CN112650147B - Maximum speed parameter limiting method and device under curvature limitation - Google Patents
Maximum speed parameter limiting method and device under curvature limitation Download PDFInfo
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Abstract
The application provides a maximum speed parameter limiting method under curvature limitation, which comprises the following steps: densifying a parameter interval of the target tool path; the parameter interval comprises a plurality of intervals; the densified target tool path comprises a plurality of densification points; under the condition that the second search is carried out after the first search of the multiple sections, calculating the limiting speed of each section in the multiple sections and the curvature of the densification points in each section so as to determine the limiting speed; and determining a first boundary value and a first minimum value of the target tool path according to the limiting speed. By implementing the embodiment of the application, the efficiency of determining the maximum speed parameter on the tool setting rail can be improved.
Description
Technical Field
The application relates to the field of machine tool measurement, in particular to a maximum speed parameter limiting method and device under curvature limitation.
Background
When complex curves and curved surfaces are processed, the conventional numerical control processing process needs to disperse a tool path to be processed into a series of micro line segments and circular arcs, which generally causes the problems of introduction of approximation errors and the like. On the basis, the machining feeding speed needs to be reasonably planned in the parameter curve machining process, so that the influence on machining accuracy caused by overlarge position bow height errors with larger curvature on a tool path or the influence on the service life of a machine tool caused by the fact that the acceleration and the acceleration of a feeding shaft exceed the limit of the driving performance of the machine tool is avoided. However, in the existing speed-sensitive interval speed planning method, the scheme for determining the maximum speed parameter under the curvature limitation is low in efficiency, and the obtained speed numerical accuracy is low, so that the algorithm running efficiency in the existing method is affected.
Therefore, how to effectively determine the maximum speed parameter limit under the curvature limit is a problem to be solved by the present application.
Disclosure of Invention
The application provides a maximum speed parameter limiting method under curvature limitation, which efficiently determines a speed sensitive section on a target tool path and improves scanning efficiency.
In a first aspect, an embodiment of the present application provides a maximum speed parameter limiting method under curvature limitation, which may include:
densifying a parameter interval of the target tool path; the parameter interval comprises a plurality of intervals; the densified target tool path comprises a plurality of densification points; for example, in the densification of parameter intervals, the parameter is defined to be the field [ u ] 0 ,u (n+p+1) ]The densification is uniform in several parts.
Under the condition that the second search is carried out after the first search of the multiple sections, calculating the limiting speed of each section in the multiple sections and the curvature of the densification points in each section so as to determine the limiting speed; for example, each densification point curvature is calculated, and the limiting speed is calculated. Wherein, the first search can be a first search, and can be specifically represented as a rough search or a rough search; the second search may be a second search, and may be specifically represented as a fine search or a fine search.
And determining a first boundary value and a first minimum value of the target tool path according to the limiting speed. For example, find boundary values (i.e., first boundary values), minima (i.e., first minima): finding the boundary ur of the speed sensitive area (or speed sensitive section) by comparing the calculation result with the feeding speed a Value, ur b Value and minimum speed correspond to ur c Values.
According to the embodiment of the invention, rough and fine search combination is carried out on multiple sections through the parameter section of the densification target tool path, the limiting speed of each section in the multiple sections and the curvature of densification points in each section are calculated, and then the limiting speed is determined. And determining a first boundary value and a first minimum value of the target tool path according to the limiting speed. By implementing the embodiment of the invention, the maximum speed of the current speed sensitive interval can be rapidly obtained. And data support is provided for subsequent speed planning, so that the overall planning efficiency is improved.
In one possible implementation, the method further includes: and determining a second boundary value and a second minimum value according to each interval and the corresponding limiting speed. For example, section [ ur ] a-1 ,ur a ]、[ur (c-1) ,ur (c+1) ]、[ur b ,ur (b+1) ]Densification to N p And substituting the limiting speed into S2 (namely, step 2) to calculate to obtain the limiting speed, and finding out an accurate boundary value and a minimum value.
In one possible implementation, the multiple intervals include an i-th speed sensitive interval and an (i+1) -th speed sensitive interval; the method further comprises the steps of: calculating the length between the ith speed sensitive section and the (i+1) th speed sensitive section according to a Simpson integration method; i >0; the i-th speed sensitive section is adjacent to the (i+1) -th speed sensitive section. For example, the length between the ith and (i+1) th velocity sensitive intervals is calculated using the simpson integration method.
In one possible implementation, the method further includes: according to a three-section acceleration and deceleration method, the speed sensitive area is scanned in a two-way mode; performing reverse scanning in the speed-sensitive interval speed-reducing process; and forward scanning is carried out in the speed increasing process of the speed sensitive interval. For example, the speed planning adopts a three-section S-shaped acceleration and deceleration method, the bidirectional scanning is carried out on the whole section of curve speed sensitive area, the reverse scanning is carried out in the speed reduction process, and the forward scanning is carried out in the speed increase process. Forward and reverse scanning is performed on all speed sensitive intervals; in particular, in the reverse scanning, only the starting point speed of the speed reduction process can be modified, and the speed increase process can be scanned but not modified; it will be appreciated that the forward scan may only modify the end point speed of the ramp up process and skip the ramp down process. And carrying out reverse scanning and forward scanning on all the speed sensitive intervals in sequence, wherein the reverse scanning can check the speed reduction process, and the forward scanning can check the speed increase process.
In one possible implementation manner, after the bidirectional scanning is performed on the speed sensitive section according to the three-stage acceleration and deceleration method, the method further includes: and correcting the speed in the corresponding speed sensitive interval according to a dichotomy when the length is not matched with the preset length parameter of the corresponding speed sensitive interval. For example, for segments of insufficient length, a dichotomy correction rate is used.
In one possible implementation, the method further includes: when the sum of the first transition length and the second transition length is smaller than the first parameter, completing corresponding speed increasing and speed decreasing processes according to the setting of the non-sensitive interval; and stopping increasing the speed to the first speed when the sum of the first transition length and the second transition length is greater than or equal to the first parameter. For example, S (vr) i ,v p ) For the ith speed sensitive interval vr i Speed up to feed speed v p Desired transition length, S (v p ,vr (i+1) ) For feed speed v p Speed vr from the (i+1) th speed sensitive interval (i+1) The desired transition length, if S (vr i ,v p )+S(v p ,vr (i+1) )+v p *T<Sr i The insensitive interval can complete the two processes of speed up and speed down, otherwise, the speed up is abandoned to v p 。
In one possible implementation, the method further includes: when the limiting speed in the non-speed sensitive interval needs to be increased to the first speed, calculating the value of an initial deceleration point in the non-speed sensitive interval; and when the limiting speed in the non-sensitive interval is not required to be increased to the first speed, and the limiting speed corresponding to the interval adjacent to the non-sensitive interval is smaller than the limiting speed of the non-speed sensitive interval, calculating the value of the initial deceleration point. For example, if the speed is increased to v in the non-sensitive interval p It is necessary to calculate the initial deceleration point u dec If the rise is not required and vr (i+1) <vr i Then the initial deceleration point u needs to be calculated dec Is a value of (2).
In a second aspect, an embodiment of the present invention provides a maximum speed parameter limiting method under curvature limitation, which may include:
densifying a parameter interval of a target tool path to divide the parameter interval of the target tool path into a plurality of intervals;
performing a first search (e.g., a coarse search) on the plurality of intervals, and performing a second search (e.g., a fine search); calculating the limiting speed of each interval and the curvature of the densification points on each interval to determine the limiting speed; and determining a first boundary value and a first minimum value of the target tool path according to the limiting speed.
In one possible implementation, the method further includes: and determining a second boundary value and a second minimum value according to each interval and the limiting speed.
In one possible implementation, the method further includes:
calculating the length between the ith and (i+1) th speed sensitive sections according to the simpson integration method; i >0; the ith and (i+1) th speed sensitive sections are adjacent speed sensitive sections and each belong to each of the plurality of sections (i.e., a partial section among the plurality of sections).
In one possible implementation, the method further includes:
and (3) adopting a three-section S-shaped acceleration and deceleration method to perform bidirectional scanning on the speed sensitive area (or speed sensitive interval), and performing reverse scanning in the speed reduction process and forward scanning in the speed increase process.
In one possible implementation manner, the three-section type S acceleration and deceleration method is adopted to perform bidirectional scanning on the speed sensitive area (or the speed sensitive interval or the speed sensitive area), and perform reverse scanning in the speed reducing process and forward scanning in the speed increasing process, and the method further includes:
and correcting the speed in the speed sensitive interval according to the dichotomy for the speed sensitive interval with the length not conforming to the preset parameters.
In one possible implementation, the method further includes:
when S (vr) i ,v p )+S(v p ,vr (i+1) )+v p *T<Sr i According to the setting of the non-speed sensitive interval, the two processes of speed increasing and speed decreasing are completed, otherwise, the speed increasing is abandoned to v p ；S(vr i ,v p ) For the ith speed sensitive interval vr i Speed up to feed speed v p The required transition length; s (v) p ,vr (i+1) ) For feed speed v p Speed vr from the (i+1) th speed sensitive interval (i+1) The required transition length.
In one possible implementation, the method further includes:
if the speed is required to rise to v in the non-sensitive interval p It is necessary to calculate the initial deceleration point u dec If the rise is not required and vr i +1<vr i Then the initial deceleration point u needs to be calculated dec Is a value of (2).
In a third aspect, an embodiment of the present invention provides a maximum speed parameter limiting device under curvature limitation, which is applied to a machine tool, and may include:
the starting point unit is used for determining the nth point as the starting point of the speed sensitive zone (i+1) when the nth point is in the speed sensitive zone i and the (n-1) th point is not in the speed sensitive zone i; the nth point is any point on the tool path, and the (n-1) th point is on the tool path, is adjacent to the nth point and is close to the starting point of the tool path; n is a positive integer, i is a natural number;
the terminal unit is used for determining the (n-1) th point as the terminal point of the speed sensitive interval i when the n-th point is not in the speed sensitive interval i and the (n-1) th point is in the speed sensitive interval i;
and the ending unit is used for ending the scanning of the tool path until the nth point is determined to be the end point of the tool path.
In one possible implementation, the apparatus further includes a variable step size unit and a speed region unit;
the step-variable unit is used for: when the nth point is not the end point of the tool path, determining a displacement value of an (n+1) th point according to the displacement value of the nth point and a feeding step length; the (n+1) th point is on the tool path, adjacent to the nth point and near the end of the tool path; when the displacement value of the (n+1) th point is larger than or equal to the end point displacement value of the tool path, determining the (n+1) th point according to the end point displacement value; when the displacement value of the (n+1) th point is smaller than the end point displacement value, determining the (n+1) th point according to the displacement value of the (n+1) th point;
The speed area unit is used for judging whether the (n+1) th point is in the speed sensitive section i according to the limiting speed of the (n+1) th point and the corresponding feeding speed. The corresponding feeding speed may be a currently set or a preset command feeding speed, and corresponds to the position of the (n+1) th point.
In a possible implementation manner, the ending unit is configured to: determining the minimum value of the curvature radius in the speed sensitive interval i; and determining an initial value of the feeding speed in the speed sensitive interval i according to the minimum value of the curvature radius in the speed sensitive interval i.
In a possible implementation, the speed area unit is further configured to: determining the limiting speed of the nth point according to the curvature, the bow height error, the normal acceleration and the normal jerk of the nth point; judging whether the nth point is in the speed sensitive section i according to the limiting speed of the nth point and the corresponding feeding speed. The feeding speed here may correspond to the nth point, and is a command feeding speed currently set or preset at the nth point.
In a possible implementation manner, the device further comprises a determining value unit, configured to determine a start point parameter and a start point displacement value of the tool path, and an end point parameter and an end point displacement value before the n-th point is determined to be the end point of the tool path.
In a possible implementation manner, the apparatus further includes a correction unit, configured to: determining equation solutions involved in the reverse and forward scan speed planning process according to the Cheng Jin formula; the reverse and forward scan speed plans are part of the feed speed value correction process for all speed sensitive zones on the tool path.
In a possible implementation, the apparatus further includes a transitional speed unit for:
determining a transition region arc length between the speed sensitive interval i and the speed sensitive interval (i+1); judging whether the arc length of the transition area meets the arc length requirements of the first limiting speed and the second limiting speed; the first limiting speed is the limiting speed of the speed sensitive interval i; the second limiting speed is the limiting speed of the speed sensitive interval (i+1); when the arc length requirement is met, determining an acceleration process end point parameter and a deceleration process start point parameter corresponding to the arc length of the transition region; and when the arc length requirement is not met, determining the acceleration process end point parameter or the deceleration process start point parameter.
In a possible implementation manner, the apparatus further includes an interpolation unit, configured to: in the process of interpolation of the real-time parameter curve, after the parameter interval of the nth point is determined, determining the feeding speed of the nth point according to the feeding speeds corresponding to the parameters at the two ends of the parameter interval of the nth point; determining a curve parameter of the (n+1) th point according to the feeding speed of the nth point; and determining whether the (n+1) th point is the end point of the tool path according to the curve parameters of the (n+1) th point.
In a fourth aspect, an embodiment of the present invention provides a maximum speed parameter limit measurement device under curvature limit, which may include a processor, an input device, an output device, and a memory. The processor, input device, output device and memory are interconnected. Wherein the memory is for storing a computer program comprising program instructions; the processor is configured to invoke the program instructions to execute the step instructions according to the first or second aspect of the embodiments of the present invention.
In a fifth aspect, embodiments of the present invention provide a computer-readable storage medium storing a computer program for electronic data exchange; the foregoing computer program causes a computer to perform some or all of the steps described in the first or second aspect of the embodiments of the present invention.
In a sixth aspect, embodiments of the present invention provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform part or all of the steps described in the first or second aspects of the embodiments of the present invention. The computer program product may be a software installation package.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic diagram of a method for limiting maximum speed parameters under curvature limitation according to an embodiment of the present application;
FIG. 2 is a flow chart of maximum speed parameter limiting under curvature limitation provided by an embodiment of the present application;
FIG. 3 is a schematic view of a device for limiting maximum speed parameters under curvature limitation according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
The terms "first," "second," "third," and "fourth" and the like in the description and in the claims and drawings are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
First, some terms in the embodiments of the present application are explained for easy understanding by those skilled in the art.
(1) A numerical control machine (Computer numerical control, CNC) is an automated machine equipped with a program control system. The control system is able to logically process a program defined by control codes or other symbolic instructions, and to decode it, expressed in coded numbers, and input to the numerical control device via the information carrier. The numerical control device sends out various control signals to control the action of the machine tool through operation processing, and parts are automatically machined according to the shape and the size required by the drawing.
(2) The tool path, or tool path, is the path followed by a given point on the cutting tool. The predetermined point is usually a point in space during tool processing.
Referring to fig. 1, fig. 1 is a schematic diagram of a maximum speed parameter limiting method under curvature limitation according to an embodiment of the present invention; as shown in fig. 1, in this embodiment of the method, a machine tool to which the maximum speed parameter limitation under the curvature limitation is applied is taken as an execution subject, and the description is made from the machine tool side, and specifically, the method may include steps S101 to S103.
Step S101: densifying a parameter interval of the target tool path; the parameter interval comprises a plurality of intervals; a plurality of densification points are included on the densified target rail.
Specifically, the nth point is any point on the tool path, and the (n-1) th point is on the tool path, is adjacent to the nth point and is close to the starting point of the tool path; n is a positive integer, and i is a natural number. In particular, when i=0 and the nth point corresponds to the start point of the tool path, the previous point of the start point may be considered as not being present. Alternatively, whether the nth point is the start of the tool path may be determined separately or not.
Step S102: and under the condition that the second search is carried out after the first search of the multiple sections, calculating the limiting speed of each section in the multiple sections and the curvature of the densification point in each section so as to determine the limiting speed.
Specifically, the present step and the previous step are one of the determination results in determining whether the nth point is within the speed sensitive section i. This step and the pre-step may be considered to be parallel. In the execution process of the method, the starting point of the speed sensitive interval i can be determined when the (n-1) th point is judged. Specifically, when determining the speed sensitive section 1, there must be positions of the start point and the adjacent non-start point of the speed sensitive section 1 on the tool path, so that the start point position of the speed sensitive section 1 can be determined. In this step, when the nth point is not in the speed sensitive section i and the (n-1) th point is in the speed sensitive section i, the nth point and the (n-1) th point are implicitly present, and the case where the nth point is the starting point is excluded.
Step S103: and determining a first boundary value and a first minimum value of the target tool path according to the limiting speed.
Specifically, the steps are repeated, speed sensitive intervals are judged for each point on the tool path, and the starting point and the end point of each speed sensitive interval are determined; and when the nth point is determined to be the end point of the tool path, ending the scanning of the speed sensitive section of the tool path.
In the embodiment of the invention, the limiting speed of a certain point is determined according to the curvature radius of the certain point and a limiting speed algorithm; the limiting speed algorithm is used for further determining the limiting speed of the point according to the curvature radius of the point through the relation between the curvature radius of the tool path where the point is located and the limiting speed of the point. And judging whether the point is in a speed sensitive interval or not according to the limiting speed of the point, further judging the position characteristics of the point and the point before the point based on different position relation conditions (such as that the current point is in the speed sensitive interval and the previous point is also in the speed sensitive interval, and the like), and determining whether the point is the starting point of the next sensitive area or the end point of the present sensitive area. All points on the tool path are identified and continued until the end of the tool path is reached. Compared with the prior art, the method and the device can obtain all the speed sensitive sections on the current tool path in one scanning process, determine the endpoints of all the speed sensitive sections on the tool path, and obviously improve the maximum speed parameter limiting efficiency of the tool path.
The main technical scheme of the embodiment of the invention is described above, and the preferred embodiments related to the technical scheme are described below
In one possible implementation, when the nth point is not the end point of the tool path, determining a displacement value of an (n+1) th point according to the displacement value of the nth point and a feeding step length; the (n+1) th point is on the tool path, adjacent to the nth point and near the end of the tool path; when the displacement value of the (n+1) th point is larger than or equal to the end point displacement value of the tool path, determining the (n+1) th point according to the end point displacement value; when the displacement value of the (n+1) th point is smaller than the end point displacement value, determining the (n+1) th point according to the displacement value of the (n+1) th point; and judging whether the (n+1) th point is in the speed sensitive section i according to the limiting speed of the (n+1) th point and the corresponding feeding speed. Wherein the feed speed may be a speed set corresponding to the current point.
According to the nominal limiting speed (corresponding to the limiting speed) of the current point, calculating the current feeding step delta l, namely, the displacement value of the nominal next current point is l' =l (u) +delta l; therefore, the interpolation step length in the embodiment of the invention can be changed along with the limiting speed of the current tool position point; if l '. Gtoreq.l_e exists, the next step is beyond the current tool path end point, l' =l_e is taken, namely the tool path end point is a new current point, and the position relation between the point and the speed sensitive section is judged; if l '< l_e exists, the next step is indicated that the current tool path end point is not exceeded, the point at the displacement l' is taken as a new current point, and then the position relation between the point and the speed sensitive section is judged; cycling until the whole tool path is traversed; and when the current point is judged to be the tool path end point, ending the whole scanning flow.
In one possible implementation manner, after determining the nth point as the end point of the tool path, determining the minimum value of the curvature radius in the speed sensitive section i; and determining an initial value of the feeding speed in the speed sensitive interval i according to the minimum value of the curvature radius in the speed sensitive interval i. Optionally, the initial value of the feed speed within each speed sensitive interval is determined after each speed sensitive interval is determined. For example, assuming that the radius of curvature of the tool path at the position of the parameter u is ρ (u), the minimum value ρ of the radius of curvature in the ith speed-sensitive section is calculated min,i Calculated to obtain
ρ min,i ＝min{ρ(u)|u∈R i }
And then preliminarily determining the initial value of the feeding speed in the ith speed sensitive section:
v min,i ＝min{v g (ρ min,i ),v a (ρ min,i ),v j (ρ min,i )}
wherein when the machining feed speed is v, the bow height error delta at the point on the curve is:
wherein, in order to meet delta less than or equal to delta_n, the maximum allowable machining feed speed v_g (ρ) under the limit of bow height error is:
the relation between the machining feeding speed v and the normal acceleration a is as follows:
wherein in order to satisfy a.ltoreq.a_n, the maximum allowable feed speed v_a (ρ) under normal acceleration limit is:
the relation between the machining feeding speed v and the normal jerk j is as follows:
wherein in order to satisfy a.ltoreq.a_n, the maximum allowable feed speed v_j (ρ) under normal acceleration limit is:
In one possible implementation, determining the limiting speed of the nth point according to the curvature, the bow-height error, the normal acceleration and the normal jerk of the nth point; judging whether the nth point is in the speed sensitive section i according to the limiting speed of the nth point and the corresponding feeding speed. For example, at the point of the tool bit where the current parameter of the tool path is u, the nominal limiting feed speed under the constraints of bow-height error, normal acceleration, normal jerk is:
v lim (u)＝min{v g (ρ),v a (ρ),v j (ρ)}
the formula is a speed limiting algorithm that may be selected by an embodiment of the present invention.
In one possible implementation, the start parameter and the start displacement value of the tool path, and the end parameter and the end displacement value of the tool path are determined until the nth point is determined to be the end point of the tool path. For example, in an embodiment of the present invention, it may be assumed that the knife is located at a knife location point on the knife track where the current parameter is uThe curvature of the rail is ρ, the feeding interpolation period of the machine tool is T, and the upper limit of the bow height error is delta n The upper limit of the normal acceleration is a n The upper limit of the normal jerk is j n 。
In one possible implementation, the equation solutions involved in the reverse and forward scan speed planning process are determined according to the Cheng Jin formula; the reverse and forward scan speed plans are part of the feed speed value correction process for all speed sensitive zones on the tool path.
In one possible implementation, determining a transition region arc length between the speed sensitive interval i and the speed sensitive interval (i+1); judging whether the arc length of the transition area meets the arc length requirements of the first limiting speed and the second limiting speed; the first limiting speed is the limiting speed of the speed sensitive interval i; the second limiting speed is the limiting speed of the speed sensitive interval (i+1); when the arc length requirement is met, determining an acceleration process end point parameter and a deceleration process start point parameter corresponding to the arc length of the transition region; and when the arc length requirement is not met, determining the acceleration process end point parameter or the deceleration process start point parameter.
In a possible implementation manner, in a real-time parameter curve interpolation process, after a parameter interval in which the nth point is located is determined, determining a feeding speed of the nth point according to a feeding speed corresponding to parameters at two ends of the parameter interval in which the nth point is located; determining a curve parameter of the (n+1) th point according to the feeding speed of the nth point; and determining whether the (n+1) th point is the end point of the tool path according to the curve parameters of the (n+1) th point.
The embodiment of the invention provides a more detailed self-adaptive variable step scanning and speed planning method for a speed sensitive section, which realizes the parameter curve interpolation for keeping the constant feeding speed except for a part of transition area; the comprehensive speed planning method which meets the bow-height error, the normal/tangential acceleration and the normal/tangential jerk constraint of the machine tool and meets the S-type variable speed strategy is established, can meet the second-order continuity of the feeding speed of numerical control machining, and has important significance in improving the machining efficiency, the machining quality and the service life of the machine tool of numerical control machining. Compared with the existing speed-sensitive interval constant speed planning methods, the method has the advantages that the arch high error speed constraint formula involved in the speed-sensitive interval constant speed planning method can be well corrected, and a more accurate feeding speed constraint model is established. Moreover, on the basis of the traditional coarse-fine scanning method, the self-adaptive variable scanning step length method is adopted, all speed sensitive intervals in the whole tool path can be accurately determined in one scanning process, and the method has great advantages in real-time performance compared with the traditional algorithm. In addition, in the step of limiting the speed correction in the speed sensitive interval, the problem that the convergence speed is low because the iteration process is required by the traditional numerical solution method (usually a dichotomy) is avoided; in addition, in the embodiment of the invention, the analysis solution of the equation is directly given by using the gold-bearing formula, so that an iteration process is avoided, and the instantaneity can be further improved.
The following description will be made as appropriate for the maximum speed contents under the positional curvature limitation, regarding the portions related to the embodiments of the present invention. Referring to fig. 2, fig. 2 is a flow chart illustrating a maximum speed parameter limitation under curvature limitation according to an embodiment of the present invention; as shown in fig. 2, the method comprises the following steps:
s1: densification parameter intervals.
Specifically, the parameter is defined to be the field [ u ] 0 ,u (n+p+1) ]Homogeneous densification to N r Parts by weight. The prior method adopts a variable step size method to carry out densification searching, and the embodiment of the invention adopts a variable step size rough searching and then a densification fine searching.
S2: the limiting speed is calculated.
Specifically, each densification point curvature is calculated, and the limiting speed is calculated. Wherein the parameters involved in the scheme include bow-height error, normal acceleration, whereas the prior art methods do not take into account normal jerk, contour error, etc.
S3: searching for boundary values and minima.
Specifically, the speed sensitive area boundary ur is found by comparing the calculation result with the feeding speed a 、ur b Value and minimum speed correspond to ur c Values.
S4: and (5) accurately positioning the secondary densification.
Specifically, the interval [ ur ] (a-1) ,ur a ]、[ur (c-1) ,ur (c+1) ]、[ur b ,ur (b+1) ]Densification N p Substituting the obtained values into the S2 to calculate to obtain a limiting speed, and finding an accurate boundary value and a minimum value (the accurate boundary value and the minimum value are not determined by the existing method); the accurate boundary value and the minimum value are the second boundary value and the second minimum value.
S5: and (5) calculating the length.
Specifically, the length Sr between the ith and (i+1) th speed sensitive intervals is calculated by using the Simpson integration method i The method comprises the steps of carrying out a first treatment on the surface of the The length is calculated using a mapping of u to length l, unlike existing methods.
S6: speed checking and correction.
Specifically, the speed planning adopts a three-section S-shaped acceleration and deceleration method, bidirectional scanning is carried out on the whole section curve speed sensitive area, reverse scanning is carried out in the speed reduction process, forward scanning is carried out in the speed increasing process, and the speed is corrected by adopting a dichotomy for the sections with insufficient length. The method is different from the existing method in that a speed sensitive interval is not distinguished from a non-sensitive interval, so that the non-speed sensitive interval can be non-uniform.
S7: and planning a transition section.
Specifically, if S (vr) i ,v p )+S(v p ,vr (i+1) )+v p *T<Sr i The insensitive interval can complete the two processes of speed up and speed down, otherwise, the speed up is abandoned to v p The method comprises the steps of carrying out a first treatment on the surface of the Unlike the prior art, the method does not consider giving up the rise speed, and only adjusts the rise speed according to the length. S (vr) i ,v p ) For the ith speed sensitive interval vr i Speed up to feed speed v p The required transition length; s (v) p ,vr (i+1) ) For feed speed v p Speed vr from the (i+1) th speed sensitive interval (i+1) The required transition length.
S8: a start deceleration point is determined.
In particular, if the speed is increased to v in the non-sensitive interval p The need is thatTo calculate the initial deceleration point u dec If the rise is not required and vr (i+1) <vr i Then the initial deceleration point u needs to be calculated dec Is a value of (2). Unlike the existing method, the method does not need to calculate the speed reduction point u dec The value, the non-speed sensitive interval is directly planned by 7-section type S acceleration and deceleration self-adaptation; the embodiment of the invention can eliminate the need for densification of content. In the embodiment of the present invention, this content is not described in detail. Please refer to the similar description above. The densification search may further improve inspection speed and efficiency.
Having described in detail the method embodiments according to embodiments of the present invention, a description is given below of an apparatus embodiment according to the present invention.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a maximum speed parameter limiting device under curvature limitation according to an embodiment of the present invention; as shown in fig. 3, the apparatus 30 may be applied to a machine tool, and may include a densification unit 301, a search unit 302, a determination unit 303, a restriction unit 304, an algorithm unit 305, a three-stage unit 306, a comparison unit 307, and an addition unit 308. Optional units may also include a limiting unit 304, an algorithm unit 305, a three-stage unit 306, a comparing unit 307, and an adding unit 308.
A densification unit 301, configured to densify a parameter interval of the target tool path; the parameter interval comprises a plurality of intervals; the densified target tool path comprises a plurality of densification points;
A search unit 302, configured to calculate a limiting speed of each of the multiple sections and a curvature of a densification point in each of the multiple sections to determine the limiting speed, in a case where the second search is performed after the first search of the multiple sections;
a determining unit 303, configured to determine a first boundary value and a first minimum value of the target tool path according to the limiting speed.
In a possible implementation manner, the apparatus further includes a limiting unit 304: and determining a second boundary value and a second minimum value according to each interval and the corresponding limiting speed.
In one possible implementation, the multiple intervals include an i-th speed sensitive interval and an (i+1) -th speed sensitive interval; the apparatus further comprises an algorithm unit 305 for: calculating the length between the ith speed sensitive section and the (i+1) th speed sensitive section according to a Simpson integration method; i >0; the i-th speed sensitive section is adjacent to the (i+1) -th speed sensitive section.
In a possible implementation, the apparatus further includes a three-stage unit 306 configured to: according to a three-section acceleration and deceleration method, bidirectional scanning is carried out on the speed sensitive section; performing reverse scanning in the speed-sensitive interval speed-reducing process; and forward scanning is carried out in the speed increasing process of the speed sensitive interval.
In one possible implementation, the three-stage unit 306 is specifically configured to: and correcting the speed in the corresponding speed sensitive interval according to a dichotomy when the length is not matched with the preset length parameter of the corresponding speed sensitive interval.
In a possible implementation, the apparatus further comprises a comparing unit 307 for: when the sum of the first transition length and the second transition length is smaller than the first parameter, completing corresponding speed increasing and speed decreasing processes according to the setting of the non-sensitive interval; and stopping increasing the speed to the first speed when the sum of the first transition length and the second transition length is greater than or equal to the first parameter.
In a possible implementation manner, the apparatus further includes an adding unit 308, configured to: when the limiting speed in the non-sensitive interval needs to be increased to the first speed, calculating the value of an initial deceleration point in the non-sensitive interval; and when the limiting speed in the non-sensitive interval is not required to be increased to the first speed, and the limiting speed corresponding to the interval adjacent to the non-sensitive interval is smaller than the limiting speed of the non-sensitive interval, calculating the value of the initial speed reduction point.
It should be noted that, in the embodiment of the present invention, the functions of each functional unit of the maximum speed parameter limiting device 30 under curvature limitation may be referred to the above description of the corresponding method embodiment of fig. 1, and will not be repeated here.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an apparatus according to an embodiment of the present invention. The foregoing means may be implemented in the structure of fig. 4, and the device 4 may comprise at least one storage means 401, at least one communication means 402, at least one processing means 403. In addition, the device may include common components such as an antenna, a power supply, etc., which are not described in detail herein.
The storage unit 401 may be, but is not limited to, a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a random access Memory (random access Memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a compact disc Read-Only Memory (CD-ROM) or other optical disk storage, an optical disk storage (which may include compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be stand alone and coupled to the processor via a bus. The memory may also be integrated with the processor.
The communication component 402 may be for communicating with other devices or communication networks, such as an upgrade server, a key server, devices internal to the vehicle, etc.
The processing component 403 may be a general purpose Central Processing Unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program.
When the apparatus shown in fig. 4 is the maximum speed parameter limiting device 40 under curvature limitation, the processing part 403 is used for densifying the parameter interval of the target tool path; the parameter interval comprises a plurality of intervals; the densified target tool path comprises a plurality of densification points; under the condition that the second search is carried out after the first search of the multiple sections, calculating the limiting speed of each section in the multiple sections and the curvature of the densification points in each section so as to determine the limiting speed; and determining a first boundary value and a first minimum value of the target tool path according to the limiting speed.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium can store a program, and the program can include part or all of the steps of any one of the above method embodiments when executed.
The embodiments of the present invention also provide a computer program or a computer program product, which may include instructions which, when executed by a computer, cause the computer to perform some or all of the steps including any one of the method embodiments described above.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. The units of the embodiment of the device may or may not be physically separated, and some or all of the units may be selected according to actual needs to achieve the purposes of the embodiment of the invention.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium.
Based on this understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution, in the form of a software product, which is stored in a storage medium, and may include several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc., and may specifically be a processor in the computer device) to execute all or part of the steps of the above-mentioned method according to the embodiments of the present invention. Wherein the aforementioned storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a magnetic disk, a compact disk, a Read-Only Memory (ROM), or a random access Memory (Random Access Memory, RAM). The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A maximum speed parameter limiting method under curvature limitation, comprising:
densifying a parameter interval of the target tool path; the parameter interval comprises a plurality of intervals; the target tool path comprises a plurality of densification points after densification;
under the condition that the second search is carried out after the first search of the sections, calculating the curvature of the densification points in each section, and determining the limiting speed of the nth point according to the curvature, the bow height error, the normal acceleration and the normal jerk of the nth point; the nth point is any point on the target tool path; the first search comprises a coarse search and the second search comprises a fine search;
and determining a first boundary value and a first minimum value of the target tool path according to the limiting speed.
2. The method according to claim 1, wherein the method further comprises:
and determining a second boundary value and a second minimum value according to each interval and the corresponding limiting speed.
3. The method of claim 1, wherein the multiple intervals include an i-th speed sensitive interval and an (i+1) -th speed sensitive interval; the method further comprises the steps of:
calculating the length between the ith speed sensitive section and the (i+1) th speed sensitive section according to a Simpson integration method, wherein i is more than 0; the i-th speed sensitive section is adjacent to the (i+1) -th speed sensitive section.
4. A method according to claim 3, characterized in that the method further comprises:
according to a three-section acceleration and deceleration method, bidirectional scanning is carried out on the speed sensitive section; the bidirectional scanning comprises a forward scanning process and a reverse scanning process; modifying the starting point speed of the speed reduction process in the reverse scanning process; the end point speed during the ramp up is modified during the forward scan.
5. The method of claim 4, wherein after bi-directionally scanning the speed sensitive zone according to the three-stage acceleration and deceleration method, further comprising:
and correcting the speed in the corresponding speed sensitive interval according to a dichotomy when the length is not matched with the preset length parameter of the corresponding speed sensitive interval.
6. The method according to claim 1, wherein the method further comprises:
when the sum of the first transition length and the second transition length is smaller than the first parameter, completing corresponding speed increasing and speed decreasing processes according to the setting of the non-speed sensitive interval; the non-speed sensitive section is a part of sections in the multiple sections; the first transition length S (vr i , v p ) For the ith speed sensitive interval vr i Speed up to feed speed v p The required transition length; the second transition length S (v p , vr （i+1） ) For feed speed v p Speed vr from the (i+1) th speed sensitive interval （i+1） The required transition length;
stopping increasing the speed to a first speed when the sum of the first transition length and the second transition length is greater than or equal to the first parameter; the first speed is a preset speed value.
7. The method of claim 6, wherein the method further comprises:
when the limiting speed in the non-speed sensitive interval needs to be increased to the first speed, calculating the value of an initial deceleration point in the non-speed sensitive interval;
and when the limiting speed in the non-speed sensitive section does not need to be increased to the first speed, and the limiting speed corresponding to the section adjacent to the non-speed sensitive section is smaller than the limiting speed of the non-speed sensitive section, calculating the value of the initial deceleration point.
8. A maximum speed parameter limiting device under curvature limitation, comprising:
the densification unit is used for densifying the parameter interval of the target tool path; the parameter interval comprises a plurality of intervals; the densified target tool path comprises a plurality of densification points;
The searching unit is used for calculating the curvature of the densification point in each section under the condition of carrying out second searching after the first searching of the sections, and determining the limiting speed of the nth point according to the curvature, the bow height error, the normal acceleration and the normal jerk of the nth point; the nth point is any point on the target tool path; the first search comprises a coarse search and the second search comprises a fine search;
and the determining unit is used for determining a first boundary value and a first minimum value of the target tool path according to the limiting speed.
9. A computer program product comprising a non-transitory computer readable storage medium storing a computer program comprising program instructions operable to perform the method of any one of claims 1-7.
10. A computer readable storage medium storing program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1-7.
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