CURVE INTERPOLATION ACCELERATION AND DECELERATION CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To actualize the method of obtaining smooth acceleration and deceleration for high-speed movement matching the shape of a curve. ;SOLUTION: The curve interpolation acceleration and deceleration control method for a numerical controller comprising a command input part 1, a curvature evaluation part 2, a target speed setting part 3, a deceleration target point setting part 4, and an acceleration and deceleration setting part 5 is implemented by following specific procedures. Namely, (1) curve interpolation data and command acceleration are inputted, (2) a minimum point of a radius of curvature is found, and (3) a curvature limit speed is found by using a feed speed and the radius of curvature at the curvature radius minimum point, and the command acceleration; and (4) all curvature radius minimum points and the end point of the curve are set as a deceleration target point, (6) the point which is closest to a current interpolation point is regarded as a current deceleration target point, and (7) an interpolative speed is determined according to a straight distance, the target speed, and command acceleration. Then (8) an interpolation point where one control cycle elapses is determined, (9) the processes (7) and (8) are repeated until the point reaches the current deceleration target point, and (10) a current deceleration target point is set newly if the current deceleration target point is not the end point of the curve point, regardless of that the interpolation point reaches the current deceleration target point. Thus, (11) those processes are repeated until the interpolation point reaches the end point of the curve.;COPYRIGHT: (C)2000,JPO