Development and implementation of a NURBS curve motion interpolator

This paper deals with the issues of development and implementation of a real-time NURBS interpolator for a six-axis robot. Using an open-architecture controller system as a testbed, a real-time NURBS curve interpolator was developed, implemented and tested. Sample runs were conducted with the resulting trajectories measured in real-time during robot motion. The resulting trajectories are analyzed, discussed and compared with those from a commonly used point-to-point approximation technique. The real-time NURBS curve interpolator's feasibility, advantages and related issues are also discussed.     

基于步进传动标记机系统的设计

论述了标记系统组成原理，简要地介绍了计算机与系统之间接口模块及步进电机驱动器的设计。最后，给出了本系统采用的逐点比较法直线插补器的实现方法。     

Development of an integrated look-ahead dynamics-based NURBS interpolator for high precision machinery

Methodologies for planning motion trajectory of parametric interpolation such as non-uniform rational B-spline (NURBS) curves have been proposed in the past. However, most of the algorithms were developed based on the constraints of feedrate, acceleration/deceleration (acc/dec), jerk, and chord errors. The errors caused by servo dynamics were rarely included in the design process. This paper proposes an integrated look-ahead dynamics-based (ILD) algorithm which considers geometric and servo errors simultaneously. The ILD consists of three different modules: a sharp corner detection module, a jerk-limited module, and a dynamics module. The sharp corner detection module identifies sharp corners of a curve and then divides the curve into small segments. The jerk-limited module plans the feedrate profile of each segment according to the constraints of feedrate, acc/dec, jerk, and chord errors. To ensure that the contour errors are bounded within the specified value, the dynamics module further modifies the feedrate profile based on the derived contour error equation. Simulations and experiments are performed to validate the ILD algorithm. It is shown that the ILD approach improves tracking and contour accuracies significantly compared to adaptive-feedrate and curvature-feedrate algorithms.     

An accurate adaptive NURBS curve interpolator with real-time flexible acceleration/deceleration control

Parametric interpolation has been widely used in CNC machining because of its advantages over the traditional linear or circular interpolation. Many researchers focused on this field and have made great progress in the specific one, NURBS curve interpolation. These works greatly improved the CNC machining with constant feedrate, confined chord error and limited acceleration/deceleration. However, during CNC machining process, mechanical shocks to machine tool caused by the undesired acceleration/deceleration profile will dramatically deteriorate the surface accuracy and quality of the machined parts. This is, in most occasions, very harmful to machine tools. In this paper, an accurate adaptive NURBS curve interpolator is proposed with consideration of acceleration–deceleration control. The proposed design effectively reduces the machining shocks by constraining the machine tool jerk dynamically. Meanwhile, the constant feedrate is maintained during most time of machining process, and thus high accuracy is achieved while the feedrate profile is greatly smoothed. In order to deal with the sudden change of the acceleration/deceleration around the corner with large curvature, a real-time flexible acceleration/deceleration control scheme is introduced to adjust the feedrate correspondingly. Case study has been taken to verify the feasibility and advantages of the proposed design.     

A study on a generalized parametric interpolator with real-time jerk-limited acceleration

The impossibility of exact arc length computation for ‘standard’ parametric curves such as Bézier/B-spline curves makes it difficult to generate a feedrate profile with desired accelerations in real-time. This paper presents a new recursive trajectory generation method that estimates an admissible path increment and determines the initiation of the final deceleration stage according to the distance left to travel estimated at every sampling time, resulting in exact feedrate trajectory generation through jerk-limited acceleration profiles for the parametric curves. The proposed approach allows the feedrate profile to be dynamically adjusted according to geometrical path constraints for the curved path. The simulation result has been also provided to illustrate the generation of smooth feedrate profile encompassing a sequence of mixed NC blocks including traditional linear and circular blocks.     

接收机码元同步算法的研究

对一种码元同步方法的整个环路进行了研究和仿真分析。这个系统环路由插值滤波器、gardner定时误差估计模块、NCO控制器以及环路滤波器等几个部分组成,文中对各个部分进行了分析并介绍其实现方法。最后在simulink下仿真实现,整个环路工作状况良好。     

基带内插脉冲成形滤波器的FPGA实现

基带内插脉冲成形(BBIPS)滤波器是全数字调制器的核心模块之一.成形滤波运算是调制器中运算量最大的组成部分,因此它的高效实现对降低调制器的运算量有着积极的意义.标准的滤波运算需要大量的乘加操作,然而简单的查表操作就可以实现调制器的基带成形滤波功能.首先介绍BBIPS滤波的理论基础,然后给出用FPGA实现BBIPS滤波器的查找表方法,并详细介绍基于查找表的设计结构.采用该技术实现的全数字BBIPS滤波器不仅性能优越,而且具有很强的灵活性,可以针对不同码元速率、内插倍数、基带成形波形等参数在系统中方便地修改.符合数字通信软件化的趋势,在软件无线电中有广阔的应用前景.     

一种新的图像实时放大技术

该文提出了一种视频图像整数倍放大的实时插值方案一改进的像素填充插值法,给出了其基本原理及软、硬件实现方法.与重复插值法、线性插值法、像素填充插值法和小波放大法等进行了比较,并给出了放大后图像的主观和客观评价。结果表明改进的像素填充插值法的效果明显优于其他实时放大方法,且其硬件实现并不复杂,可用于视频图像实时放大的软、硬件设计。     

一种100dB输出动态范围的1.5bit功率数模转换器

介绍了一种1.5bit的双声道过采样数模转换器.它把过采样数模转换器和D类功率放大器这两部分集成在一起,不需要额外的低通滤波器即可直接驱动耳机扬声器等语音设备.它无需消耗直流功耗,对于常用的8Ω扬声器负载,其最大输出功率可达436mW,输出动态范围大于100dB.该电路采用TSMC 0.18μm工艺实现.芯片面积为0.28mm2,其中数字电路的电源电压为1.8V,D类功率放大器的电源电压为3.3V.     

A parametric interpolator with minimal feed fluctuation for CNC machine tools using arc-length compensation and feedback correction

Traditionally, approximation methods are utilized in the parametric interpolation because of the nonanalytic relationship between the spline parameter and the arc length. The approximation error has been considered as the source of the feedrate fluctuation. This paper shows that the discrepancy between the desired tool path and the target trajectory of the motion system is another primary source, and presents a feedback interpolator to eliminate the feedrate fluctuation. To evaluate the initial parameter value for the interpolator, an arc-length based Taylor's expansion with arc-length compensation is proposed, which alleviates greatly the feedrate command error caused by the trajectory deviation. Then, a feedback correction scheme is developed to further reduce the feedrate command error that results from the approximation error. Both computational load analysis and numerical simulations are conducted, and the results show that the present interpolator has very good performance in both efficiency and accuracy, thus is a good choice for high speed and high precision CNC machines.