基于三次样条的平滑插补-控制科学与工程专业论文.docxVIP

Classified Index: TG659 U.D.C: 621.914.32 Dissertation for the Master Degree of Engineering SMOOTH INTERPOLATOR BASED ON CUBIC SPLINE INTERPOLATION Candidate: Zhou, Lei Supervisor: Prof. Li, Zexiang Academic Degree Applied for: Master of Engineering Specialty: Control Science and Engineering Affiliation: Shenzhen Graduate School Date of Defence: December, 2007 Degree-Conferring-Institution: Harbin Institute of Technology I I 摘 要 由于传统的 CNC 机床只能提供直线插补器和圆弧插补器，无法直接对曲线 进行插补，因此，需要通过 CAM 将由曲线表示的刀具路径以小直线段和圆弧段 逼近。这种逼近方法带来了数据量过大，速度加速度不连续，机台振动等问题。 因此，这些传统的方法已不能满足现今高速高精度的加工要求。 平滑插补器可以弥补传统加工方法的缺陷。本文就是在参考国内外相关研究 的基础上提出一种实用化的在线平滑插补器。该完善的平滑插补算法不仅能够将 原本的加工路径在允许误差范围内用三次样条做平滑处理，而且根据样条形状自 适应地调整速度以限制弦高误差在规定范围内，同时使运动速度始终以恒定的加 减速进行变化，从而满足机床的加减速承受能力要求，最终得出完整插补轨迹规 划。首先，采用三次样条插值可以在误差限度内平滑加工路径。本文采用了一种 可以在线实现的插值方法。由于这种方法会引起大的波动，从而使得误差超限， 所以为了防止这些情况出现，就对加工代码做了预处理。预处理包括两个模块： 数据清洁和代码分域。数据清洁用来剔除代码中没有特征的点。代码分域则是分 辨出可以做样条插值并能满足误差要求的代码域。接下来，采用速度前瞻的方法 做速度规划。本文中提出了三次样条的速度前瞻方法。通过速度前瞻，求出了每 段的最大终点速度。然后，根据终点速度就可以对每段进行插补了。最后，试验 部分在一台三轴铣床上来实现，证明了平滑插补相对传统直线插补的优越性。 关键字：三次样条；平滑插补器；预处理；速度规划 II II ABSTRACT Traditional CNC (Computer Numerical Control) machine tools can only provide linear and circular interpolators. In order to perform machining, tool paths represented by parametric curves have to be approximated by many short linear and circular segments by CAM (Computer Aided Manufacturing) systems. Such traditional approach may result in several problems, such as large data size, velocity discontinuity, shocks or variations in mechanical systems and low machining efficiency. A smooth interpolator has been proposed and can improve the machining quality. In this thesis, a smooth interpolator based on cubic spline interpolation is proposed. Firstly, the cubic spline can smooth the tool path in tolerance by interpolation. A practical interpolation method is proposed. It can be realized on-lined. Since the method can involve errors, tool path pre-process is proposed to avoid big fluctuations. It contains two modu