B样条曲线柔性加减速前瞻控制算法的研究

摘要

针对B样条曲线插补过程中存在的柔性冲击、过切问题,采用四次多项式加减速与三角函数加减速相结合的方法对B样条曲线进行前瞻速度规划控制.首先,根据曲线曲率的变化情况找出速度规划中的速度敏感点.其次,在对前瞻路径进行四次多项式速度规划时,若遇到曲率频繁变化的曲线段,为了降低柔性冲击,使用三角函数加减速方法进行速度规划控制.最后,为了保证加工精度将弓高误差约束条件引入到速度规划分析中.仿真结果及实例表明,该方法能在保证加工精度的同时降低柔性冲击.%Considering the problems of flexible impact and overcut existed in the B-spline curve interpolation's process. This paper presented a new B-spline curve interpolation control method-Forward velocity planning combined four polynomials and trigonometric acceleration deceleration. Firstly, according to changes in the curvature of the plan to find out the speed sensitive points. Secondly , when using four polynomials planned forward path, if there had a frequent changes in the curvature of the curve segment,in order to reduce the impact of flexible,the paper choose the method of trigonometric to planning speed acceleration and deceleration control. Finally, in order to ensure the accuracy of process, this paper introduced chord error into speed planning analysis.Simulation results and examples show that this method can reduce the impact of flexible while ensuring precision.