CN110262406B - Turning speed optimization method and device of cutting bed - Google Patents
Turning speed optimization method and device of cutting bed Download PDFInfo
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Abstract
The invention discloses a turning speed optimization method and a turning speed optimization device of a cutting bed, which are characterized by firstly obtaining the maximum acceleration and the maximum centripetal acceleration of the movement of the cutting bed, determining the coordinates of a starting point, a turning point and a terminal point of a turning part according to a received movement track, and calculating the distance from the starting point to the turning point; then according to the maximumThe centripetal acceleration and the radius R of a circle formed by the three points of the starting point, the inflection point and the end point are calculated, and the maximum speed V at the inflection point corresponding to the maximum centripetal acceleration is calculatedmax1(ii) a Finally, according to the maximum acceleration of the cutting bed, the distance from the starting point to the inflection point and the known speed V at the starting point0Calculating the maximum velocity V that can be reached at the inflection pointmax2And minimum velocity Vmin2And V andmax1comparing, determining the maximum cornering velocity V at the inflection pointmaxAt the calculated maximum turning speed VmaxAnd controlling the turning speed of the cutting bed at the turning position. The invention optimizes the turning speed according to the back-and-forth movement track, can ensure that the cutting bed moves more stably and smoothly, and improves the stability of the high-speed movement of the cutting bed.
Description
Technical Field
The invention belongs to the field of machine tool motion control, and particularly relates to a turning speed optimization method and device of a cutting bed.
Background
In recent years, the domestic cutting bed industry is rapidly developed. Because the country pays more attention to environmental protection, the traditional laser cutting bed is slowly eliminated, and the demand of the mechanical cutting bed is increased.
Mechanical cutting tables have higher requirements for speed planning than laser cutting tables. Many current mechanical cutting beds have only realized the basic function that cuts, lack the optimization on the speed of cutting, and the motion of turning round is smooth and easy inadequately. When the cutting bed accelerates to a higher speed for cutting movement, if the turning speed is not optimized, the cutting bed can shake at the turning position, so that the material is damaged. And reducing the cutting speed affects the working efficiency of the user.
Therefore, in order to improve the cutting effect and cutting speed of the cutting bed and increase the product competitiveness, an optimized turning speed is required to improve the turning motion effect of the cutting bed.
Disclosure of Invention
The invention aims to provide a method and a device for optimizing the turning speed of a cutting bed, which solve the problem of unsmooth turning motion and can improve the cutting speed and stability of the cutting bed.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method for optimizing the turning speed of a cutting bed is used for cutting and processing the turning part of the cutting bed and comprises the following steps:
acquiring the maximum acceleration and the maximum centripetal acceleration of the cutting bed;
determining coordinates of a starting point, an inflection point and an end point of a corner according to the received motion trail, and calculating the distance from the starting point to the inflection point;
according to the maximum centripetal acceleration and the radius R of a circle formed by the three points of the starting point, the inflection point and the end point, the maximum speed V at the inflection point corresponding to the maximum centripetal acceleration is calculatedmax1；
According to the maximum acceleration of the cutting bed, the distance from the starting point to the inflection point and the known speed V at the starting point0Calculating the maximum velocity V that can be reached at the inflection pointmax2And minimum velocity Vmin2And V andmax1comparing, determining the maximum cornering velocity V at the inflection pointmaxAt the calculated maximum turning speed VmaxAnd controlling the turning speed of the cutting bed at the turning position.
Further, the maximum speed V at the turning point corresponding to the maximum centripetal acceleration is calculatedmax1The calculation formula is as follows:
wherein A ismaxThe maximum centripetal acceleration is obtained, and R is the radius of a circle formed by three points of a starting point, an inflection point and an end point.
Further, the maximum speed V which can be reached at the turning point is calculatedmax2And minimum velocity Vmin2The calculation formula is as follows:
wherein, amaxL1 is the distance from the origin to the inflection point for maximum acceleration.
Further, the sum of Vmax1Comparing, determining the maximum cornering velocity V at the inflection pointmaxThe method comprises the following steps:
when V ismax1＝<Vmin2When, determine Vmax＝Vmin2；
When V ismin2<Vmax1<Vmax2Determining Vmax＝Vmax1；
When V ismax1>＝Vmax2When, determine Vmax＝Vmax2。
The invention also provides a turning speed optimizing device of the cutting bed, which is used for cutting and processing the turning part by the cutting bed and comprises the following components:
the parameter acquisition module is used for acquiring the maximum acceleration and the maximum centripetal acceleration of the movement of the cutting bed;
the distance calculation module is used for determining coordinates of a starting point, an inflection point and an end point of the turning according to the received motion trail and calculating the distance from the starting point to the inflection point;
the maximum centripetal acceleration limiting module is used for calculating the maximum speed V at the turning point corresponding to the maximum centripetal acceleration according to the maximum centripetal acceleration and the radius R of a circle formed by the three points of the starting point, the turning point and the end pointmax1；
A maximum acceleration limiting module for limiting the maximum acceleration of the cutting bed according to the distance from the starting point to the inflection point and the known speed V at the starting point0Calculating the maximum velocity V that can be reached at the inflection pointmax2And minimum velocity Vmin2；
A comparison module for calculating the maximum speed Vmax2And minimum velocity Vmin2And Vmax1Comparing, determining the maximum cornering velocity V at the inflection pointmaxAt the calculated maximum turning speed VmaxAnd controlling the turning speed of the cutting bed at the turning position.
Further, the maximum centripetal acceleration limiting module calculates the maximum speed V at the turning point corresponding to the maximum centripetal accelerationmax1The calculation formula is as follows:
wherein A ismaxThe maximum centripetal acceleration.
Further, the maximum acceleration limit module calculates the maximum speed V that can be achieved at the inflection pointmax2And minimum velocity Vmin2The calculation formula is as follows:
wherein, amaxIs the maximum acceleration.
Further, the comparison module calculates the maximum speed Vmax2And minimum velocity Vmin2And Vmax1Comparing, determining the maximum cornering velocity V at the inflection pointmaxThe following operations are performed:
when V ismax1＝<Vmin2When, determine Vmax＝Vmin2；
When V ismin2<Vmax1<Vmax2Determining Vmax＝Vmax1；
When V ismax1>＝Vmax2When, determine Vmax＝Vmax2。
The invention provides a method and a device for optimizing turning speed of a cutting bed, which limit the maximum turning speed of the cutting bed during curvilinear motion through maximum centripetal acceleration and maximum acceleration. The method can optimize the turning speed according to the front and back movement tracks at the turning point (turning point), so that the cutting bed can move more stably and smoothly, and the stability of the high-speed movement of the cutting bed is improved. And the bending speed as large as possible also ensures that the cutting bed can have higher working speed, thereby improving the working efficiency.
Drawings
FIG. 1 is a schematic diagram of a motion trajectory of a corner according to an embodiment of the present invention;
FIG. 2 is a flow chart of a turning speed optimization method of the cutting bed of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for optimizing the turning speed of the cutting bed can be applied to the application environment shown in fig. 1, the cutting bed needs to cut the turning part shown in the figure, wherein P0 is the starting point of the turning part, P1 is the turning point of the turning part, and P2 is the end point of the turning part.
In one embodiment, as shown in fig. 2, there is provided a turning speed optimization method of a cutting bed, including:
and step S1, acquiring the maximum acceleration and the maximum centripetal acceleration of the movement of the cutting bed.
The mechanical structure of the cutting bed and the attribute of the servo model determine the basic parameters of the cutting bed, and the corresponding maximum acceleration amaxAnd maximum centripetal acceleration AmaxAre known, these parameters being such that the cutting bed servo can be operated at the maximum acceleration a under the current resistancemaxThe cutting bed can perform sudden speed change and stable movement, and can perform maximum centripetal acceleration AmaxThe cutting bed does not shake when doing turning movement.
And step S2, determining the coordinates of the starting point, the inflection point and the end point of the turn according to the received motion trail, and calculating the distance from the starting point to the inflection point.
As shown in fig. 1, the cutting bed receives a motion trail file when cutting starts, the motion trail file includes coordinates of a starting point P0, an inflection point P1 and a terminal point P2 of a corner, L1 is a distance from P0 to P1, L2 is a distance from P1 to P2, and θ is an included angle between a straight line L1 and L2, that is, θ is an angle of rotation of a cutting bed cutter at a point P1.
Wherein, the calculation formula of L1 is as follows:
wherein x and y are the values of the abscissa and the ordinate, the calculation of the distance of L2 is similar, and the calculation of the included angle θ between L1 and L2 is a relatively mature calculation method in geometry, and is not described herein again.
It is easy to understand that the motion requirement of the cutting bed can be met to a certain extent only by determining the value of the turning speed according to the size of theta, but the cutting bed can shake due to the fact that the turning speed is not judged by combining an up-down motion point when the cutting bed moves at a high speed.
Step S3, calculating the maximum speed V at the turning point corresponding to the maximum centripetal acceleration according to the maximum centripetal acceleration and the radius R of the circle formed by the three points of the starting point, the turning point and the end pointmax1。
According to the known coordinates of the three points P0, P1 and P2, the radius R of the circle where the three points are located can be obtained through a geometrical algorithm, and details are not repeated here.
The embodiment calculates the maximum centripetal acceleration A by the following formulamaxCorresponding maximum speed Vmax1：
The maximum velocity V at the inflection point P1 corresponding to the maximum centripetal acceleration is calculated as described abovemax1Is a relatively mature calculation method in the field and is not described in detail herein.
Step S4, according to the maximum acceleration of the cutting bed, the distance from the starting point to the inflection point and the known speed V at the starting point0Calculating the maximum velocity V that can be reached at the inflection pointmax2And minimum velocity Vmin2And V andmax1comparing, determining the maximum cornering velocity V at the inflection pointmaxAt the calculated maximum turning speed VmaxAnd controlling the turning speed of the cutting bed at the turning position.
Maximum turning speed V calculated in the present embodimentmaxThe actual maximum speed allowed by the cutting bed knife passing through point P1.
It should be noted that, in the present embodiment, the speed V of the cutting tool passing through point P0 is0Can be measured by a velocimeter or detected by a speed detection device of the cutting bed, and is not described in detail herein.
Starting at the current point P0, the cutting bed is accelerated at the maximum acceleration amaxThe maximum speed that can be achieved over the movement distance L1 is Vmax2P1 point speed is only less than or equal to Vmax2The cutting bed can reach this speed. And when the cutting bed is at P0 with maximum acceleration amaxWhen the deceleration movement is carried out, the minimum speed which can be reached is Vmin2。
Example Vmax2And Vmin2Can be obtained by the following formula:
it should be noted that the above formula for calculating the speed is a relatively mature technology in the art, and is not described herein again.
Maximum velocity V achievable at calculated inflection point P1max2And minimum velocity Vmin2After, with Vmax1By comparison, the maximum cornering speed V at point P1 is determinedmaxThe method comprises the following steps:
1) when V ismax1＝<Vmin2When, Vmax＝Vmin2；
2) When V ismin2<Vmax1<Vmax2，Vmax＝Vmax1；
3) When V ismax1>＝Vmax2When, Vmax＝Vmax2。
The embodiment uses the calculated maximum turning speed VmaxControlling the turning speed of the cutting bed at the turning position, wherein the cutting bed control system passes through the maximum turning speed VmaxAnd speed planning is carried out, the maximum speed value during curve motion is restrained, and shaking caused by too high turning speed of the cutting bed is prevented.
The embodiment firstly calculates and obtains the maximum turning speed V under the condition of centripetal acceleration limitationmax1Then calculating the maximum turning speed V under the maximum acceleration limiting conditionmax2And minimum cornering velocity Vmin2Finally, the comparison is carried out to obtain VmaxThe final maximum cornering speed at point P1. Velocity V at P1 calculated by the present applicationmax1、Vmax2、Vmin2、VmaxAll refer to turning speed, which is not described in detail.
According to the method for optimizing the turning speed of the cutting bed, the maximum turning speed of the cutting bed during curve motion is limited through the maximum centripetal acceleration and the maximum acceleration. The method can optimize the turning speed at the turning point (turning point) according to the front and back movement tracks, and can enable the cutting bed to move more stably and smoothly. And the bending speed as large as possible also ensures that the cutting bed can have higher working speed, thereby improving the working efficiency.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, this application still provides a speed of turning round optimizing device of cutting bed for the cutting bed cuts processing to the turning round, the speed of turning round optimizing device of cutting bed includes:
the parameter acquisition module is used for acquiring the maximum acceleration and the maximum centripetal acceleration of the movement of the cutting bed;
the distance calculation module is used for determining coordinates of a starting point, an inflection point and an end point of the turning according to the received motion trail and calculating the distance from the starting point to the inflection point;
the maximum centripetal acceleration limiting module is used for calculating the maximum speed V at the turning point corresponding to the maximum centripetal acceleration according to the maximum centripetal acceleration and the radius R of a circle formed by the three points of the starting point, the turning point and the end pointmax1；
A maximum acceleration limiting module for limiting the maximum acceleration of the cutting bed according to the distance from the starting point to the inflection point and the known speed V at the starting point0Calculating the maximum velocity V that can be reached at the inflection pointmax2And minimum velocity Vmin2；
A comparison module for calculating the maximum speed Vmax2And minimum velocity Vmin2And Vmax1Comparing, determining the maximum cornering velocity V at the inflection pointmaxAt the calculated maximum turning speed VmaxAnd controlling the turning speed of the cutting bed at the turning position.
For the specific definition of the turning speed optimizing device of the cutting bed, reference may be made to the above definition of the turning speed optimizing method of the cutting bed, and details thereof are not repeated herein. The various modules in the turning speed optimization device of the cutting bed can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment of the present application, the maximum centripetal acceleration limiting module calculates a maximum velocity V at the inflection point corresponding to the maximum centripetal accelerationmax1The calculation formula is as follows:
wherein A ismaxThe maximum centripetal acceleration.
In one embodiment of the present application, the maximum acceleration limit module calculates the maximum velocity V that can be achieved at the inflection pointmax2And minimum velocity Vmin2The calculation formula is as follows:
wherein, amaxIs the maximum acceleration.
In one embodiment of the present application, the comparison module compares the calculated maximum velocity Vmax2And minimum velocity Vmin2And Vmax1Comparing, determining the maximum cornering velocity V at the inflection pointmaxThe following operations are performed:
when V ismax1＝<Vmin2When, determine Vmax＝Vmin2；
When V ismin2<Vmax1<Vmax2Determining Vmax＝Vmax1；
When V ismax1>＝Vmax2When, determine Vmax＝Vmax2。
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. The utility model provides a turning speed optimization method of cutting bed for the cutting bed cuts processing to the department of turning, its characterized in that, the turning speed optimization method of cutting bed, includes:
acquiring the maximum acceleration and the maximum centripetal acceleration of the cutting bed;
determining coordinates of a starting point, an inflection point and an end point of a corner according to the received motion trail, and calculating the distance from the starting point to the inflection point;
according to the maximum centripetal acceleration and the radius R of a circle formed by the three points of the starting point, the inflection point and the end point, the maximum speed V at the inflection point corresponding to the maximum centripetal acceleration is calculatedmax1；
According to the maximum acceleration of the cutting bed, the distance from the starting point to the inflection point and the known speed V at the starting point0Calculating the maximum velocity V that can be reached at the inflection pointmax2And minimum velocity Vmin2And V andmax1comparing, determining the maximum cornering velocity V at the inflection pointmaxAt the calculated maximum turning speed VmaxAnd controlling the turning speed of the cutting bed at the turning position.
2. The method as claimed in claim 1, wherein the maximum speed V at the turning point corresponding to the maximum centripetal acceleration is calculatedmax1The calculation formula is as follows:
wherein A ismaxThe maximum centripetal acceleration is obtained, and R is the radius of a circle formed by three points of a starting point, an inflection point and an end point.
3. The method of claim 1, wherein the maximum velocity V that can be achieved at the turning point is calculatedmax2And minimum velocity Vmin2The calculation formula is as follows:
wherein, amaxL1 is the distance from the origin to the inflection point for maximum acceleration.
4. The method for optimizing turning speed of cutting bed according to claim 1, wherein said V and V are set in a predetermined ratiomax1Comparing, determining the maximum cornering velocity V at the inflection pointmaxThe method comprises the following steps:
when V ismax1＝<Vmin2When, determine Vmax＝Vmin2；
When V ismin2<Vmax1<Vmax2Determining Vmax＝Vmax1；
When V ismax1>＝Vmax2When, determine Vmax＝Vmax2。
5. The utility model provides a speed of turning round of cutting bed optimizes device for the cutting bed cuts processing to the department of turning round, a serial communication port, the speed of turning round of cutting bed optimizes device includes:
the parameter acquisition module is used for acquiring the maximum acceleration and the maximum centripetal acceleration of the movement of the cutting bed;
the distance calculation module is used for determining coordinates of a starting point, an inflection point and an end point of the turning according to the received motion trail and calculating the distance from the starting point to the inflection point;
the maximum centripetal acceleration limiting module is used for calculating the maximum speed V at the turning point corresponding to the maximum centripetal acceleration according to the maximum centripetal acceleration and the radius R of a circle formed by the three points of the starting point, the turning point and the end pointmax1；
A maximum acceleration limiting module for limiting the maximum acceleration of the cutting bed according to the distance from the starting point to the inflection point and the known speed V at the starting point0Calculating the maximum velocity V that can be reached at the inflection pointmax2And minimum velocity Vmin2；
A comparison module for calculating the maximum speed Vmax2And minimum velocity Vmin2And Vmax1Comparing, determining the maximum cornering velocity V at the inflection pointmaxAt the calculated maximum turning speed VmaxAnd controlling the turning speed of the cutting bed at the turning position.
6. The device for optimizing turning speed of cutting bed according to claim 5, wherein the maximum centripetal acceleration limiting module calculates a maximum speed V at the turning point corresponding to the maximum centripetal accelerationmax1The calculation formula is as follows:
wherein A ismaxThe maximum centripetal acceleration is obtained, and R is the radius of a circle formed by three points of a starting point, an inflection point and an end point.
7. The device for optimizing turning speed of cutting bed according to claim 5, wherein the maximum acceleration limiting module calculates the maximum speed V that can be reached at the turning pointmax2And minimum velocity Vmin2The calculation formula is as follows:
wherein, amaxL1 is the distance from the origin to the inflection point for maximum acceleration.
8. The device for optimizing turning speed of cutting bed according to claim 5, wherein the comparison module calculates the maximum speed Vmax2And minimum velocity Vmin2And Vmax1Comparing, determining at the inflection pointMaximum turning speed V of the steering wheelmaxThe following operations are performed:
when V ismax1＝<Vmin2When, determine Vmax＝Vmin2；
When V ismin2<Vmax1<Vmax2Determining Vmax＝Vmax1；
When V ismax1>＝Vmax2When, determine Vmax＝Vmax2。
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