计算机数控系统光滑时间最优轨迹规划-控制理论与应用.pdfVIP

29 2 Vol. 29 No. 2 2012 2 Control Theory Applications Feb. 2012 : 1000−8152(2012)02−0192−07 , (() , 266555) : (CVP), (CNC). , . , . (), , (NLP) . , , , . Hamiltonian , NLP . : ; ; ; ; : TP29 : A Smooth and time-optimal trajectory planning for computer numerical control systems LI Shu-rong, ZHANG Qiang (College of Information and Control Engineering, China University of Petroleum (East China), Qingdao Shandong 266555, China) Abstract: On the basis of the control vector parameterization (CVP) method, we investigate the numerical approach for solving the smooth and time-optimal trajectory planning problem of computer numerical control (CNC) systems. The jerk constraints are considered in the problem to realize the smooth feeding-rate of the trajectory. By using a time normalization factor, we reformulate the original jerk constrained time-optimal trajectory planning problem as a time-independent optimal control problem. The third derivative of the path parameter with respect to time, also known as pseudo-jerk, and the terminal time are taken as optimization variables. The piece-wise constant approximation method is used to approach the pseudo- jerk, and the optimal control problem is converted into a general nonlinear programming (NLP) problem. Constraint aggregation functions are introduced to approximate the process constraints (i.e., jerk and acceleration constraints) as final time constraints, and the computation load of constraints can be reduced significantly. By constructing the Hamiltonian functions of objective and constraint functions, and employing the adjoint approach, we obtain the gradi