一种优化轨迹段间衔接速度的自适应前瞻控制.pdfVIP

第 51 卷第 5 期 2015 年 3 月 机 械 工 程 学 报 JOURNAL OF MECHANICAL ENGINEERING Vol .51 No .5 Mar. 2015 DOI：10.3901/JME.2015.05.151 一种优化轨迹段间衔接速度的自适应前瞻控制* 潘海鸿 1, 2 杨增启 1 陈 琳 1, 2 董海涛 1 黄炳琼 1 谭华卿 3 (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； 3. 雷赛智能控制股份有限公司 深圳 518000) 摘要：为实现数控系统中轨迹段的高速高精加工，提出一种优化轨迹段间衔接速度的自适应前瞻控制算法。在传统轨迹段间 速度衔接模型的基础上，该前瞻算法增加了非对称 S 曲线加减速控制的轨迹长度约束，并根据相邻两段轨迹的长度变化，自 适应规划出轨迹段间的最优衔接速度。通过自主开发的 x-y 数控系统平台进行验证，综合加工性能试验的加工精度可以达到 ±0.6 mm，加工效率提高 9.8%。结果表明所提出的自适应前瞻算法可避免回溯计算转接点速度时计算量显著增加这一问题， 并在加工过程中减少大量微小轨迹段的进给轴频繁启停，从而使相邻轨迹段间衔接速度平滑性、加工效率和加工精度方面相 对于传统前瞻算法都有明显提高。 关键词：衔接速度处理；非对称 S 曲线加减速；自适应前瞻控制；高速加工 中图分类号：TP273 An Adaptive Look-ahead Control Algorithm Using Optimized Transition Velocity between Two Trajectory Segments PAN Haihong1, 2 YANG Zengqi1 CHEN Lin1, 2 DONG Haitao1 HUANG Bingqiong1 TAN Huaqing3 (1. College of Mechanical Engineering, Guangxi University, Nanning 530004; 2. Guangxi Key Laboratory of Manufacturing System Advanced Manufacturing Technology, Guangxi University, Nanning 530004; 3. Shenzhen Leadshine Technology Co., Ltd., Shenzhen 518000) Abstract：To realize a high-speed and a high-precision machining in the CNC system, an adaptive look-ahead control algorithm is proposed, which optimizes the transition velocity between trajectory segments. This algorithm adds the asymmetric S-curve acceleration and deceleration control as the path length constraint, which is based on the traditional velocity transition modes between trajectory segments. And it can adaptively make a plan for the optimal velocity between trajectory segments according to the changes of adjacent trajectory two segments length. An x-y CNC system rig of independent development is used to verify this algorithm. Experimental results show that the machining precision of the comprehensive processing can reach ±0.6 millimeter and its productivity is enhanced by 9.8%. It indicates that the proposed algorithm can avoid the prob