CN106444636A - Speed planning parameter selection method suitable for continuous mixing curve - Google Patents
Speed planning parameter selection method suitable for continuous mixing curve Download PDFInfo
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- CN106444636A CN106444636A CN201610863749.8A CN201610863749A CN106444636A CN 106444636 A CN106444636 A CN 106444636A CN 201610863749 A CN201610863749 A CN 201610863749A CN 106444636 A CN106444636 A CN 106444636A
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- speed planning
- speed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34179—Variable interpolation speed or resolution
Abstract
The invention discloses a speed planning parameter selection method suitable for a continuous mixing curve. The speed planning parameter selection method comprises the steps of (1) taking N code segments read out by an interpolation module in a numerical control machine or a robot control system as a speed planning unit to constitute N continuous curve segments, where N is a positive integer; (2) conducting unified speed planning parameterization for each of the constituted continuous curve segments; (3) selecting a speed planning algorithm; (4) conducting modeling for speed planning parameters according to the selected speed planning algorithm to obtain a mathematical model of the speed planning parameters; (5) determining the numerical range of each speed planning parameter; and (6) according to the mathematical model and the range of each speed planning parameter, obtaining the value of each speed planning parameter by using an optimization tool.
Description
Technical field
The invention belongs to the speed planning parameter selection technique association area in motor control, more particularly, to one kind
It is applied to the speed planning parameter selection method of continuous Mixing Curve.
Background technology
Speed planning is the most basic step of interpolation module in digital control system and robot control system, by reasonably speed
Metric is drawn, and can lift precision and the flatness of Digit Control Machine Tool and robot motion.With Numeric Control Technology and roboticses
Development, the raising of converted productss complexity, the parameter curve such as multinomial line curve, Bezier curve and nurbs curve with straight
It is an inevitable trend in Interpolation Process that line, camber line directly mix shared, and the difference based on different types of curve
Characteristic, inevitably produces residual error, thus essence when carrying out speed planning at the transition point between each curve
Situations such as degree does not reach or movement velocity transition, and the incoherence of speed planning, certainly will lead to converted productss surface
Quality and the reduction of working (machining) efficiency.
Speed planning currently for continuous Mixing Curve mainly adopts segmentation speed planning and bulk velocity to plan two kinds
Mode, and both modes are directed to the linking of mixed starters line segment, and all can lead to different degrees of error.Wherein, adopt and divide
Section speed planning will certainly make to produce at connecting points and pause, and bulk velocity is planned then because interpolation cycle is fixed decimal, easily leads
The interpolated point causing curve is omitted, and then is caused residual error.For residual error, the method that most of speed planning method adopts is always to ask for
Residual error again residual error is compensated accordingly, however, residual compensation method one side conventional at present can produce other aspects
Error, on the other hand, residual compensation method is mostly complicated, may relate to interative computation, computationally intensive, and can not be from whole
The characteristic of each curve of body, to account for, leads to the even running it cannot be guaranteed that at certain specific curves section or corresponding transition point,
Thus affecting efficiency and the flatness of the entirety of digital control system and robot control system.
Content of the invention
Disadvantages described above for prior art or Improvement requirement, the invention provides a kind of be applied to continuous Mixing Curve
Speed planning parameter selection method, its speed planning feature based on Mixing Curve, for the speed being applied to continuous Mixing Curve
Metric is drawn parameter selection method and is designed.Described speed planning parameter selection method adopts to speed planning parameter model,
By optimization tool Optimization Solution it is achieved that the selection to parameters in the speed planning of low residual error and solution, simplify whole
Individual speed planning step, it is to avoid loaded down with trivial details residual compensation process, operand is little and simple；Consider each curved section,
Take full advantage of each curved section characteristic, improve rate smoothing and interpolation seriality.
For achieving the above object, the invention provides a kind of speed planning parameter selecting party being applied to continuous Mixing Curve
Method, it comprises the following steps：
(1) using pre- for the interpolation module in the Digit Control Machine Tool or robot control system N section code reading as a speed
Degree planning unit, constructs N section full curve；Wherein N is positive integer；
(2) unified speed planning parametrization is carried out to each full curve section of construction；
(3) select velocity planning algorithm；
(4) according to the velocity planning algorithm selecting, speed planning parameter is modeled, to obtain speed planning parameter
Mathematical model；
(5) determine the numerical range of each speed planning parameter；
(6) according to the span of described mathematical model and each speed planning parameter, each is asked for using optimization tool
The numerical value of speed planning parameter.
Further, described velocity planning algorithm comprises T-shaped velocity planning algorithm, S type velocity planning algorithm and sinusoidal pattern
Velocity planning algorithm.
Further, described speed planning parameter selection method selects T-shaped velocity planning algorithm.
Further, described speed planning parameter includes interpolation cycle, target velocity and acceleration.
Further, described optimization tool is 1stOPT.
In general, by the contemplated above technical scheme of the present invention compared with prior art, what the present invention provided is suitable
For the speed planning parameter selection method of continuous Mixing Curve, it adopts to speed planning parameter model, by optimization tool
Optimization Solution, it is achieved that the selection to parameters in the speed planning of low residual error and solution, simplifies whole speed planning step
Suddenly, it is to avoid loaded down with trivial details residual compensation process, operand is little and simple；Consider each curved section, taken full advantage of each
The characteristic of individual curved section, improves rate smoothing and interpolation seriality.
Brief description
Fig. 1 is the speed planning parameter selection method being applied to continuous Mixing Curve that better embodiment of the present invention provides
Schematic flow sheet.
Fig. 2 is the schematic diagram of the curved section that the speed planning parameter selection method in Fig. 1 is related to.
(a), (b) of Fig. 3 is the planning chart of speed that the speed planning parameter selection method in Fig. 1 is related to and acceleration.
(a), (b) of Fig. 4 is the planning schematic diagram of the sinusoidal velocity that the speed planning parameter selection method in Fig. 1 is related to.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.As long as additionally, involved technical characteristic in each embodiment of invention described below
The conflict of not constituting each other just can be mutually combined.
Refer to Fig. 1 to Fig. 4, what better embodiment of the present invention provided is applied to the speed planning ginseng of continuous Mixing Curve
Number systems of selection, it adopts to speed planning parameter model, by optimization tool Optimization Solution it is achieved that speed to low residual error
The selection of each parameter and solution in planning, overcome current residual compensation method complicated, computationally intensive, can not for whole section mix
The defect that the local of curve is controlled well.
The speed planning parameter selection method being applied to continuous Mixing Curve that present embodiment provides, it includes following step
Suddenly：
Step one, constructs mixed starters line segment, the interpolation module in Digit Control Machine Tool or robot control system is read in advance
Corresponding Mixing Curve N section code as a speed planning unit, construct N section full curve.In present embodiment, N is
Positive integer.
Specifically, present embodiment carries out the continuous Mixing Curve of speed planning and includes straightway AB, curved section BC and straight
Line segment CD, described curved section BC connects described straightway AB and described straightway CD.S1Last for described straightway AB
Interpolated point, S2First interpolated point for described curved section BC, S3For last interpolated point of described curved section BC, S4For institute
State first interpolated point of straightway CD.
In present embodiment, using described continuous Mixing Curve as a speed planning unit, construct described straight line respectively
Section AB, this three sections of full curve sections of described curved section BC and described straightway CD.
Step 2, carries out unified speed planning parametrization to each curved section, typically chooses the arc length of each section of curve to enter
Row speed planning, is typically chosen the arc length of each section of curve to carry out speed planning it is known that the arc length of each section of curve is respectively d1,
d2,...,dn.In present embodiment, set described straightway AB, the arc length of described curved section BC and described straightway CD is respectively
d1=44mm, d2=49.21828mm, d3=35mm.
Step 3, selects velocity planning algorithm, can select T-shaped speed planning, S type speed planning and sinusoidal velocity planning
Deng one of three velocity planning algorithm scheduling algorithms, present embodiment selects T-shaped speed planning method.
Step 4, is modeled to speed planning parameter according to speed planning method.Specifically, in note speed planning parameter
Interpolation cycle be TWeek, target velocity is v, and acceleration is amax, the arc length of described straightway AB is d1, described curved section BC's
Arc length is d2, the arc length of described straightway CD is d3, remember AS2For k cycle T in T-shaped speed planningWeekThe arc length passed by, S2S3
Between be n cycle TWeekThe arc length passed by, modeling parameters and constraints are as follows：
(1) constraints
1) make constant velocity stage in T-shaped speed planning for the described curved section BC；
2)S1For last interpolated point of described straightway AB, S2First interpolated point for described curved section BC, S3For
Last interpolated point of described curved section BC, S4First interpolated point for described straightway CD；
(2) object function
So=(S2S3-BC)max
In formula, So is the difference with actual line for the construction line of curved section；S2S3For S3With S2Arc length between two interpolated points；
BC is the arc length between B point and C point.
Because the displacement expression formula of T-shaped speed planning is specific as follows：
Wherein,L (T)=d1+d2+d3, t1Time for even acceleration；T is total time；L (t) is in time t
Total displacement), t2For at the uniform velocity and even acceleration time sum.
Wherein, T-shaped speed planning and sinusoidal velocity are planned, LEven acceleration=L (t1)
Again by constraints, can obtain
LEven acceleration≤LAB, LEven deceleration≤LCD；
In formula, LEven accelerationDisplacement for accelerating sections even in speed planning；LABFor A point on continuous Mixing Curve and two points of B point it
Between arc length；LEven decelerationDisplacement for braking section even in speed planning；LCDFor on continuous Mixing Curve between C point and two points of D point
Arc length；LACFor the arc length between C point and two points of A point on continuous Mixing Curve；LBCFor C point on continuous Mixing Curve and two points of B point
Between arc length.
Its corresponding object function is as follows：
SO=(n*TWeek*v)max
Step 5, determines the numerical value range of choice of each speed planning parameter.Specifically, TWeek=0.01,0<v≤200,0<
amax≤200,0<k≤200,0<N≤200, wherein n, k are positive integer.
Step 6, according to the span of constraints, object function and each speed planning parameter, is asked using optimization tool
Take each speed planning parameter.Specifically, optimization tool 1stOPT or MATLAB can be adopted；In present embodiment, employing
Optimization tool is 1stOPT；Input constraint condition, object function and each speed planning parameter in the workbox of 1stOPT
Span, and run to ask for each speed planning parameter.In present embodiment, calculated using optimization tool and obtain mesh
The maximum of scalar functions is 49.218, wherein v=48.731；N=101；amax=78.971；K=76.
The speed planning parameter selection method being applied to continuous Mixing Curve that the present invention provides, it adopts to speed planning
Parameter model, by optimization tool Optimization Solution it is achieved that the selection to parameters in the speed planning of low residual error and solution,
Simplify whole speed planning step, it is to avoid loaded down with trivial details residual compensation process, operand is little and simple；Consider each
Curved section, takes full advantage of the characteristic of each curved section, improves rate smoothing and interpolation seriality.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, not in order to
Limit the present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc., all should comprise
Within protection scope of the present invention.
Claims (5)
1. a kind of speed planning parameter selection method being applied to continuous Mixing Curve, it comprises the following steps：
(1) pre- for the interpolation module in the Digit Control Machine Tool or robot control system N section code reading is advised as a speed
Draw unit, construct N section full curve；Wherein N is positive integer；
(2) unified speed planning parametrization is carried out to each full curve section of construction；
(3) select velocity planning algorithm；
(4) according to the velocity planning algorithm selecting, speed planning parameter is modeled, to obtain the mathematics of speed planning parameter
Model；
(5) determine the numerical range of each speed planning parameter；
(6) according to the span of described mathematical model and each speed planning parameter, each speed is asked for using optimization tool
The numerical value of projecting parameter.
2. be applied to the speed planning parameter selection method of continuous Mixing Curve as claimed in claim 1 it is characterised in that：Institute
State velocity planning algorithm and comprise T-shaped velocity planning algorithm, S type velocity planning algorithm and sinusoidal pattern velocity planning algorithm.
3. be applied to the speed planning parameter selection method of continuous Mixing Curve as claimed in claim 2 it is characterised in that：Institute
State speed planning parameter selection method and select T-shaped velocity planning algorithm.
4. be applied to the speed planning parameter selection method of continuous Mixing Curve as claimed in claim 1 it is characterised in that：Institute
State speed planning parameter and include interpolation cycle, target velocity and acceleration.
5. be applied to the speed planning parameter selection method of continuous Mixing Curve as claimed in claim 1 it is characterised in that：Institute
Stating optimization tool is 1stOPT.
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| CN106802625A (en) * | 2017-03-14 | 2017-06-06 | 成都工业学院 | A kind of derivative hyperspace machine tool track motion reappearance method |
| CN108762064A (en) * | 2018-06-13 | 2018-11-06 | 武汉久同智能科技有限公司 | A kind of rate smoothing method of servo-driver |
| CN113290558A (en) * | 2021-05-24 | 2021-08-24 | 南京航空航天大学 | NURBS curve speed interpolation method based on parameter densification |
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