基于NURBS曲线插补的五段S曲线加减速控制方法研究

摘要

A new ACCeleration-DECeleration method (ACC-DEC) was put forward, which aimed at the shortages of S-curve ACC-DEC.The proposed approach was designed to satisfy the requirements of nonuniform rational B-spline (NURBS) interpolation with high-speed and high-accuracy.Based on the impacts which used conventional linear ACC-DEC, the complex algorithm of the seven phased S-curve, the five phased S-curve was adopted, taking chord error and maximal centripetal acceleration into consideration,solving rationally difficulty in the predetermination deceleration point.The simulation results showed that the method can make sure the acceleration was continuous, the speed changed smoothly, the flexibility was improved, the algorithm was easy to implement.%为满足非均匀有理B样条曲线高速高精度插补加工的需要,针对目前参数曲线插补加减速控制方法的不足,常规直线加减速方法存在冲击,七段S曲线加减速方法算法复杂等问题,提出了基于NURBS曲线插补的五段S曲线加减速控制方法.该方法将高速加工中容易超限的弓高误差和机床所能承受的法向加速度等参数均考虑在内,而且合理地解决了插补前加减速控制中的减速点预测困难的问题.仿真结果表明,该方法能够保证加速度的连续,速度的平滑过渡,有效提高了系统的柔性,简化了算法.