基于分段三次样条曲线的高速加工平滑运动轮廓自适应算法研究

针对高速加工的需求,提出了一种基于分段三次样条曲线的机床运动轮廓自适应生成算法。该算法能够保证机床在高速运行过程中加加速度（加速度的变化率）的恒定、加速度的连续、速度与时间关系的一阶连续、位移与时间关系的二阶连续,并且保证在各自的约束范围内,从而使机床的运动平稳,避免产生大的冲击和振动。分析了速度、加速度、加加速度的约束条件以及机床行程对平滑运动轮廓的影响,根据这些约束条件,该算法自适应地调整速度变迁各阶段的时间。针对多个程序段的加工,提出了分段常速与平滑变迁控制的策略。该算法简单、有效,已在最新开发的国内第一台高速玻璃刻花加工中心上实现。

RESEARCH ON ADAPTIVE ALGORITHM FOR GENERATING SMOOTH MOTION PROFILE OF HIGH-SPEED MACHINING BASED ON PIECEWISE 3-ORDER SPLINE CURVE

An adaptive algorithm for generating smooth motion profile is proposed by using piecewise 3-order spline curve. The algorithm provides second derivative of displacement, first derivative of speed and continuity of acceleration with speed, acceleration and jerk constraints, which avoids the occurrence of intense vibration in high-speed machining. The influence of these constraints on the motion profile is analyzed. Based on these constraints, the algorithm can automatically adjust the period of each transition procedure in order to obtain smooth motion profile. The strategy of piecewise constant speed and smooth motion control is also introduced. The algorithm is effective and has been adopted by CNC system of newly developed high-speed glass engraving machine center.