CN112865750A - Numerical control system multiplying power change smooth control method and device based on FIR filter - Google Patents
Numerical control system multiplying power change smooth control method and device based on FIR filter Download PDFInfo
- Publication number
- CN112865750A CN112865750A CN202110061060.4A CN202110061060A CN112865750A CN 112865750 A CN112865750 A CN 112865750A CN 202110061060 A CN202110061060 A CN 202110061060A CN 112865750 A CN112865750 A CN 112865750A
- Authority
- CN
- China
- Prior art keywords
- increment
- multiplying power
- fir filter
- value
- smoothed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/0219—Compensation of undesirable effects, e.g. quantisation noise, overflow
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Mathematical Physics (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a numerical control system multiplying power change smooth control method and a device based on an FIR filter, wherein the method comprises the following steps: acquiring numerical control machine tool parameters and user instructions, compiling according to the parameters and the instructions, and after the compiling is finished, performing speed planning according to set acceleration and deceleration types; receiving a multiplying power input instruction of a user to obtain a multiplying power value; smoothing the multiplying power value through an FIR filter to obtain a smoothed multiplying power value; calculating interpolation time increment according to the magnification value after the smoothing processing, and calculating output increment according to the interpolation time increment; and according to the output increment, proportionally corresponding to each coordinate axis to obtain the increment corresponding to each coordinate axis, and outputting the increment corresponding to each coordinate axis to a servo drive. The method can ensure the stability of the change of the feeding speed of the system and the rapidity of the response to the magnification when the feeding magnification is changed.
Description
Technical Field
The invention relates to the technical field of numerical control systems, in particular to a method and a device for controlling magnification change smoothly of a numerical control system based on an FIR filter.
Background
A Numerical Control System (CNC) is a core Control device of a Numerical Control machine tool, and the motion trajectory Control in the Numerical Control machining process is completed by the Numerical Control System. In the machining process of the numerical control machine tool, the feeding speed represents the relative movement speed between the tool and the workpiece along the cutting feeding direction. The feed rate affects not only the useful life of the tool, but also the surface quality, accuracy and efficiency of the machining. Therefore, the numerical control machine tool needs to provide a wide adjustment range of the feeding speed so that a user can make a reasonable choice in the actual machining process. The actual feed speed value of the numerical control machining is usually determined by an F code value in an NC program and a feed magnification switch on a machine tool operation panel.
In the machining process of the numerical control machine tool, according to the cutting machining technological process and machining quality feedback, the actual feeding speed is adjusted through a feeding multiplying power switch of an operation panel of the machine tool, and the flow is as follows:
(1) and (4) multiplying power input: in the machining process of the machine tool, a user adjusts the multiplying power through a feed multiplying power switch of an operation panel of the machine tool, and the selectable gear is usually 0-200%;
(2) PLC program acquisition multiplying power: the PLC program of the machine tool scans the state position of the magnification change-over switch, obtains a magnification value through PLC program coding instruction operation, and then sends the magnification value to the numerical control system.
(3) The multiplying power control of the numerical control system is realized: the numerical control system calculates the actual feeding speed according to the multiplying factor value and the feeding speed F, then performs speed planning again based on the current position, the current speed, the maximum acceleration and the end point position, and then outputs the interpolation increment at each moment to the servo driver, as shown in fig. 1.
According to the flow shown in the figure, once the multiplying power is changed in the machining process, the numerical control system needs to recalculate according to the changed multiplying power to obtain a new feeding speed, and performs speed planning again according to the current position, the current speed, the maximum acceleration and the end point position.
In the related art, a method of achieving smooth acceleration and deceleration in a short time and achieving change of magnification by a minute amount each time is proposed, which can achieve smoothing of the feed magnification, but it is still necessary to perform speed planning again when the magnification is changed, and it is necessary to perform threshold judgment processing on the feed magnification after smoothing. In summary, such methods have the disadvantages that:
(1) in the machining process, the numerical control system needs to acquire information such as the current position again every time the numerical control system changes the multiplying factor value, and then speed planning is carried out again according to the new feeding speed, and repeated planning for many times can cause the increase of the calculation load of the numerical control system and influence the efficiency of operation and machining. Meanwhile, the complicated and repeated speed planning will affect the rapidity of the system response after the magnification modification, resulting in delayed response of the magnification.
(2) The numerical control system can cause the problems of unreachable feeding speed, kinematic constraint overrun and the like by carrying out speed planning again. In the speed planning stage, the numerical control system plans the positions of the acceleration, the constant speed and the deceleration points of each section in advance according to the instruction speed F value and the contour error constraint parameter, and the switching speed between the front section and the rear section needs to be kept the same in order to meet the requirement of speed continuity. However, if the multiplying power changes during the machining process, the numerical control system plans the speed again according to the information such as the current position and the speed, and the like, and there may be a problem of insufficient acceleration or deceleration distance, so that the speed planned in advance cannot be reached at the starting point of the next segment, and a sudden speed change between the two segments is caused, and the sudden speed change affects the quality of the machined surface. If the acceleration or deceleration distance is insufficient, so that the speed at the starting point of the next segment can still be reached, the numerical control system needs to adopt a larger acceleration when the speed planning is carried out again, which may cause the kinematic constraint to be out of limit.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a numerical control system multiplying power change smooth control method based on an FIR filter, which can ensure the stability of system feeding speed change and the rapidity of multiplying power response when the feeding multiplying power changes.
The invention also aims to provide a numerical control system multiplying power change smoothing control device based on the FIR filter.
In order to achieve the above object, an embodiment of the invention provides a method for controlling smooth change of magnification of a numerical control system based on an FIR filter, which includes:
acquiring numerical control machine tool parameters and user instructions, compiling according to the parameters and the instructions, and after the compiling is finished, performing speed planning according to set acceleration and deceleration types;
receiving a multiplying power input instruction of a user to obtain a multiplying power value;
smoothing the multiplying power value through an FIR filter to obtain a smoothed multiplying power value;
calculating interpolation time increment according to the smoothed multiplying power value, and calculating output increment according to the interpolation time increment;
and according to the output increment, proportionally corresponding to each coordinate axis to obtain the increment corresponding to each coordinate axis, and outputting the increment corresponding to each coordinate axis to a servo drive.
The invention provides a numerical control system multiplying power change smooth control method based on an FIR filter. In the machining process, when the feeding multiplying power is changed, the numerical control system does not need to carry out speed planning again, so that the calculation load of the numerical control system is reduced; and smoothing the multiplying power through an FIR filter and changing interpolation time increment according to the smoothed multiplying power value, thereby realizing the change of the actual feeding speed and realizing multiplying power response. The method can ensure the stability of the change of the feeding speed of the system and the rapidity of the response to the magnification when the feeding magnification is changed.
In addition, the FIR filter-based numerical control system magnification change smoothing control method according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the acceleration and deceleration types include trapezoidal acceleration and deceleration and S-shaped acceleration and deceleration.
Further, in an embodiment of the present invention, smoothing the magnification value by using an FIR filter to obtain a smoothed magnification value includes:
setting the time constant of the FIR filter to be L, and for any time t, the multiplying power value after the FIR filter is smoothed is as follows:
where Δ T is the interpolation period.
Further, in an embodiment of the present invention, calculating an interpolation time increment according to the smoothed magnification value, and calculating an output increment according to the interpolation time increment includes:
the value of the multiple of each interpolation period after being smoothed by the FIR filter is KFIR,tThe interpolation time increment is DeltaTFIR,tAt time T + Δ T, the output increment of the system is f (T + Δ T · K)FIR,T+VT)-f(T)。
In order to achieve the above object, an embodiment of another aspect of the present invention provides a device for controlling smooth magnification variation of a numerical control system based on an FIR filter, including:
the initialization module is used for acquiring numerical control machine tool parameters and user instructions, compiling according to the parameters and the instructions, and after the compiling is finished, performing speed planning according to set acceleration and deceleration types;
the instruction receiving module is used for receiving a multiplying power input instruction of a user to obtain a multiplying power value;
the processing module is used for smoothing the multiplying power value through an FIR filter to obtain a smoothed multiplying power value;
the calculation module is used for calculating interpolation time increment according to the magnification value after the smoothing processing and calculating output increment according to the interpolation time increment;
and the output module is used for corresponding to each coordinate axis in proportion to obtain the increment corresponding to each coordinate axis according to the output increment, and outputting the increment corresponding to each coordinate axis to the servo drive.
According to the numerical control system multiplying power change smooth control device based on the FIR filter, in the machining process, when the feeding multiplying power is changed, the numerical control system does not need to carry out speed planning again, so that the calculation load of the numerical control system is reduced; and smoothing the multiplying power through an FIR filter and changing interpolation time increment according to the smoothed multiplying power value, thereby realizing the change of the actual feeding speed and realizing multiplying power response. The device can ensure the stability of the change of the feeding speed of the system and the rapidity of the response to the magnification when the feeding magnification is changed.
In addition, the FIR filter-based numerical control system magnification variation smoothing control device according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the acceleration and deceleration types include trapezoidal acceleration and deceleration and S-shaped acceleration and deceleration.
Further, in an embodiment of the present invention, smoothing the magnification value by using an FIR filter to obtain a smoothed magnification value includes:
setting the time constant of the FIR filter to be L, and for any time t, the multiplying power value after the FIR filter is smoothed is as follows:
where Δ T is the interpolation period.
Further, in an embodiment of the present invention, calculating an interpolation time increment according to the smoothed magnification value, and calculating an output increment according to the interpolation time increment includes:
the value of the multiple of each interpolation period after being smoothed by the FIR filter is KFIR,tThe interpolation time increment is DeltaTFIR,tAt time T + Δ T, the output increment of the system is f (T + Δ T · K)FIR,T+VT)-f(T)。
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of the prior art for implementing the magnification control in the machining process of a numerical control machine;
FIG. 2 is a flow chart of a method for controlling the magnification variation smoothness of a numerical control system based on an FIR filter according to an embodiment of the present invention;
FIG. 3 is a flow chart of a numerical control system magnification change smoothing control method based on an FIR filter according to an embodiment of the present invention;
fig. 4 is an overall flowchart of the operation of the numerical control machine according to one embodiment of the present invention;
FIG. 5 is a flow chart of operation of a numerical control system according to one embodiment of the present invention;
FIG. 6 is a graph illustrating the effects of magnification control according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a numerical control system magnification change smoothing control device based on an FIR filter according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a method and a device for controlling the magnification change smoothly of a numerical control system based on an FIR filter according to the embodiment of the invention with reference to the attached drawings.
Firstly, a proposed numerical control system multiplying power change smoothing control method based on an FIR filter according to an embodiment of the invention will be described with reference to the accompanying drawings.
Fig. 2 is a flowchart of a method for controlling magnification variation smoothing of a numerical control system based on an FIR filter according to an embodiment of the invention.
Fig. 3 is a flow chart of a numerical control system magnification change smoothing control method based on an FIR filter according to an embodiment of the invention.
As shown in fig. 2 and fig. 3, the method for controlling the magnification variation smoothly based on the FIR filter comprises the following steps:
and step S1, obtaining numerical control machine tool parameters and user instructions, compiling according to the parameters and the instructions, and after the compiling is finished, performing speed planning according to the set acceleration and deceleration type.
All parameters of the numerical control machine tool, including PLC parameters and the like, are obtained through the numerical control system, and then compiling is carried out according to an NC program input by a user. And after the compiling is finished, the numerical control system performs speed planning according to the set acceleration and deceleration type. The common acceleration and deceleration type of the numerical control system is trapezoidal acceleration and deceleration or S-shaped acceleration and deceleration, the interpolation period is delta T, and the relationship between the position S and the time T in the process of processing a certain line of G codes is as follows: s ═ f (t).
And step S2, accepting a magnification input instruction of a user to acquire a magnification value.
After the speed planning is completed, the numerical control system outputs the speed according to the increment of each axis in each interpolation period. If the user changes the feeding multiplying power through the operation panel at a certain moment, the PLC acquires the multiplying power value through the state position of the scanning multiplying power change-over switch and then transmits the multiplying power value to the numerical control system. Assume that the magnification value before change is K1The changed magnification value is K2。
And step S3, smoothing the multiplying factor value through an FIR filter to obtain a smoothed multiplying factor value.
In the prior art scheme, the magnification value would be directly from K1Mutation to K2. In the embodiment of the present invention, a smooth transition of magnification is realized by an FIR filter (Finite Impulse Response filter). When the time constant (also referred to as a frame length) of the FIR filter is set to L, the multiplying factor value after the FIR filter smoothing at an arbitrary time t is:
from the above formula analysis, it can be seen that (1) the equivalent magnification value K1When no change occurs, then KFIR,tIs equal to K1(ii) a (2) When the multiplying power is from K1Mutation to K2In time, through the smoothing action of the FIR filter, the numerical control system needs to lead the multiplying power to be increased from K through L interpolation cycles1Gradual change to K2And the magnification change value per interpolation period is (K)2-K1) And L. (3) After L interpolation periods, if the magnification value is not changed, KFIR,tIs equal to K2。
In step S4, an interpolation time increment is calculated from the smoothed magnification value, and an output increment is calculated from the interpolation time increment.
According to step S1, if the conventional solution is adopted, the interpolation time increment of each interpolation period is the interpolation period Δ T, and the output increment of the system at time T + Δ T should be f (T + Δ T) -f (T).
By adopting the scheme of the invention, the multiplying power value K after each interpolation period is smoothed by the FIR filter can be obtained according to the step S3FIR,tThen the interpolation time increment becomes Δ T × KFIR,tAt time T + Δ T, the output increment of the system becomes f (T + Δ T · K)FIR,T+VT)-f(T)。
And step S5, proportionally corresponding to each coordinate axis according to the output increment to obtain the increment corresponding to each coordinate axis, and outputting the increment corresponding to each coordinate axis to the servo drive.
The system output increments calculated in step S4 are scaled to the respective coordinate axes and then output increments to the servo drive.
With reference to fig. 4 and 5, a detailed description is given to a method for controlling the magnification variation smoothing of the numerical control system based on the FIR filter according to a specific embodiment.
The processing section length is 250mm, and the feeding speed F is 1000mm/min is 16.67 mm/s. FIG. 6(a) is a velocity profile without changing the magnification, wherein the magnification is 100%, and the constant velocity is always kept at 16.67 mm/s. In fig. 6(b), the magnification at the time of the initial operation is 100%, and then the change in magnification is 100% → 150% → 0 → 100%, and the change in magnification each time is 10%. According to the scheme, the effect that when the multiplying power is changed, the feeding speed is uniformly changed to the target speed can be achieved.
According to the numerical control system multiplying power change smooth control method based on the FIR filter, in the machining process, when the feeding multiplying power is changed, the numerical control system does not need to carry out speed planning again, and the calculation load of the numerical control system is reduced; and smoothing the multiplying power through an FIR filter and changing interpolation time increment according to the smoothed multiplying power value, thereby realizing the change of the actual feeding speed and realizing multiplying power response. The method can ensure the stability of the change of the feeding speed of the system and the rapidity of the response to the magnification when the feeding magnification is changed.
Next, a numerical control system magnification change smoothing control device based on an FIR filter according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 7 is a schematic structural diagram of a numerical control system magnification change smoothing control device based on an FIR filter according to an embodiment of the present invention.
As shown in fig. 7, the FIR filter-based numerical control system magnification variation smoothing control device comprises: an initialization module 701, an instruction acceptance module 702, a processing module 703, a calculation module 704 and an output module 705.
And the initialization module 701 is used for acquiring parameters of the numerical control machine and user instructions, compiling according to the parameters and the instructions, and after the compiling is finished, performing speed planning according to the set acceleration and deceleration type.
And the instruction receiving module 702 is configured to receive a magnification input instruction of a user to obtain a magnification value.
The processing module 703 is configured to perform smoothing processing on the magnification value through an FIR filter to obtain a smoothed magnification value.
And a calculating module 704, configured to calculate an interpolation time increment according to the smoothed magnification value, and calculate an output increment according to the interpolation time increment.
And the output module 705 is configured to correspond to each coordinate axis in proportion to obtain an increment corresponding to each coordinate axis according to the output increment, and output the increment corresponding to each coordinate axis to the servo driver.
Further, in one embodiment of the present invention, the acceleration and deceleration types include trapezoidal acceleration and deceleration and S-shaped acceleration and deceleration.
Further, in an embodiment of the present invention, smoothing the magnification value by using an FIR filter to obtain a smoothed magnification value includes:
setting the time constant of the FIR filter as L, and for any time t, the multiplying power value after the FIR filter is smoothed is as follows:
where Δ T is the interpolation period.
Further, in an embodiment of the present invention, calculating an interpolation time increment from the smoothed magnification value, and calculating an output increment from the interpolation time increment includes:
the value of the multiple factor of each interpolation period after being smoothed by the FIR filter is KFIR,tThe interpolation time increment is DeltaTFIR,tAt time T + Δ T, the output increment of the system is f (T + Δ T · K)FIR,T+VT)-f(T)。
It should be noted that the foregoing explanation of the method embodiment is also applicable to the apparatus of this embodiment, and is not repeated herein.
According to the numerical control system multiplying power change smooth control device based on the FIR filter, in the machining process, when the feeding multiplying power is changed, the numerical control system does not need to carry out speed planning again, so that the calculation load of the numerical control system is reduced; and smoothing the multiplying power through an FIR filter and changing interpolation time increment according to the smoothed multiplying power value, thereby realizing the change of the actual feeding speed and realizing multiplying power response. The device can ensure the stability of the change of the feeding speed of the system and the rapidity of the response to the magnification when the feeding magnification is changed.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A numerical control system multiplying power change smooth control method based on an FIR filter is characterized by comprising the following steps:
acquiring numerical control machine tool parameters and user instructions, compiling according to the parameters and the instructions, and after the compiling is finished, performing speed planning according to set acceleration and deceleration types;
receiving a multiplying power input instruction of a user to obtain a multiplying power value;
smoothing the multiplying power value through an FIR filter to obtain a smoothed multiplying power value;
calculating interpolation time increment according to the smoothed multiplying power value, and calculating output increment according to the interpolation time increment;
and according to the output increment, proportionally corresponding to each coordinate axis to obtain the increment corresponding to each coordinate axis, and outputting the increment corresponding to each coordinate axis to a servo drive.
2. The method of claim 1, wherein the acceleration and deceleration types include trapezoidal acceleration and deceleration and S-shaped acceleration and deceleration.
3. The method of claim 1, wherein smoothing the magnification value with an FIR filter to obtain a smoothed magnification value comprises:
setting the time constant of the FIR filter to be L, and for any time t, the multiplying power value after the FIR filter is smoothed is as follows:
where Δ T is the interpolation period.
4. The method according to claim 3, wherein calculating an interpolation time increment from the smoothed magnification value, and calculating an output increment from the interpolation time increment, comprises:
the value of the multiple of each interpolation period after being smoothed by the FIR filter is KFIR,tThe interpolation time increment is DeltaTFIR,tAt time T + Δ T, the output increment of the system is f (T + Δ T · K)FIR,T+VT)-f(T)。
5. A numerical control system multiplying power change smooth control device based on FIR wave filter is characterized by that, include:
the initialization module is used for acquiring numerical control machine tool parameters and user instructions, compiling according to the parameters and the instructions, and after the compiling is finished, performing speed planning according to set acceleration and deceleration types;
the instruction receiving module is used for receiving a multiplying power input instruction of a user to obtain a multiplying power value;
the processing module is used for smoothing the multiplying power value through an FIR filter to obtain a smoothed multiplying power value;
the calculation module is used for calculating interpolation time increment according to the magnification value after the smoothing processing and calculating output increment according to the interpolation time increment;
and the output module is used for corresponding to each coordinate axis in proportion to obtain the increment corresponding to each coordinate axis according to the output increment, and outputting the increment corresponding to each coordinate axis to the servo drive.
6. The apparatus of claim 5, wherein the acceleration and deceleration types include trapezoidal acceleration and deceleration and S-shaped acceleration and deceleration.
7. The apparatus of claim 5, wherein smoothing the multiplier value with an FIR filter to obtain a smoothed multiplier value comprises:
setting the time constant of the FIR filter to be L, and for any time t, the multiplying power value after the FIR filter is smoothed is as follows:
where Δ T is the interpolation period.
8. The apparatus according to claim 7, wherein calculating an interpolation time increment from the smoothed magnification value, and calculating an output increment from the interpolation time increment, includes:
the value of the multiple of each interpolation period after being smoothed by the FIR filter is KFIR,tThe interpolation time increment is DeltaTFIR,tIncrement of output of the system at time T + Δ TIs f (T + DeltaT. K)FIR,T+VT)-f(T)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110061060.4A CN112865750A (en) | 2021-01-18 | 2021-01-18 | Numerical control system multiplying power change smooth control method and device based on FIR filter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110061060.4A CN112865750A (en) | 2021-01-18 | 2021-01-18 | Numerical control system multiplying power change smooth control method and device based on FIR filter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112865750A true CN112865750A (en) | 2021-05-28 |
Family
ID=76006229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110061060.4A Pending CN112865750A (en) | 2021-01-18 | 2021-01-18 | Numerical control system multiplying power change smooth control method and device based on FIR filter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112865750A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113467368A (en) * | 2021-07-15 | 2021-10-01 | 苏州谋迅智能科技有限公司 | Method for adjusting S-shaped speed curve |
| CN117270455A (en) * | 2023-11-20 | 2023-12-22 | 成都飞机工业（集团）有限责任公司 | Digital filtering-based groove cavity milling tool path optimization method |
-
2021
- 2021-01-18 CN CN202110061060.4A patent/CN112865750A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113467368A (en) * | 2021-07-15 | 2021-10-01 | 苏州谋迅智能科技有限公司 | Method for adjusting S-shaped speed curve |
| CN117270455A (en) * | 2023-11-20 | 2023-12-22 | 成都飞机工业（集团）有限责任公司 | Digital filtering-based groove cavity milling tool path optimization method |
| CN117270455B (en) * | 2023-11-20 | 2024-03-15 | 成都飞机工业（集团）有限责任公司 | Digital filtering-based groove cavity milling tool path optimization method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106168790B (en) | S-shaped acceleration and deceleration control method for changing target speed and position on line | |
| US7167772B2 (en) | Machining time calculating apparatus | |
| CN102789194B (en) | Numerical controller with machining time prediction unit and machining error prediction unit | |
| Sencer et al. | High speed cornering strategy with confined contour error and vibration suppression for CNC machine tools | |
| JP5417392B2 (en) | Numerical controller | |
| US7348748B2 (en) | Motorized system and method of control | |
| Emami et al. | A look-ahead command generator with control over trajectory and chord error for NURBS curve with unknown arc length | |
| EP1720085A1 (en) | Curve interpolating method | |
| CN112865750A (en) | Numerical control system multiplying power change smooth control method and device based on FIR filter | |
| US20050033459A1 (en) | Controller for machine | |
| US20040122549A1 (en) | Curve interpolation method | |
| JP5079165B2 (en) | Numerical control apparatus and numerical control method | |
| US6539275B1 (en) | Machine controller and process with two-step interpolation | |
| CN106493469B (en) | Numerical controller capable of controlling machining conditions according to attitude | |
| JP2005182437A (en) | Numerical control device and numerical control method | |
| CN1357806A (en) | Numerical control method | |
| CN114740803B (en) | NURBS curve interpolation speed control method, device and equipment | |
| JP3135738B2 (en) | Numerical control unit | |
| CN104238464A (en) | Numerical control unit having function to smoothly change feed speed when override is changed | |
| JP2021002092A (en) | Numerical controller | |
| CN109313429A (en) | S type speed planning method, apparatus, system, robot and numerically-controlled machine tool | |
| JP2007304714A (en) | Numerical control device | |
| CN116330299B (en) | Industrial robot compliant motion control method based on acceleration smoothing | |
| JP2004167549A (en) | Laser beam machining apparatus | |
| JP6105548B2 (en) | Numerical control device with interference avoidance positioning function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |