连续轨迹平滑过渡控制算法研究

摘要

为了解决传统的点位控制算法在加工复杂轨迹时速度频繁变化造成的机床抖动、加工效率低等问题,提出连续轨迹平滑过渡算法. 文中首先指出插补离散化导致连续轨迹需要跨段过渡,然后提出两种连续轨迹单周期过渡方案并对比其算法执行效率和轮廓误差.为实现直线与圆弧过渡间平滑过渡,对比求根公式、用弧长近似弦长等多种算法的执行效率. 仿真结果表明,在保证轮廓误差的前提下,实现了多段轨迹的连续加工,有效地提高了加工效率.%When machining complex counters, the conventional PTP control causes jitter of the machine, reduces machining efficiency due to the frequent changes of feed rate. A new control algorithm was put forward to realize smooth transition for continuous path. The existence of interpolation discretization was pointed out. The execution efficiency of two single-period transition solution was compared. In order to realize the smooth transition of line and arc, this paper compared the instruction cycle of radical formula and approximation method. The simulation result indicated that, while ensuring the precision of contour error, the continuous interpolation was realized, which effectively improved the machining efficiency.