (5): 178-189.doi: 10.3901/JME.2022.05.178

• 数字化设计与制造 • 上一篇    下一篇

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基于自适应平滑速度和参数增量补偿的NURBS插补

许波, 丁一, 姬伟   

  1. 江苏大学电气信息工程学院 镇江 212013
  • 收稿日期:2021-02-05 修回日期:2021-09-15 出版日期:2022-03-05 发布日期:2022-04-28
  • 通讯作者: 姬伟(通信作者),男,1974年出生,博士,教授,硕士研究生导师。主要研究方向为智能制造装备,机器人,运动控制技术。E-mail:jiwei@ujs.edu.cn E-mail:jiwei@ujs.edu.cn
  • 作者简介:许波,女,1977年出生,博士,副教授,硕士研究生导师。主要研究方向为电机数字控制,运动控制技术。E-mail:xubo@ujs.edu.cn;丁一,男,1996年出生,硕士研究生。主要研究方向为数控技术。E-mail:dyi_996@163.com
  • 基金资助:
    国家自然科学基金(61703186,61973141);江苏省优势学科建设工程资助项目。

NURBS Interpolator with Adaptive Smoothing Feedrate and Parameter Increment Compensation

XU Bo, DING Yi, JI Wei   

  1. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 221013
  • Received:2021-02-05 Revised:2021-09-15 Online:2022-03-05 Published:2022-04-28

摘要: 为提高NURBS插补速度的平滑性以及针对传统插补参数计算方法精度低的问题,研究了曲率约束下的平滑进给速度规划和基于参数增量补偿的插补点参数计算方法。基于曲率约束获得自适应进给速度,依据自适应速度对曲线进行分段。改进了传统的S形加减速规划方法,对满足合并条件的相邻区间进行综合规划,并且对速度超限的问题做出调整。基于二阶Runge-Kutta法求取下一插补点参数的初始增量值,采用后向差分法简化计算。利用圆弧近似求取参数增量的补偿值,最终获得下一插补点的参数。通过仿真测试了所提方法的性能,速度曲线平滑且各指标满足约束条件,进给速度波动也更小。测试试验对比了所提方法与传统方法,研究结果证明了该算法的有效性。

关键词: NURBS插补, 速度规划, S形加减速, 进给速度波动, 圆弧过渡刃

Abstract: In order to improve the smoothness of NURBS interpolation speed and solve the problem of the low accuracy of traditional interpolation parameter calculation methods, this paper proposes a NURBS interpolator with smooth feedrate scheduling and minimal feedrate fluctuation. The adaptive feedrate is obtained based on the constraints of chord error, normal acceleration and normal jerk.The curve is segmented according to the adaptive speed and the S-shaped acc/dec algorithm is used to smooth the speed curve. This paper improves the traditional S-shaped acc/dec planning method and makes a comprehensive planning for the adjacent sections meeting the merging conditions and adjusts the speed overrun area. Based on the second-order Runge-Kutta method, the initial increment value of the next interpolation point parameters is obtained and the backward difference method is used to simplify the calculation. The arc approximation method is used to obtain the compensation value of the parameter increment and finally the parameters of the next interpolation point are obtained. The performance of the proposed method is compared with that of the traditional method by simulation and experiment. The results show that the algorithm is effective.

Key words: NURBS interpolator, feedrate scheduling, S-shaped acc/dec, feedrate fluctuation, arc transition edge

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