CN103163838A - Control method for acceleration and deceleration of numerical control machine tool - Google Patents
Control method for acceleration and deceleration of numerical control machine tool Download PDFInfo
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Abstract
Provided is a control method for acceleration and deceleration of a numerical control machine tool. The control method for acceleration and deceleration of the numerical control machine tool comprises firstly, dividing a given machining path into micro-sections, selecting a micro-section, and determining an accelerated speed of a discrete moment in the selected micro-section; summating accelerated speeds of discrete moments in a period of time according to the determined accelerated speed of the discrete moment in the selected micro-section, and averaging a summation result to serve as an accelerated speed of actual operation of the numerical control machine tool; calculating a speed of the actual operation of the numerical control machine tool according to the obtained accelerated speed of the actual operation of the numerical control machine tool; calculating displacement according to the obtained speed of the actual operation of the numerical control machine tool; and calculating and obtaining the accelerated speed of the actual operation of the numerical control machine tool. An obtained actual acceleration curve is gentle in rising front edge and a back edge. According to the control method for acceleration and deceleration of the numerical control machine tool, when the numerical control machine tool is started or stopped, produced impact or oscillation is small, out-of-synchronism and over travel of operation of the numerical control machine tool can be prevented, and stability of operation of the numerical control machine tool is guaranteed.
Description
Technical field
The present invention relates to a kind of control method of acceleration and deceleration, particularly relate to a kind of control method for the numerically-controlled machine acceleration and deceleration.
Background technology
Usually, numerically-controlled machine (CNC) resolves into a series of little route segment (as straight-line segment or arc section) with pahtfinder hard by the requirement of machining precision at the preprocessor of CAM system, then by each the relevant interpolator in digital control system, each specific little route segment is carried out interpolation operation.In order to guarantee workpiece accuracy, to carry out acceleration and deceleration and process between small route segment.Conventional Acceleration-deceleration Control Method is take each small path section as research object, and to make every section initial sum end speed be all zero.This method certainly will cause system's frequent start-stop, speed is slow, efficient is low and crudy is poor.In the CNC device, do not produce impact, step-out, the excess of stroke or vibration in order to guarantee lathe when starting or stoping, must carry out acceleration and deceleration control to pulsed frequency or the voltage of feeding motor.Namely when lathe accelerates to start, guarantee that the pulsed frequency or the voltage that are added on motor increase gradually; And when the lathe deceleration stops.Pulsed frequency or voltage that assurance is added on motor reduce gradually.
In High-speed machining, because speed of feed is very fast, for taking full advantage of effective impulse stroke of lathe, necessarily require each coordinate operation parts can reach given speed within the extremely short time, and can stop at rapidly and accurately the precalculated position in high-speed cruising, to consider the ability to bear of lathe under higher acceleration; In high precision processing, it is even more important that the precision in the long-term use procedure of high precision machine tool keeps, and not only needs acceleration is limited, and acceleration preferably can be continuous.The acceleration and deceleration dynamic process of lathe is not reasonably controlled, will be brought very large impact to machine tool structure, easily cause vibration cutting and breaking, reduce machining precision.
Economical CNC system mostly adopts traditional linear acceleration and deceleration and Exponential acceleration and deceleration control method at present.For example, Chinese patent application number 201010169651.5 " the continuous Acceleration-deceleration Control Methods of a kind of multisegment based on prediction-filtering technique " that provide, a kind of workpiece processing program data planning of looking forward to the prospect according to input, determine the prediction layout data of each program segment, utilize the projecting parameter of each program segment to carry out corresponding linear acceleration planning, complete the transit point speed between each program segment according to the projecting parameter derivation algorithm.Its advantage is: algorithm is simple, implements easily; Shortcoming is: have sudden change of acceleration when starting and finishing, easily produce and impact.
Some high-grade digital control systems adopt the Acceleration-deceleration Control Method based on the S curve, and the speed that the acceleration by each section of ramp control makes its acceleration and deceleration process changes smoothly by the form of S type curve, reduces the purpose of impacting thereby reach.For example, Chinese patent application number is 200510047806.7 " a kind of Acceleration-deceleration Control Methods for numerically-controlled machine " that provide, and is a kind of sigmoid curve Acceleration-deceleration Control Method that can process according to the integral relation between acceleration, speed and displacement.This method can overcome the shortcoming of traditional Acceleration-deceleration Control Method preferably, but the algorithm more complicated has relatively high expectations to hardware performance, other matching algorithm that relates in process is required many, thereby realize that difficulty is larger, and its acceleration is discontinuous.
Straight line/the curve of computer aided design system CAD design when converting mathematical model to numerical control machining code via computer auxiliaring manufacturing CAM software, will according to the requirement of profile errors Δ, approach former straight line/curve with continuous little section.When requirement on machining accuracy was high, Δ was very little, therefore produced a large amount of micro lines, and the segment length of these straight-line segments is very short, quantity is a lot, is called little section.Usually digital control system must be carried out frequent acceleration and deceleration in little section processing, so there is the contradiction of precision and speed in process.In order to realize that the smoothness run of lathe is controlled, just need to carry out speed and control, the speed in process is changed by given rule in time, different method for control speed can produce larger impact to the response speed of system and the error of position.And response rapidity and positional accuracy are the assurances of numerically-controlled machine efficient and precision.
It is directly with the take-off speed of the motor speed at the whole story as little section that traditional acceleration and deceleration are controlled, and as top speed, i.e. acceleration and deceleration are completed in one little section with instruction speed.This control method is simple, but can cause system's frequent start-stop, to take little section as main part processing, can not reach higher speed of feed; In addition, due to start and stop continually, affect the lathe traveling comfort, thereby affect suface processing quality and the machine tool capability of part.
Adopt the control method of polynomial expression displacement curve, its polynomial expression displacement curve expression formula is simple, and displacement, speed, acceleration and acceleration satisfy derivative relation, and operation characteristic is controlled curve and can be obtained successively by differentiate.Because exponent number is higher, control curve just more complicated, calculated amount is also larger.And the most basic be three speed control curves, i.e. four displacement curves, it can guarantee speed, acceleration continuously, order is lower simultaneously, it is not very complicated calculating; But acceleration is discontinuous, when high precision machine tool has requirement to the continuity of acceleration, adopts traditional polynomial curve just must consider to use five displacement curves, thereby obtains secondary acceleration curve, has increased the complicacy of calculated amount and realization.
In prior art, for the curve controlled model, the cubic polynomial expression formula of utilizing is: displacement curve s (t), rate curve v (t), accelerating curve a (t) and acceleration J (t) curve, write as respectively:
s(t)＝x
0+x
1t+x
2t
2+x
3t
3+x
4t
4
v(t)＝x
1+2x
2t+3x
3t
2+4x
4t
3
a(t)＝2x
2+6x
3t+12x
4t
2
J(t)＝6x
3+24x
4t
In following formula, t is the time of acceleration or deceleration.Lathe has the peak acceleration Amax of a permission, and corresponding time tm is imTs (im is integer, and Ts is interpolation cycle) with its rounding.Can Coefficient of determination x according to boundary condition
1, x
2, x
3And x
4, (expression of coefficient occurrence omits).The acceleration that is obtained by following formula and the curvilinear figure of acceleration are such as Fig. 1 (horizontal ordinate is time t, and ordinate is acceleration a (t)), Fig. 2 (horizontal ordinate is time t, and ordinate is acceleration) shown in.Curve by Fig. 1 and Fig. 2 can be clear that, the curve forward position of acceleration and acceleration and after to prolong be all steeper.During non-zero acceleration value and null value are excessively, caused the cataclysm of acceleration.So, acceleration J (t) curve (acceleration is the derivative of acceleration) shown in Fig. 2 from the beginning the time (t=0) acceleration just rise to maximum, the forward position of curve is that straight line rises.And, after to prolong be also that straight line descends.This obviously can make lathe when starting and stopping, and produces larger impact and vibration, can not guarantee the lathe traveling comfort.
Summary of the invention
The object of the invention is in order to guarantee that lathe is when starting or stoping, produce less impact or vibration, namely guarantee the lathe traveling comfort, the characteristics such as a kind of exponent number based on cubic polynomial is lower, curve is continuous, formula is unified are provided, revise for above-mentioned cubic polynomial of the prior art, obtaining continuous acceleration, and the derivative value of acceleration is limited and the Acceleration-deceleration Control Method of easy calculating.
For reaching above-mentioned purpose, technical scheme of the present invention is:
At first a kind of control method for the numerically-controlled machine acceleration and deceleration is divided into little section for given machining path, selectes one little section, then obtains the acceleration in the discrete moment in selected little period; According to the acceleration in the discrete moment in selected little period that obtains, the summation of the acceleration in the discrete moment with it within a period of time is averaged as the acceleration of lathe actual motion; Speed according to the acceleration calculation lathe actual motion of the lathe actual motion of gained; Again according to the speed displacement calculating of the lathe actual motion of gained; The acceleration of lathe actual motion obtains according to the acceleration calculation of gained; The cubic polynomial expression formula of taking is:
a
i＝a(iT
s)＝2x
2+6x
3*(iT
s)+12x
4*(iT
s)
2 (1)
a′
i＝(a
i+a
i-1+......+a
i-L+2+a
i-L+1)/L (2)
＝(a(iT
s)+a((i-1)T
s)+......+a((i-L+2)T
s)+a((i-L+1)T
s)/L
v′
i＝v′
i-1+a′
iT
s (3)
s′
i＝s′
i-1+v′
iT
s (4)
J′
i＝(a′
i+1-a′
i)/T
s (5)
In described (1) formula, α
iBe the acceleration in i cycle, T
sBe interpolation cycle, x
1, x
2, x
3And x
4, be the coefficient of being determined by boundary condition;
In described (2) formula, a '
iThe acceleration that represents i cycle lathe actual motion is the acceleration a in discrete moment of being tried to achieve by (1)
i, a
i-1Obtain a ' Deng averaging according to (2) formula summation
i, in (2) formula, L is the constant value greater than 1;
In described (3) formula, v '
iThe speed that represents i cycle lathe actual motion, wherein v '
i-1Be the speed in i-1 cycle;
Described (4) formula be i cycle displacement s '
i, s ' wherein
i-1It is the shift value in i-1 cycle;
Described (5) formula is the acceleration J ' in i cycle
i
The control method of acceleration and deceleration of the present invention has significant progress.
As above-mentioned control method of the present invention, because the acceleration of lathe actual motion of the present invention is the acceleration a by the discrete moment
i, a
i-1Deng averaging according to (2) formula summation and obtain.As shown in above-mentioned (2) formula.So the acceleration of acquisition neither be the slowest neither the fastest, but more stably.Therefore, the accelerating curve rising front that obtains and after prolong all milder than the accelerating curve of (shown in Figure 1) in prior art.So when starting or stoping, the impact of generation or vibration are less when lathe, can prevent step-out and the excess of stroke of lathe operation, have guaranteed the lathe traveling comfort.
As above-mentioned control method of the present invention because the accelerating curve of lathe actual motion of the present invention is milder, so its rising front of acceleration curve that is obtained by above-mentioned (5) formula and after prolong slowlyer especially, the curve of formation is continuous.As shown in (5) formula, the derivative value of acceleration is limited, thus obtained mild continuous acceleration curve can prove that more control method of the present invention can accelerate to start or slow down when stopping at lathe, guarantees that lathe or motor are start reposefully and stop.
As above-mentioned control method of the present invention, because the accelerating curve of lathe actual motion of the present invention is milder, the speed v of the lathe actual motion that is obtained by this acceleration '
i[as shown in (3) formula] is also accelerate reposefully and slow down reposefully.So control method of the present invention can be controlled the acceleration-deceleration of numerically-controlled machine or motor effectively, guarantee that numerically-controlled machine or motor can move reposefully, have reduced impact and the vibration of numerically-controlled machine when starting or stoping as best one can.
Description of drawings
Fig. 1 is the acceleration plots of utilizing cubic polynomial to obtain in prior art;
Fig. 2 is the acceleration curve map that utilizes cubic polynomial to obtain in prior art;
Fig. 3 is the process flow diagram of control method one embodiment of the present invention;
Fig. 4 is the acceleration plots that control method one embodiment of the present invention obtains;
Fig. 5 is the acceleration curve map that control method one embodiment of the present invention obtains.
Embodiment
Further illustrate the feature of control method of the present invention below in conjunction with accompanying drawing.
The concrete steps of the control method of acceleration and deceleration of the present invention flow process as shown in Figure 3.
The first step 01, at first by interpreter on described numerically-controlled machine (in the present embodiment, the G code interpreter) explain little segment information (can given machining path be divided into little section by CAM software) set on given part machining path, and deposit in instruction link-list;
In the 3rd step 03, ask for the acceleration in the discrete moment in above-mentioned selected little period according to (1) formula: ask for the acceleration in i cycle according to (1) formula.As above-mentioned (1) formula be:
a
i＝a(iT
s)＝2x
2+6x
3*(iT
s)+12x
4*(iT
s)
2
(1) in formula, α
iBe the acceleration in i cycle, T
sBe interpolation cycle, x
1, x
2, x
3And x
4, be the coefficient determined by boundary condition (in the present embodiment, first according to cubic polynomial rate curve planning of the prior art above-mentioned selected little section, to obtain these 4 coefficient x that determined by boundary condition
1, x
2, x
3, x
4Value);
The 4th goes on foot 04, asks for the acceleration of i cycle lathe actual motion according to (2) formula: according to the acceleration alpha of described (2) formula for (interval that can be chosen at a period of time is interior) the discrete moment in above-mentioned a period of time that obtains
iSummation obtains mean value a '
iAs the acceleration of i cycle lathe actual motion and obtain the accelerating curve (as shown in Figure 4) of lathe actual motion.
Described (2) formula is:
a′
i＝(a
i+a
i-1+......+a
i-L+2+a
i-L+1)/L (2)
＝(a(iT
s)+a((i-1)T
s)+......+a((i-L+2)T
s)+a((i-L+1)T
s)/L
(2) in formula, L is the constant value greater than 1, and in the present embodiment, L is set to 16～32;
In the 5th step 05, ask for the speed of i cycle lathe actual motion according to (3) formula: according to the acceleration of i cycle lathe actual motion of above-mentioned acquisition, according to described (3) formula ask for the speed v of i cycle lathe actual motion '
i,
Described (3) formula is v '
i=v '
i-1+ a '
iT
s, (3)
In formula, v '
i-1Be the speed in i-1 cycle, in the present embodiment, starting condition is made as i=1, and the speed under starting condition is v '
i-1=v '
0=0;
In the 6th step 06, ask for the displacement in i cycle according to (4) formula: according to the above-mentioned the 5th go on foot gained i cycle the lathe actual motion speed v '
i, calculate the displacement in i cycle according to (4) formula, and send its displacement the displacement of described numerically-controlled machine as the next cycle to.
Described (4) formula is s '
i=s '
i-1+ v '
iT
s, (4)
S ' wherein
i-1It is the displacement in i-1 cycle.In the present embodiment, starting condition is made as i=1, the s ' under starting condition
i-1=s '
0=0;
The 7th step 07 judged whether above-mentioned gained displacement point exceeds current selected little section, if exceeded current selected little section, carried out next step; If do not exceed current selected little section, i=i+1, returned to for the 4th step 04;
In the 8th step 08, whether current selected little section be positioned at the head of specifying chained list, if current selected little section is not to be positioned at the head of specifying chained list, reads the length information of last little section of specifying in chained list current selected little section, returned to for the 3rd step 03; If be positioned at the head of specifying chained list, finish.
Fig. 4 is the accelerating curve of above-mentioned the 4th step 04 lathe actual motion that obtains.The accelerating curve shown in Figure 1 that obtains in accelerating curve in this Fig. 4 and above-mentioned prior art compares.What obviously, rise on the forward position of the forward position of the accelerating curve in Fig. 4 than accelerating curve in Fig. 1 is slower; Equally, the accelerating curve in Fig. 4 after prolong also and descend slowly than prolonging after accelerating curve in Fig. 1.
Fig. 5 is the acceleration J ' of the lathe actual motion that obtains
iCurve, ask for the acceleration of the lathe actual motion in i cycle according to (5) formula: according to the acceleration of the lathe actual motion in i cycle of above-mentioned acquisition, ask for the acceleration J ' of the lathe actual motion in i cycle according to described (5) formula
i, and obtain acceleration curve (as shown in Figure 5).
Described (5) formula is: J '
i=(a '
i+1-a '
i)/T
s(5)
Shown acceleration J ' in Fig. 5
iCurve be continuous.The acceleration curve shown in Figure 2 that obtains in the acceleration curve of this Fig. 5 and above-mentioned prior art compares, and the forward position that more highlights Fig. 5 acceleration curve is rising, and the forward position of the acceleration curve of Fig. 2 is the straight line rising; Equally, prolonging after Fig. 5 acceleration curve is slow decreasing, and Fig. 2 acceleration curve after to prolong be that straight line descends.
As mentioned above, the accelerating curve (Fig. 1 shows) that the accelerating curve (Fig. 4 shows) that is obtained by control method of the present invention and acceleration curve (Fig. 5 shows) and prior art obtain and the comparison of acceleration curve (Fig. 2 shows), can prove that control method of the present invention can accelerate start or slow down when stopping at lathe, guarantees that lathe or motor are start reposefully and stop.Step-out and the excess of stroke of lathe operation can be prevented, and the lathe traveling comfort can be guaranteed.
Claims (5)
1. a control method that is used for the numerically-controlled machine acceleration and deceleration, at first be divided into little section for given machining path, selectes one little section, then obtains the acceleration in the discrete moment in selected little period, and the acceleration expression formula of asking for the discrete moment is (1) formula:
a
i＝a(iT
s)＝2x
2+6x
3*(iT
s)+12x
4*(iT
s)
2 (1)
In described (1) formula, α
iBe the acceleration in the discrete moment in i cycle, T
sBe interpolation cycle, x
1, x
2, x
3And x
4, be the coefficient of being determined by boundary condition;
It is characterized in that:
The acceleration in the discrete moment in obtain according to (1) formula selected little section, the acceleration summation in the discrete moment with it within a period of time is averaged as the acceleration of lathe actual motion; Speed according to the acceleration calculation lathe actual motion of the lathe actual motion of gained; Again according to the speed displacement calculating of the lathe actual motion of gained; The acceleration of lathe actual motion obtains according to the acceleration calculation of the lathe actual motion of gained: the cubic polynomial expression formula of taking is:
a′
i＝(a
i+a
i-1+......+a
i-L+2+a
i-L+1)/L (2)
＝(a(iT
s)+a((i-1)T
s)+......+a((i-L+2)T
s)+a((i-L+1)T
s)/L
v′
i＝v′
i-1+a′
iT
s (3)
s′
i＝s′
i-1+v′
iT
s (4)
J′
i＝(a′
i+1-a′
i)/T
s (5)
In described (2) formula, a '
iThe acceleration that represents i cycle lathe actual motion is that the acceleration in discrete moment of being tried to achieve by (1) is averaged according to the summation of (2) formula and obtained a '
i, in (2) formula, L is the constant value greater than 1;
In described (3) formula, v '
iThe speed that represents i cycle lathe actual motion, wherein v '
i-1Be the speed of i-1 cycle lathe actual motion;
Described (4) formula is the displacement s ' in i cycle
i, s ' wherein
i-1It is the displacement in i-1 cycle;
Described (5) formula is the acceleration J ' in i cycle
i
2. the control method for the numerically-controlled machine acceleration and deceleration according to claim 1, is characterized in that, the concrete steps of control method are:
The first step at first by set little segment information on the given part machining path of interpreter interprets on described numerically-controlled machine, and is deposited in instruction link-list;
Second step obtains in above-mentioned instruction link-list last little section, and reads this length information of little section;
In the 3rd step, ask for the acceleration in the discrete moment in above-mentioned selected little period according to (1) formula;
The 4th goes on foot, and asks for the acceleration of i cycle lathe actual motion according to (2) formula: according to the acceleration alpha of described (2) formula for the discrete moment in a period of time in i cycle of above-mentioned acquisition
iSummation obtains mean value a '
iAs the acceleration of i cycle lathe actual motion and obtain the accelerating curve of lathe actual motion;
In the 5th step, ask for the speed of i cycle lathe actual motion according to (3) formula: according to the acceleration of the lathe actual motion in i cycle of above-mentioned acquisition, according to described (3) formula ask for the speed v of the lathe actual motion in i cycle '
i
In the 6th step, ask for the displacement in i cycle according to (4) formula: according to the above-mentioned the 5th speed v that goes on foot i cycle lathe actual motion of gained '
i, calculate the displacement in i cycle according to (4) formula, and send its displacement the displacement of described numerically-controlled machine as the next cycle to;
The 7th step judged whether above-mentioned gained displacement point exceeds current selected little section, if exceeded current selected little section, carried out next step; If do not exceed current selected little section, i=i+1, returned to for the 4th step;
In the 8th step, whether current selected little section be positioned at the head of specifying chained list, if current selected little section is not to be positioned at the head of specifying chained list, reads the length information of last little section of specifying in chained list current selected little section, returned to for the 3rd step; If be positioned at the head of specifying chained list, finish.
3. the control method for the numerically-controlled machine acceleration and deceleration according to claim 1, is characterized in that, in described (2) formula, the constant value L greater than 1 is set to 16～32.
4. the control method for the numerically-controlled machine acceleration and deceleration according to claim 1, is characterized in that, in described (3) formula, starting condition is made as i=1, and the speed under starting condition is v '
i-1=v '
0=0.
5. the control method for the numerically-controlled machine acceleration and deceleration according to claim 1, is characterized in that, in described (4) formula, starting condition is made as i=1, the displacement s ' under starting condition
i-1=s '
0=0.
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| US10671054B2 (en) | 2014-10-22 | 2020-06-02 | Fanuc Corporation | Numerical control device for performing smooth deceleration and stopping |
| CN108723889A (en) * | 2017-04-20 | 2018-11-02 | 发那科株式会社 | Acceleration/deceleration control device |
| CN108723889B (en) * | 2017-04-20 | 2020-08-25 | 发那科株式会社 | Acceleration/deceleration control device |
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| CN111045383A (en) * | 2019-12-19 | 2020-04-21 | 上海维宏电子科技股份有限公司 | Control method and system for realizing anti-shaking of emergency stop in numerical control machine system |
| CN113885443A (en) * | 2020-07-01 | 2022-01-04 | 大族激光科技产业集团股份有限公司 | Linear acceleration and deceleration control method based on segmented filtering and acceleration limiting |
| CN113885443B (en) * | 2020-07-01 | 2023-11-21 | 大族激光科技产业集团股份有限公司 | Linear acceleration and deceleration control method based on piecewise filtering and jerk limiting |
| CN116954280A (en) * | 2023-09-21 | 2023-10-27 | 北京一控软件技术有限公司 | Speed control system of metal rolling post-treatment process line |
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