一种高速高精的路径动态前瞻规划算法

针对五轴线性插补时减速点难以预测、仅对平动轴速度规划导致旋转轴角速度/角加速度超限等问题，提出一种进给速度规划控制方法.该方法基于对旋转轴角速度/角加速度的约束控制，在计算出平动轴实际最大可达速度/加速度后再进行平动轴的速度规划，依据平动轴加减速控制规律分别计算加速、匀速和减速阶段的插补周期数量，并将残余距离均匀分配到各减速周期以使最后一个周期结束时刚好到达插补路径段终点.实例验证数据表明，所提出方法无须预测减速点也能准确定位插补路径段的终点，同时旋转轴与平动轴在各自运动学约束条件下可实现加减速过程的协调一致，在提高机床性能及运动控制精度等方面具有较好的实际应用价值.

A high-speed and high-precision path dynamic prospective programming algorithm

A planning and controlling method of feedrate was proposed for the problems that the deceleration point is difficult to predict and only planning the translation axis speed is easy to cause the rotation axis angular velocity/angular acceleration to overrun in five-axis linear interpolation. In this method, the actual maximum reachable velocity/acceleration of the translation axis was first calculated based on the constraint control of the angular velocity/angular acceleration of the rotation axis. Then, the feedrate planning of the translation axis was performed. According to the acceleration and deceleration controlling law of the translational axis, the numbers of interpolation cycles of acceleration, uniform and deceleration were calculated, respectively. The residual distance was evenly distributed to each deceleration cycle so that when the last cycle had gone, the endpoint of the interpolation path segment is justly reached. The verification data in an example show that the proposed method can accurately locate the endpoint of the interpolation path segment without predicting the deceleration point. At the same time, the rotation axis can coordinate the acceleration and deceleration process with the translation axis under the respective kinematics constraints. This method is proved to be effective and feasible. The presented method has high practical values in improving performance and motion control accuracy of the machine tools.