基于Bézier曲线的小直线段局部转接光顺研究

doi:10.3901/JME.2018.19.111

机械工程学报 ›› 2018, Vol. 54 ›› Issue (19): 111-120.doi: 10.3901/JME.2018.19.111

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基于Bézier曲线的小直线段局部转接光顺研究

张勇¹, 叶佩青^1,2, 肖建新², 张辉^1,3

1. 清华大学机械工程系北京 100084;
2. 清华大学摩擦学国家重点实验室北京 100084;
3. 清华大学精密超精密制造装备与控制北京市重点实验室北京 100084

收稿日期:2017-08-25 修回日期:2018-06-25 出版日期:2018-10-05 发布日期:2018-10-05
通讯作者: 张辉(通信作者),女,1969年出生,博士,副教授,博士研究生导师。主要研究方向为数控装备。E-mail:wwjj@tsinghua.edu.cn
作者简介:张勇,男,1991年出生,博士研究生。主要研究方向为数控技术。E-mail:yong-zha14@mails.tsinghua.edu.cn
基金资助:
国家科技重大专项（20181820249）和国家科技支撑计划（2015BAI03B00）资助项目。

Local Bézier Transition Method along Continuous Short-line Toolpath

ZHANG Yong¹, YE Peiqing^1,2, XIAO Jianxin², ZHANG Hui^1,3

1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084;
2. The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084;
3. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084

Received:2017-08-25 Revised:2018-06-25 Online:2018-10-05 Published:2018-10-05

摘要/Abstract

摘要： 连续小直线段轨迹（G01）是实际加工过程中最常见的轨迹形式，而直线拐角处的几何不连续性势必会带来速度和加速度的突变，严重影响加工质量和加工精度。为提高G01轨迹的加工效率和加工质量，提出一种基于三次Bézier曲线的小直线段转接光顺算法，并建立拐角转接控制模型，实现轨迹连续性的提升。同时，为进一步提高加工效率，所提算法保证转接曲线曲率极值点出现在Bézier曲线中点处，并能够实现曲率极值的解析计算，并以拐角曲率最优为目标实现转接光顺控制。在加减速方面，基于柔性加减速控制方法，提出一种切向跃度连续的加减速曲线形式，并以此为前提，应用双向扫描算法实现速度前瞻过程，完成速度规划和插补。最后与现有算法进行对比，试验结果表明所提算法能够在保证相似加工精度的前提下显著提升加工效率。

关键词: Bé, zier曲线, 局部转接光顺, 速度规划, 跃度连续

Abstract: Linear toolpath, which is in forms of G01 codes, is most popular in practical computer numerical control (CNC) machining area. However, unavoidable velocity and acceleration fluctuations are caused by the linear toolpath discontinuity at corners, leading to machining vibration and poor surface texture. A cubic Bézier curve with four control points is adopted to blend sharp corners. With constrained chord error, the curvature extreme is proves to occur at the middle of transition curves and can be calculated analytically. In addition, optimal curvature extreme is searched to enhance machining efficiency. In motion planning process, a look-ahead methodology is utilized to determine the reachable feedrate at curvature extreme points. Afterwards, a jerk-continuous feedrate scheduling scheme is developed. Finally, tracking and machining experiments are conducted to demonstrate the efficiency, contour performance and machining quality of the proposed method compared to previous methods.

Key words: Bézier curve, feedrate scheduling, jerk-continuous, local transition methods

中图分类号:

TG156

张勇, 叶佩青, 肖建新, 张辉. 基于Bézier曲线的小直线段局部转接光顺研究[J]. 机械工程学报, 2018, 54(19): 111-120.

ZHANG Yong, YE Peiqing, XIAO Jianxin, ZHANG Hui. Local Bézier Transition Method along Continuous Short-line Toolpath[J]. Journal of Mechanical Engineering, 2018, 54(19): 111-120.

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基于Bézier曲线的小直线段局部转接光顺研究

Local Bézier Transition Method along Continuous Short-line Toolpath

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