综合多约束条件优化连续轨迹前瞻算法

doi:10.3901/JME.2019.13.151

机械工程学报 ›› 2019, Vol. 55 ›› Issue (13): 151-159.doi: 10.3901/JME.2019.13.151

综合多约束条件优化连续轨迹前瞻算法

陈琳^1,2, 黄旭丰¹, 刘梦¹, 袁山山¹, 贺飞翔¹, 易健¹, 潘海鸿^1,2

1. 广西大学机械工程学院南宁 530004;
2. 广西大学广西制造系统与先进制造技术重点实验室南宁 530004

收稿日期:2018-07-19 修回日期:2018-12-24 出版日期:2019-07-05 发布日期:2019-07-05
通讯作者: 潘海鸿(通信作者),男,1966年出生,博士,教授,博士研究生导师。主要研究方向为高速高精度运动控制、数控技术、嵌入式控制系统和伺服驱动技术。E-mail:hustphh@163.com
作者简介:陈琳,女,1973年出生,博士,教授,博士研究生导师。主要研究方向为数控系统、嵌入式系统、电动机控制、机器人控制技术和信号处理。E-mail:gxdxcl@163.com
基金资助:
国家自然科学基金（51465005）、广西科技计划（桂科AB16380237）、广西高校现代设计与先进制造重点实验室主任课题基金（GXXD16ZD——01）、广西制造系统与先进制造技术重点实验室（14-045-15S09）和南宁市科学研究与技术开发计划（20161281）资助项目。

Optimized Continuous Trajectory Look-ahead Algorithm with Comprehensive Multi-constraints

CHEN Lin^1,2, HUANG Xufeng¹, LIU Meng¹, YUAN Shanshan¹, HE Feixiang¹, YI Jian¹, PAN Haihong^1,2

1. College of Mechanical Engineering, Guangxi University, Nanning 530004;
2. Guangxi Key Laboratory of Manufacturing System & Advanced Manufacturing Technology, Guangxi University, Nanning 530004

Received:2018-07-19 Revised:2018-12-24 Online:2019-07-05 Published:2019-07-05

摘要/Abstract

摘要： 针对现有连续轨迹插补算法在加工过程中会出现法向加速度和轨迹误差超限现象，导致加工效率及加工精度低等问题。为此，提出一种基于综合多约束条件（Comprehensive multi-constraints，CMC）和前瞻技术的优化连续轨迹前瞻算法。该算法先用弓高误差和法向加速度作为约束限制圆弧加工的最大进给速度；综合运动矢量关系、系统动力学性能和轨迹段长等约束条件，计算获得最优的轨迹段间衔接点速度；根据速度前瞻控制与非对称S曲线加减速控制实现对轨迹段间衔接进给速度的平滑处理。试验验证结果表明，所提出的前瞻插补算法输出的法向加速度和轨迹误差不超过系统给定的最大值、合速度平滑过渡、运动轴速度不存在突变，且全程范围内插补输出的轨迹误差最大值小于系统给定的最大弓高误差值；在保证加工效率的同时，提高加工平滑性及加工精度。

关键词: 非对称S曲线, 连续轨迹规划, 前瞻插补, 衔接进给速度

Abstract: During machining process with existing continuous trajectory interpolation algorithms, normal acceleration and trajectory error exceed maximum result in low machining efficiency and machining precision. Therefore, a continuous trajectory look-ahead interpolation algorithm is proposed, which based on comprehensive multi-constraints and look-ahead technique. The algorithm limits the maximum feed rate of arc machining by restricting the chord error and the normal acceleration. The optimal link feedrate between the trajectory segments is calculated according to the constraints of the integrated motion vector relationship, system dynamics performance and the trajectory segment length. Smoothness of the link feedrate between trajectory segments is ensured, according to the speed look-ahead control and the asymmetric S-curve acceleration/deceleration control. The experiment results show that the normal acceleration and the trajectory error output by proposed look-ahead interpolation algorithm do not exceed allowable maximum of the system, and the synthesized reference velocity transits smoothly, and the kinematic axis velocity will not mutate, and the maximum trajectory error of the interpolation output is less than the maximum allowed chord error in the whole range. This algorithm can improve machining smoothness and machining accuracy while machining efficiency is ensured.

Key words: asymmetric S-curve, continuous trajectory planning, linked federate, look-ahead interpolation

中图分类号:

TP273

陈琳, 黄旭丰, 刘梦, 袁山山, 贺飞翔, 易健, 潘海鸿. 综合多约束条件优化连续轨迹前瞻算法[J]. 机械工程学报, 2019, 55(13): 151-159.

CHEN Lin, HUANG Xufeng, LIU Meng, YUAN Shanshan, HE Feixiang, YI Jian, PAN Haihong. Optimized Continuous Trajectory Look-ahead Algorithm with Comprehensive Multi-constraints[J]. Journal of Mechanical Engineering, 2019, 55(13): 151-159.

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综合多约束条件优化连续轨迹前瞻算法

Optimized Continuous Trajectory Look-ahead Algorithm with Comprehensive Multi-constraints

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