Trajectory dynamic control for CNC machining based on velocity

摘要

By the method of tangential velocity in the paper, The error model was established, the analysis software was developed, some error patterns and decisive parameters were analyzed, the measures to amend, additionally, were proposed. In order to solve the difficult problem of synthetic control for trajectory position and motion, studied the spatial and time characteristics of trajectory movement and the relation between geometric parameter and dynamic state parameter. The trajectory geometry functional, on the one hand it is not time-varying mapping, can be simplified through mathematical transformation, thus the space of geometric mapping can be extended. On the other hand, setting the time for the trajectory parameter of functional is about the displacement of a special motion equation. The functional structure of differential equation is the product of the geometric parameter functional and its time -derivative. Proposed a new method for trajectory control: tangential velocity method which with the motion parameter that controls the trajectory to achieve, with the variation of the reference to control the motion processing. After experiment and simulation, proved that is a good way to control the machine tool trajectory can achieve a comprehensive control for geometry and motion, reduce the computational error, improve the trajectory accuracy, and enhance the adaptive ability to environment for path planning.