CN110703696A - High-speed feeding acceleration and deceleration method of seven-segment jump linear continuous numerical control device - Google Patents

High-speed feeding acceleration and deceleration method of seven-segment jump linear continuous numerical control device Download PDF

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CN110703696A
CN110703696A CN201910972951.8A CN201910972951A CN110703696A CN 110703696 A CN110703696 A CN 110703696A CN 201910972951 A CN201910972951 A CN 201910972951A CN 110703696 A CN110703696 A CN 110703696A
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acceleration
stage
speed
jump
deceleration
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CN110703696B (en
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季国顺
俞武嘉
张巨勇
李蓉
陈志平
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Hangzhou Dianzi University
Hangzhou Electronic Science and Technology University
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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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36521—Select by combination of detected force, acceleration, speed, work rate

Abstract

A high-speed feeding acceleration and deceleration method of a seven-segment jump linear continuous numerical control device comprises the following specific steps: (1) the whole acceleration and deceleration process is divided into 7 stages by adopting a linear change jump degree mode; the first three stages are acceleration processes, the first stage comprises two steps of jump forward linear increasing and decreasing, and the third stage comprises two steps of jump reverse linear increasing and decreasing; the last three stages are deceleration processes, the fifth stage comprises two steps of jump reverse linear increasing and decreasing, and the seventh stage comprises two steps of jump forward linear increasing and decreasing; the second stage, the fourth stage and the sixth stage are all uniform motion processes; (2) dividing the acceleration and deceleration process into a constant acceleration stage and a constant acceleration stage according to the maximum jump degree, the maximum acceleration and the kinetic characteristic parameters of the maximum speed of the machine tool; (3) and planning jerk, acceleration, speed and displacement of each stage by combining with the actual feed stroke.

Description

High-speed feeding acceleration and deceleration method of seven-segment jump linear continuous numerical control device
Technical Field
The invention relates to the technical field of numerical control, in particular to a high-speed feeding acceleration and deceleration method of a seven-segment jump linear continuous numerical control device.
Background
The traditional numerical control machine tool generally adopts methods such as linearity and index to describe the relation between the feeding speed and the time, the two methods are simple in calculation, acceleration sudden change exists at the beginning and the end of acceleration and deceleration, and therefore a driver has impact force on a driven part at the beginning and the end of acceleration and deceleration, and the method is not suitable for high-speed machining.
Since the high-speed feeding flexible acceleration and deceleration is realized by S curves from Erkorkmaz (ERKORKMAZ K, ALTINAS Y. high speed clamped system design, part I: jerk limited feed production and quantitative spline interpolation [ J ]. International Journal of Machine Tools & Manual, 2001,41(9): 1323-. Since the derivative of the acceleration of the feed member, i.e. the jerk, reflects the change of the kinetic energy it has in the motion over time, when the feed speed of the moving member is high, it is also required that its jerk achieve a smooth transition, in addition to a continuous change of its acceleration. However, the S-curve acceleration and deceleration can only realize jump step change, and cannot realize jump continuous change, and the jump of the step change still may cause vibration impact of the high-speed feeding actuator on the machine tool component to reduce the machining precision. Wang et al use trigonometric functions to achieve smooth transition of feed speed, acceleration and jerk in the whole acceleration and deceleration process (WangY, Yang D, Gai R, et al. design of trigonometric velocity scheduling algorithm on pre-interpolation and look-ahead interpolation [ J ]. International journal of Machine Tools & Manual, 2015,96:94-105.), but numerical control system numerical computation trigonometric functions are more complicated and difficult to meet the real-time requirements, and trigonometric acceleration and deceleration can only reach the maximum value of acceleration or jerk at trigonometric function extreme points, and Machine tool driving capability cannot be fully utilized. The Ji-Gushun et al provides a high-speed linear continuous acceleration and deceleration method for a numerical control device with linear continuous jerking speed (Ji-Gushu, Wujia, Chen, etc., Chinese patent ZL201710721916.X), but the acceleration and deceleration process is divided into 15 stages, and the algorithm implementation process is complex.
Disclosure of Invention
The invention provides a high-speed feeding acceleration and deceleration method of a seven-segment jump linear continuous numerical control device, which can plan a high-speed flexible feeding speed by using linear continuous jump, reduce the vibration impact of a high-speed feeding part on a machine tool part and improve the high-speed processing precision of a contour.
The technical scheme adopted by the invention is as follows:
a high-speed feeding acceleration and deceleration method of a seven-segment jump linear continuous numerical control device comprises the following specific steps: (1) the whole acceleration and deceleration process is divided into 7 stages by adopting a linear change jump degree mode; the first three stages are acceleration processes, the first stage comprises two steps of jump forward linear increasing and decreasing, and the third stage comprises two steps of jump reverse linear increasing and decreasing; the last three stages are deceleration processes, the fifth stage comprises two steps of jump reverse linear increasing and decreasing, and the seventh stage comprises two steps of jump forward linear increasing and decreasing; the second stage, the fourth stage and the sixth stage are all uniform motion processes;
(2) dividing the acceleration and deceleration process into a constant acceleration stage and a constant acceleration stage according to the maximum jump degree, the maximum acceleration and the kinetic characteristic parameters of the maximum speed of the machine tool;
(3) and planning jerk, acceleration, speed and displacement of each stage by combining with the actual feed stroke.
Further, the jump j of each stage of the whole acceleration and deceleration process in the step (1) is represented by formula (1), which is specifically as follows:
wherein, t1,…t7Respectively representing the absolute times, T, at the end of seven phases1,…T7Respectively representing the running time in seven stages, and J represents the maximum sustainable by the systemJump degree, j1,…j7Respectively represents the jump degrees at the end of seven phases, and t and tau respectively represent the relative and absolute time variables of seven phases.
Further, the acceleration a of each stage of the whole acceleration and deceleration process in the step (1) is expressed by the formula (2), which is specifically as follows:
Figure BDA0002232705140000041
wherein, a1,…a7Respectively representing the accelerations at the end of the seven phases.
Further, the velocity v of each stage of the whole acceleration and deceleration process in the step (1) is expressed by the formula (3), and the specific formula is as follows:
Figure BDA0002232705140000051
wherein v is1,…v7Respectively representing the speeds at the end of the seven phases.
Further, the displacement s of each stage of the whole acceleration and deceleration process in the step (1) is expressed by the formula (4), and the specific expression is as follows:
wherein s is1,…s7Respectively representing the displacement at the end of seven phases.
Further, the steps of dividing the acceleration and deceleration process in the step (2) into a constant acceleration stage and a constant acceleration stage are as follows:
according to the dynamic characteristics of the machine tool, the performance of the machine tool and the machining precision, the maximum jump J, the acceleration A and the speed v which can be borne by the system are selectedfmax；
Is represented by the formula (2)
Figure BDA0002232705140000062
To obtain
Figure BDA0002232705140000063
Is represented by the formula (3)
Figure BDA0002232705140000064
To obtain
Figure BDA0002232705140000065
When T is calculated from the formula (6)2<0, indicating that the acceleration and deceleration process does not have a constant acceleration stage, namely a constant acceleration stage is not included; when T is calculated from the formula (6)2If the acceleration and deceleration process is more than or equal to 0, the constant acceleration stage exists in the acceleration and deceleration process and is a constant acceleration-containing stage.
Further, when T is2When the acceleration is more than or equal to 0, the acceleration can reach the maximum value only after the constant acceleration stage, and at the moment, two critical values exist in the motion stroke: scr1Just without constant-speed stage motion; scr2Just no constant speed and constant acceleration stage motion; scr1、scr2The calculating steps are as follows:
the total travel of the whole acceleration and deceleration movement is obtained by the displacement expression (4):
then, take T in the formula (7)40, get
Figure BDA0002232705140000072
Wherein
Figure BDA0002232705140000073
Will T1、T2Is substituted by a general formula (8) to obtain,
Figure BDA0002232705140000074
similarly, for formula (7), take T2＝0、T4When the value is equal to 0, the result is
Figure BDA0002232705140000075
Further, in the acceleration and deceleration process including the constant acceleration stage, when the actual movement stroke L is L>scr1The movement time of each movement stage is as follows:
Figure BDA0002232705140000076
substituting the formula (11) for the formulas (1) to (4), the jerk, the acceleration, the speed and the displacement of each motion stage can be obtained through planning;
when the actual movement stroke L is scr1>L>scr2Then, for formula (7), take T4＝0、T2Is the amount t to be solved2Then, then
Figure BDA0002232705140000081
To obtain
Figure BDA0002232705140000082
The movement time of each movement phase is:
Figure BDA0002232705140000083
substituting the formula (13) for the formulas (1) to (4), the jerk, the acceleration, the speed and the displacement of each motion stage can be obtained through planning;
when the actual movement stroke L is L<scr2Then, for formula (7), take T2＝T4＝0、T1Is the amount t to be solved1Then, thenTo obtain
Figure BDA0002232705140000085
By substituting the formula (14) for the formulas (1) to (4), the jerk, acceleration, velocity and displacement of each motion phase can be planned.
Further, when T is2<A time of 0 indicates that the speed can reach the maximum without passing through the constant acceleration phase, and a critical value exists in the motion stroke: scr3Just without constant-speed stage motion; scr3The calculation process is as follows:
by the expression (3) of speed
Figure BDA0002232705140000086
To obtain
Figure BDA0002232705140000087
Substituting formula (15) for formula (7) while taking T2＝0、T4When the value is equal to 0, the result is
Figure BDA0002232705140000088
Further, in the acceleration and deceleration process without the constant acceleration stage, when the actual movement stroke L is L>scr3The movement time of each movement stage is as follows:
Figure BDA0002232705140000091
substituting the formula (17) for the formulas (1) to (4), the jerk, the acceleration, the speed and the displacement of each motion stage can be obtained through planning;
when the actual movement stroke L is L<scr3When the speed is increased or decreased, the movement time of each movement stage and the actual movement stroke L in the acceleration or deceleration process containing the constant acceleration stage are L<scr2The time is consistent.
The invention has the beneficial effects that: when the high-speed machining feed speed is planned, a simple seven-section acceleration and deceleration process can be realized, the flexible feed speed with linear change of jump degree can be obtained, the vibration and impact of a high-speed feeding executive part on a machine tool supporting part are inhibited, and the high-speed machining precision of the outline is improved.
Drawings
FIG. 1 shows that the actual motion stroke is larger than the critical displacement s during acceleration and deceleration including a constant acceleration stagecr1The motion characteristic map of (1).
FIG. 2 shows that the actual motion stroke is larger than the critical displacement s during acceleration and deceleration including a constant acceleration phasecr2But less than scr1The motion characteristic map of (1).
FIG. 3 shows that the actual motion stroke is less than the critical displacement s during acceleration and deceleration including a constant acceleration phasecr2The motion characteristic map of (1).
FIG. 4 is a graph showing the actual motion stroke being greater than the critical displacement s during acceleration and deceleration without the constant acceleration phasecr3The motion characteristic map of (1).
FIG. 5 shows the actual motion stroke being less than the critical displacement s during acceleration and deceleration without the constant acceleration phasecr3The motion characteristic map of (1).
Fig. 6 is a flow chart of the programming of the jerk linear continuous acceleration and deceleration feed speed.
Wherein, the symbol units in FIGS. 1 to 5 are illustrated in a unified manner, the displacement is L unit mm, the velocity is v unit mm/s, and the acceleration is a unit mm/s2Jumping degree j unit mm/s3Time t in units s.
Detailed Description
The present invention is further illustrated by the following examples, which are not intended to limit the invention to these embodiments. It will be appreciated by those skilled in the art that the present invention encompasses all alternatives, modifications and equivalents as may be included within the scope of the claims.
The embodiment provides a high-speed feeding acceleration and deceleration method of a seven-segment jump linear continuous numerical control device, which adopts linear change jump to divide the whole acceleration and deceleration process into seven stages, wherein the first three stages are acceleration processes, the first stage comprises two steps of jump forward linear increasing and decreasing, and the third stage comprises two steps of jump reverse linear increasing and decreasing; the last three stages are deceleration processes, the fifth stage comprises two steps of jump reverse linear increasing and decreasing, and the seventh stage comprises two steps of jump forward linear increasing and decreasing; the middle stage is a uniform motion process. According to the dynamics characteristic parameters of the maximum jump, the maximum acceleration, the maximum speed limit and the like of the machine tool, the acceleration and deceleration process is divided into a constant acceleration stage and a constant acceleration stage, and then the feeding speed is planned in combination with the actual feeding stroke.
J, a, v and s are respectively used for representing jerk, acceleration, speed and displacement. t is t1,…t7Respectively, the absolute times at the end of the seven phases. T is1,…T7Representing the run times within the seven phases, respectively. j is a function of1,…j7Respectively representing the jump degrees at the end of seven phases. a is1,…a7Respectively representing the accelerations at the end of the seven phases. v. of1,…v7Respectively representing the speeds at the end of the seven phases. s1,…s7Respectively representing the displacement at the end of seven phases. t, τ represent seven phase relative and absolute time variables, respectively. L represents the actual total travel, vs、veRespectively initial and final speeds, J, A, vfmaxRespectively representing the maximum jerk, acceleration and speed that the system can withstand. A symmetrical acceleration and deceleration process is adopted, and the jump degree of each stage is represented by an equation (1).
And (4) integrating the expression (1) to obtain an acceleration expression (2) of each stage.
Figure BDA0002232705140000112
The velocity equation (3) for each stage is obtained by integrating the equation (2).
Figure BDA0002232705140000121
The equation (3) is integrated to obtain the displacement equation (4) for each stage.
Figure BDA0002232705140000122
The running time of each stage is respectively substituted into the expressions (3) and (4) to obtain the movement speed and displacement at the end of each stage.
J, A the fixed value, v, is generally chosen according to the dynamics of the machine toolfmaxCan be selected according to the requirements of machine tool performance and machining precision. After selecting the maximum speed, acceleration and jerk, the method has the following formula (2)
Figure BDA0002232705140000131
To obtain
Figure BDA0002232705140000132
Is represented by the formula (3)
Figure BDA0002232705140000133
To obtain
Figure BDA0002232705140000134
Then it can be determined whether there is T in the acceleration/deceleration process2Phase, i.e. whether there is a constant acceleration phase, if T is calculated from equation (6)2<And 0, indicating that the constant acceleration stage does not exist in the acceleration and deceleration process, otherwise, calculating the constant acceleration stage time by the formula (6). According to whether the acceleration and deceleration process has a constant acceleration stage or not, the acceleration and deceleration process is divided into two types, and for the two types, the acceleration and deceleration planning method can be adopted to plan the feeding speed. Type one T2Case > 0
When T is2When the acceleration is more than or equal to 0, the acceleration can reach the maximum value only after the constant acceleration stage, and at the moment, two critical values exist in the motion stroke: scr1Just without constant-speed stage motion; scr2Just without constant speed and constant acceleration stage motion. Below, s is obtainedcr1、scr2。
The total travel of the whole acceleration and deceleration movement is obtained by the displacement expression (4):
Figure BDA0002232705140000135
then, take T in the formula (7)40, get
Figure BDA0002232705140000136
Wherein
Figure BDA0002232705140000141
Will T1、T2Is substituted by a general formula (8) to obtain,
similarly, for formula (7), take T2＝0、T4When the value is equal to 0, the result is
Figure BDA0002232705140000143
Situation one, actual movement travel L>scr1
In this case, the movement time of each movement phase is:
Figure BDA0002232705140000144
by substituting the formula (11) for the formulas (1) to (4), the jerk, acceleration, speed and displacement of each motion phase can be planned.
Situation two, when the actual movement stroke scr1>L>scr2
At this time, for equation (7), T is taken4＝0、T2Is the amount t to be solved2Then, then
Figure BDA0002232705140000149
To obtain
The movement time of each movement phase is:
Figure BDA0002232705140000146
by substituting the formula (13) for the formulas (1) to (4), the jerk, acceleration, speed and displacement of each motion phase can be planned.
Situation three, when the actual movement stroke L<scr2
At this time, for equation (7), T is taken2＝T4＝0、T1Is the amount t to be solved1Then, then
Figure BDA0002232705140000148
To obtain
Figure BDA0002232705140000147
By substituting the formula (14) for the formulas (1) to (4), the jerk, acceleration, velocity and displacement of each motion phase can be planned.
Type two T2<0 case
When T is2<A time of 0 indicates that the speed can reach the maximum without passing through the constant acceleration phase, and a critical value exists in the motion stroke: scr3There is just no constant velocity phase motion. At this time, the speed expression (3) has
Figure BDA0002232705140000151
To obtain
General formula (1)5) Substituted into formula (7) while taking T2＝0、T4When the value is equal to 0, the result is
Situation four, when the actual movement stroke L>scr3
In this case, the movement time of each movement phase is:
Figure BDA0002232705140000154
by substituting the formula (17) for the formulas (1) to (4), the jerk, acceleration, speed and displacement of each motion phase can be planned.
Situation five, actual movement travel L<scr3
In this case, the motion time of each motion phase and the situation three L<scr2Similarly.
The specific application of this example is as follows:
taking the performance index, v, adopted by the planning speedfmax＝100mm/s、A＝1000mm/s2、J＝30000mm/s3Because of
Figure BDA0002232705140000155
Therefore, the feeding speed can reach the maximum value only in the constant acceleration stage in the acceleration and deceleration process. S can be calculated from the equations (9) and (10)cr1＝16.6667mm、scr2＝8.8889mm。
Situation one, L>scr1
When the stroke L of the feed motion is 18mm, the stroke is larger than scr1If all the stages of the acceleration and deceleration process exist, then
Figure BDA0002232705140000161
Figure BDA0002232705140000162
Time of uniform motion
The corresponding feed motion characteristic is shown in fig. 1.
Case two, scr1>L>scr2
When the feed motion stroke L is 10mm, the constant-speed motion phase 4 is not included, and the motion acceleration does not reach the maximum value. T is1,T3,T5,T7Is calculated and solved for scr1As such.
Figure BDA0002232705140000164
Figure BDA0002232705140000165
FIG. 2 is a motion characteristic curve, in which the maximum speed is 72.0759mm/s, the acceleration and jerk can reach the maximum, and the speed can not reach the maximum.
Case three, L<scr2
When the feed motion stroke L is 4mm, the constant speed motion stage 4 and the constant acceleration motion stages 2 and 6 are not included, and the speed and the acceleration do not reach the maximum values.
FIG. 3 is a graph showing the motion characteristics, in which the maximum velocity is 39.1487mm/s and the maximum acceleration is 766.3100mm/s2The jerk can reach a maximum value.
If in a certain contour machining, taking J as 30000mm/s3、A＝2000mm/s2、VmaxThe critical displacement was calculated from equation (16) at 100 mm/s:
Figure BDA0002232705140000171
case four, L>scr3
The constant-speed motion phase 4 and the non-constant-acceleration motion phases 2 and 6 are included, and the speed can reach the maximum value at the end of the third phase. When the feed stroke is equal to 18mm, the feed stroke is equal to
Figure BDA0002232705140000172
Figure BDA0002232705140000173
Fig. 4 shows the motion characteristic curve when L is 18 mm. The speed can reach the maximum value at the moment, and the maximum acceleration is 1224.7448mm/s2The maximum jump can reach the maximum value.
Case five, L<scr3
This includes acceleration and deceleration phases 1, 3, 5, 7, non-constant acceleration phases 2, 6 and constant velocity phase 4. When the feed stroke is equal to 8mm, T is calculated according to the formula (14)1。
Figure BDA0002232705140000174
Fig. 5 is a motion characteristic curve when L is 8 mm. At the moment, the maximum speed is 62.1445mm/s, and the maximum acceleration is 965.4889mm/s2The jerk can reach the maximum value.
When the feed speed is actually planned, the maximum value of the acceleration, the maximum value of the jerk and the command feed speed are determined according to the dynamic characteristics of the machine tool, the length of the track to be processed is calculated, the jerk piecewise linear continuous feed speed can be generated according to the method, and the method implementation flow is shown in fig. 6.

Claims (10)

1. A high-speed feeding acceleration and deceleration method of a seven-segment jump linear continuous numerical control device comprises the following specific steps:
(1) the whole acceleration and deceleration process is divided into 7 stages by adopting a linear change jump degree mode; the first three stages are acceleration processes, the first stage comprises two steps of jump forward linear increasing and decreasing, and the third stage comprises two steps of jump reverse linear increasing and decreasing; the last three stages are deceleration processes, the fifth stage comprises two steps of jump reverse linear increasing and decreasing, and the seventh stage comprises two steps of jump forward linear increasing and decreasing; the second stage, the fourth stage and the sixth stage are all uniform motion processes;
(2) dividing the acceleration and deceleration process into a constant acceleration stage and a constant acceleration stage according to the maximum jump degree, the maximum acceleration and the kinetic characteristic parameters of the maximum speed of the machine tool;
(3) and planning jerk, acceleration, speed and displacement of each stage by combining with the actual feed stroke.
2. The high-speed feeding acceleration and deceleration method of the seven-segment jump linear continuous numerical control device as claimed in claim 1, characterized in that: the jump j of each stage of the whole acceleration and deceleration process in the step (1) is represented by the formula (1), and the specific steps are as follows:
Figure FDA0002232705130000011
wherein, t1,…t7Respectively representing the absolute times, T, at the end of seven phases1,…T7Respectively representing the running time in seven stages, J representing the maximum jump degree which the system can bear, J1,…j7Respectively represents the jump degrees at the end of seven phases, and t and tau respectively represent the relative and absolute time variables of seven phases.
3. The high-speed feeding acceleration and deceleration method of the seven-segment jump linear continuous numerical control device as claimed in claim 2, characterized in that: the acceleration a of each stage of the whole acceleration and deceleration process in the step (1) is represented by the formula (2), and the specific steps are as follows:
Figure FDA0002232705130000021
wherein, a1,…a7Respectively representing the accelerations at the end of the seven phases.
4. The high-speed feeding acceleration and deceleration method of the seven-segment jump linear continuous numerical control device as claimed in claim 3, characterized in that: the speed v of each stage of the whole acceleration and deceleration process in the step (1) is represented by formula (3), and the speed v is specifically as follows:
Figure FDA0002232705130000031
wherein v is1,…v7Respectively representing the speeds at the end of the seven phases.
5. The high-speed feeding acceleration and deceleration method of the seven-segment jump linear continuous numerical control device as claimed in claim 4, characterized in that: the displacement s of each stage of the whole acceleration and deceleration process in the step (1) is represented by the formula (4), and the specific expression is as follows:
Figure FDA0002232705130000041
wherein s is1,…s7Respectively representing the displacement at the end of seven phases.
6. The high-speed feeding acceleration and deceleration method of the seven-segment jump linear continuous numerical control device as claimed in claim 5, characterized in that: the acceleration and deceleration process in the step (2) is divided into a constant acceleration stage and a constant acceleration stage which does not comprise the following specific steps:
according to the dynamic characteristics of the machine tool, the performance of the machine tool and the machining precision, the maximum jump J, the acceleration A and the speed v which can be borne by the system are selectedfmax；
Is represented by the formula (2)
Figure FDA0002232705130000042
To obtain
Figure FDA0002232705130000043
Is represented by the formula (3)
Figure FDA0002232705130000044
To obtain
When T is calculated from the formula (6)2<0, indicating that the acceleration and deceleration process does not have a constant acceleration stage, namely a constant acceleration stage is not included; when T is calculated from the formula (6)2If the acceleration and deceleration process is more than or equal to 0, the constant acceleration stage exists in the acceleration and deceleration process and is a constant acceleration-containing stage.
7. The high-speed feeding acceleration and deceleration method of the seven-segment jump linear continuous numerical control device as claimed in claim 6, characterized in that: when T is2When the acceleration is more than or equal to 0, the acceleration can reach the maximum value only after the constant acceleration stage, and at the moment, two critical values exist in the motion stroke: scr1Just without constant-speed stage motion; scr2Just no constant speed and constant acceleration stage motion; scr1、scr2The calculating steps are as follows:
the total travel of the whole acceleration and deceleration movement is obtained by the displacement expression (4):
Figure FDA0002232705130000052
then, take T in the formula (7)40, get
Figure FDA0002232705130000053
WhereinWill T1、T2Is substituted by a general formula (8) to obtain,
Figure FDA0002232705130000055
similarly, for formula (7), take T2＝0、T4When the value is equal to 0, the result is
Figure FDA0002232705130000056
8. The high-speed feeding acceleration and deceleration method of the seven-segment jump linear continuous numerical control device as claimed in claim 7, characterized in that: in the acceleration and deceleration process containing a constant acceleration stage, when the actual motion stroke L is L>scr1The movement time of each movement stage is as follows:
substituting the formula (11) for the formulas (1) to (4), the jerk, the acceleration, the speed and the displacement of each motion stage can be obtained through planning;
when the actual movement stroke L is scr1>L>scr2Then, for formula (7), take T4＝0、T2Is the amount t to be solved2Then, then
Figure FDA0002232705130000062
To obtain
Figure FDA0002232705130000063
The movement time of each movement phase is:
Figure FDA0002232705130000064
substituting the formula (13) for the formulas (1) to (4), the jerk, the acceleration, the speed and the displacement of each motion stage can be obtained through planning;
when the actual movement stroke L is L<scr2Then, for formula (7), take T2＝T4＝0、T1Is the amount t to be solved1Then, then
Figure FDA0002232705130000065
To obtain
Figure FDA0002232705130000066
By substituting the formula (14) for the formulas (1) to (4), the jerk, acceleration, velocity and displacement of each motion phase can be planned.
9. The high-speed feeding acceleration and deceleration method of the seven-segment jump linear continuous numerical control device as claimed in claim 6, characterized in that: when T is2<A time of 0 indicates that the speed can reach the maximum without passing through the constant acceleration phase, and a critical value exists in the motion stroke: scr3Just without constant-speed stage motion; scr3The calculation process is as follows:
by the expression (3) of speed
Figure FDA0002232705130000067
To obtain
Substituting formula (15) for formula (7) while taking T2＝0、T4When the value is equal to 0, the result is
Figure FDA0002232705130000072
10. A process as claimed in claim 9A high-speed feeding acceleration and deceleration method of a seven-segment jump linear continuous numerical control device is characterized in that: in the acceleration and deceleration process without the constant acceleration stage, when the actual motion stroke L is L>scr3The movement time of each movement stage is as follows:
Figure FDA0002232705130000073
substituting the formula (17) for the formulas (1) to (4), the jerk, the acceleration, the speed and the displacement of each motion stage can be obtained through planning;
when the actual movement stroke L is L<scr3When the speed is increased or decreased, the movement time of each movement stage and the actual movement stroke L in the acceleration or deceleration process containing the constant acceleration stage are L<scr2The time is consistent.
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