S形加减速的嵌套式前瞻快速算法学案.pdf

31 4 Vol 31 No 4 2010 4 ACTA AERONAUTICA ET ASTRONAUT ICA SINICA Apr. 2010 :2010) S , , , ( , 210016) A Fast Nested Lookahead Algorithm with Sshape Acceleration and Deceleration He Jun, You Youpeng, Chen Hao, Wang Hua ing ( Key Laboratory of Jiangsu Province for Precision and Micro anufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China) :, S , S , ,S ,, , 30%,, , S , B( NURBS) S :; ; ; ; : TH 164; TP2735 : A Abstract: Lookahead is one of the ost significant functions of odern co puter nu erical control ( CNC) syste s and lookahead algorith s are directly related to the achining efficiency and otion stability of a CNC achine tool. For decades, the lookahead algorith based on Sshape acceleration and deceleration ( Acc/ Dec) has been widely adopted, which however is too co plex and ti econsu ing for realti e require ents. This article proposes a nested adaptive lookahead algorith to deal with these weaknesses. Based on the jerk sy etry in Sshape Acc/ Dec, a velocity planning odel is designed, and an approxi ation algorith to the equivalent acceleration profile is proposed to i prove odel solution efficiency. Analytical solutions are given in the two ain stages of velocity curve construction and checking. Taking the achining of continuous icroseg ents as an exa ple, the co plete fast nested lookahead algorith with achining verification is provided. Machining results show that global opti al otion efficiency can be obtained with the proposed algo rith , while co putation cost is less than 30% that in the traditional ethod. T his algorith can eet the re alti e require ents to