Design and implementation of look-ahead linear jerk filter for a computerized numerical controlled machine

摘要

In this study, an open programmable logic controller (PLC) from Fuji electric prescribed in the Structured Text program was applied to develop a look-ahead linear jerk filter (LALJF) for a computerized numerically controlled (CNC) machine. To ensure the smooth and accurate motion of a tool with a linear change in jerk during real-time machining, the proposed filter was formed by combining a look-ahead algorithm with three modified moving average filters (3MMAF). The look-ahead algorithm performed a single look-ahead step-change in the speed of the speed curve. Based on a step-changing speed profile, given maximal acceleration/deceleration and maximum jerk, the speed curve was modified before it was passed through a linear jerk filter to reduce machining time. The speed commands filtered by the proposed filter stabilize machine table at the beginning and end of its motion, and at any point at which its speed exhibits a step-change. The theoretical and computational aspects of the LALJF are presented together with experimental results of its implementation on an X-Y table. The multiple-step-changing speed curve of a CNC machine and the speed curve of a high-speed measurement system were constructed in order to verify the feasibility and precision of the proposed method.