CN114077226B - S-shaped curve speed planning method, control terminal and computer readable storage medium - Google Patents

S-shaped curve speed planning method, control terminal and computer readable storage medium Download PDF

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Publication number
CN114077226B
CN114077226B CN202010799856.5A CN202010799856A CN114077226B CN 114077226 B CN114077226 B CN 114077226B CN 202010799856 A CN202010799856 A CN 202010799856A CN 114077226 B CN114077226 B CN 114077226B
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speed
section
acceleration
deceleration
curve
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CN114077226A (en
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高琳琪
封雨鑫
高云峰
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Shenzhen Han's Smart Control Technology Co ltd
Han s Laser Technology Industry Group Co Ltd
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Shenzhen Han's Smart Control Technology Co ltd
Han s Laser Technology Industry Group Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36521—Select by combination of detected force, acceleration, speed, work rate
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention relates to the technical field of numerical control, and provides an S-shaped curve speed planning method, a control terminal and a computer readable storage medium. The method comprises the following steps: obtaining a speed planning parameter according to a workpiece processing track; calculating to obtain the total interpolation period number of the acceleration section according to the speed planning parameters; calculating according to the total interpolation period number to obtain the instantaneous speed corresponding to each interpolation period in the acceleration section, and constructing a speed planning curve of the acceleration section; setting a deceleration point, entering a uniform speed section after the instantaneous speed of the acceleration section reaches the maximum speed, enabling uniform speed to move to the deceleration point and enter the deceleration section, wherein a speed planning curve of the deceleration section is symmetrical to a speed planning curve of the acceleration section; by adopting the planning method, the control terminal and the computer readable storage medium, a smooth S-shaped speed curve can be constructed, the acceleration change is gentle in the initial stage and the final stage of acceleration and deceleration, the motor is not easy to be impacted, the speed curve form can be flexibly adjusted according to various processing technologies, and the method is reasonable and convenient to use.

Description

S-shaped curve speed planning method, control terminal and computer readable storage medium
Technical Field
The invention belongs to the technical field of numerical control, and particularly relates to an S-shaped curve speed planning method, a control terminal and a computer readable storage medium.
Background
The numerical control machine tool needs to move according to various preset tracks in the working process so as to meet various processing requirements. Therefore, reasonable planning must be provided for the running speed of the machine tool, so that the machine tool can ensure smooth and stable machining process, small flexible impact and quick response on the premise of meeting the mechanical movement requirement of the machine tool, and the machine tool machining efficiency can be improved, and the service life and the use safety of the machine tool are ensured.
The common speed planning method in the current numerical control system comprises the following steps: acceleration and deceleration of a trapezoidal curve, acceleration and deceleration of an S-shaped curve, and the like. The trapezoid acceleration and deceleration is to control the motor in a linear acceleration and deceleration mode, and the motor is increased or decreased in a linear situation from the initial speed to the final speed. The method has simple calculation and obvious addition and subtraction quick-acting effect. However, acceleration abrupt change occurs according to acceleration and deceleration in a straight line form, so that the machine tool is easy to buffeting, and the safe use of the machine tool is not facilitated, and the machine tool is only suitable for a low-speed operation control system. A representative method in S-shaped curve acceleration and deceleration is a seven-segment acceleration and deceleration control method, the model structure is relatively complex, the acceleration is continuously changed according to the running state of the machine tool, the acceleration is continuous, and the impact influence of the acceleration change in the movement process on the machine tool is reduced. The method has the defects that the calculated motion time is not necessarily an integer multiple of the interpolation period, the motion morphology is suddenly changed when the integral time at the final motion stage is less than one period, and the precision is lost if the displacement amount of the last interpolation integral time is ignored. The model has complex structure and more parameter limitation, and the phenomenon is difficult to eliminate. The S-shaped acceleration and deceleration is also a method for constructing a model by using a trigonometric function, and the acceleration and the jerk of the model are continuous, so that the smoothness of the motion is good, but calculation is realized by a table look-up mode, the calculation efficiency is not high enough, the model reaches the maximum acceleration only at one time point, and the motion response is not rapid enough, so that the acceleration and deceleration efficiency is relatively low.
Disclosure of Invention
The invention mainly aims to provide an S-shaped curve speed planning method, a control terminal and a computer readable storage medium, which are used for solving the technical problems of unsmooth speed change and slower motion response speed in the prior art.
In order to achieve the above object, in one aspect, there is provided an S-shaped curve speed planning method, including the steps of:
obtaining a speed planning parameter of workpiece processing according to the workpiece processing track, wherein the speed planning parameter comprises the total length of a pathMaximum speed->Maximum acceleration->；
Calculating to obtain the total interpolation period number T of the acceleration section through a preset speed planning model according to the speed planning parameters;
calculating the instantaneous speed corresponding to each interpolation period T in the acceleration section according to the total interpolation period number T through the speed planning modelConstructing a speed planning curve of the acceleration section;
setting a deceleration point according to the total length of the path, and when the instantaneous speed of the acceleration section is higher than the preset speedReaching the maximum speedThen entering a constant speed section, enabling the constant speed to move to the deceleration point and enter the deceleration section, wherein the speed planning curve of the deceleration section is symmetrical to the speed planning curve of the acceleration section;
wherein the velocity planning model comprises the following formula:
the calculation formula of the instantaneous speed of the acceleration section comprises the following formula:
（1）
in the method, in the process of the invention,for the interpolation of the instantaneous speed at time t, t represents the interpolation period, < >>Is half of the total number of interpolation periods T,to accelerate the initial velocity of the segment.
In one embodiment, the calculation formula for the instantaneous acceleration is obtained by deriving formula (1):
（2）
based on acceleration reaching a maximum at the middle of the acceleration section, at a known initial velocityEnd speed->Maximum acceleration->、/>In this case, a calculation formula of the total interpolation period number T of the acceleration section is obtained according to formula (2):
（3）
in one embodiment, the calculation formula for the instantaneous displacement is obtained by integrating formula (1)
（4）
Calculating the motor feed amount for each interpolation period according to the formula (4), which calculates the formula
（5）
In the method, in the process of the invention,is->The distance the motor needs to run in the time interpolation period.
In one embodiment, the calculation is based on equation (3) and equation (4)Obtaining the displacement of the accelerating sectionAnd the displacement of the accelerating section is +.>Equal to the displacement of the deceleration section +.>Let the total length of the route->≥2/>The displacement of the machine tool which has been operated is +.>When said->=/>-/>And when the machine tool passes through the deceleration point, the machine tool starts to enter a deceleration section for deceleration.
In one embodiment, according to the total path lengthAnd the displacement of the acceleration section +.>Calculating the displacement of the uniform speed section>：
（6）
According to the displacement of the uniform speed sectionCalculating the interpolation period number of the uniform speed section by the maximum speed：
（7）
For the interpolation period numberInteger value correction is performed to obtain corrected actual interpolation period number +.>
And based on the actual number of interpolation cyclesTo calculate the correction speed of said constant speed segment>：
（8）
Causing the constant velocity segment to be at the corrected velocityAnd (3) operating at a constant speed until reaching the deceleration point, starting to decelerate and entering the deceleration section.
In another aspect, there is provided a control terminal including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the speed planning numerical control method described in the above embodiments.
In yet another aspect, a computer readable storage medium is provided, storing a computer program, where the computer program is executed by a processor to implement the speed planning numerical control method described in the foregoing embodiment.
As can be seen from the above embodiments of the present invention, the following advantages are achieved:
by carrying out deformation processing on the Sigmoid function, a section of smooth S-shaped speed curve can be constructed, the acceleration change is gentle in the initial stage and the final stage of acceleration and deceleration, the motor is not easy to be impacted, and in the middle stage of acceleration and deceleration, the acceleration and deceleration process is accelerated due to the fact that the specified maximum acceleration can be achieved, and the characteristics of smoothness, quick response and the like required by the motor are met while the efficiency is higher; and the speed planning model is simple, the speed curve form can be flexibly adjusted according to various processing technologies, and the application is reasonable and convenient.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flow chart of an S-curve speed planning method according to an embodiment of the invention;
FIG. 2 is a graph of velocity and acceleration for an entire path in accordance with an embodiment of the present invention;
FIG. 3 is a graph showing jerk in an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention will be clearly described in conjunction with the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the embodiment of the invention discloses an S-shaped curve speed planning method, which comprises the following steps:
s1, obtaining a speed planning parameter of workpiece processing according to a workpiece processing track, wherein the speed planning parameter comprises the total length of a pathMaximum speed->Maximum acceleration->。
It should be noted that, the workpiece processing track is a motion track requiring speed planning, and the initial speed and the final speed of the entire path of the workpiece processing track are both illustrated as 0 in this embodiment, that is, the initial speed of the acceleration section and the final speed of the deceleration section are 0 in the case that the entire path of the workpiece processing track is planned into the acceleration section, the uniform speed and the deceleration section. Of course, the actual requirement of the workpiece processing track may define the initial and final speeds of the entire path, i.e., in other embodiments, the initial speed of the acceleration section and the final speed of the deceleration section may be other than 0.
S2, calculating the total interpolation period number T of the acceleration section through a preset speed planning model according to the speed planning parameters. As shown in FIG. 2, when the machine tool is at rest, i.e. at initial speedWhen the acceleration is started by the method of the numerical control (0), the acceleration gradually increases from 0 according to the interpolation period, so that the problem of machine tool vibration caused by sudden acceleration can be avoided; the middle section of the S curve can be based on the maximum accelerationThe instantaneous slope is changed in magnitude so thatFlexibly adjusting the processing response time; meanwhile, when the machine tool accelerates to the latter half stage of the acceleration section, the acceleration is gradually reduced to 0 from the middle moment according to the interpolation period, and the machine tool can stably reach the maximum speed; that is to say that the total number of interpolation periods T is by maximum speed +.>And maximum acceleration->Calculated according to a speed planning model.
S3, calculating and obtaining the instantaneous speed corresponding to each interpolation period T in the acceleration section through a speed planning model according to the total interpolation period TConstructing a speed planning curve of the acceleration section; the speed planning model carries out deformation processing on the Sigmoid function, and comprises the following calculation formulas of the instantaneous speed of the acceleration section:
（1）
in the method, in the process of the invention,for the interpolation of the instantaneous speed at time t, t represents the interpolation period, < >>Half the total number of interpolation cycles T, in the acceleration section,/or->Representing the initial speed of the acceleration section and being equal to 0; according to the maximum speed obtained->And the total interpolation period number T can calculate the instantaneous speed corresponding to each interpolation period T in the acceleration section through the formula (1)>Thus, a smooth S-shaped speed curve of the accelerating section as shown in fig. 2 is constructed, and the characteristics of smoothness, quick response and the like required by the motor are met.
S4, setting a deceleration point according to the total length of the path, and setting the deceleration point as the instantaneous speed of the acceleration sectionReach maximum speed->And then entering a constant speed section, enabling the constant speed to move to a deceleration point and entering the deceleration section, wherein the speed planning curve of the deceleration section is symmetrical to the speed planning curve of the acceleration section. Specifically, the instantaneous speed of the deceleration section is calculated by the formula:
（1-1）
which is different from the instantaneous speed calculation formula of the acceleration section in thatRepresents the end speed and is equal to 0, i.e. the speed of the machine tool from the deceleration point at the constant speed section (i.e. maximum speed +.>) Starting to slow down until the speed is 0, and stopping running; in the S-shaped speed curve for constructing the deceleration section, when the deceleration is carried out to the latter half of the deceleration section, the acceleration is reduced to 0 from the middle moment according to the interpolation period, and the machine tool can be stopped stably.
According to the technical scheme, a section of smooth S-shaped speed curve can be constructed by carrying out deformation processing on the Sigmoid function, acceleration changes are gentle in the initial stage and the final stage of acceleration and deceleration, impact to a motor is not easy to occur, and in the middle stage of acceleration and deceleration, the specified maximum acceleration can be achieved, so that the acceleration and deceleration process is accelerated, the efficiency is higher, and meanwhile, the characteristics of smoothness, quick response and the like required by the motor are met; and the speed planning model is simple, the speed curve form can be flexibly adjusted according to various processing technologies, and the application is reasonable and convenient.
In one embodiment of the present invention, the calculation formula of the instantaneous acceleration is obtained by deriving formula (1):
（2）
based on acceleration reaching a maximum at the middle of the acceleration section, at a known initial velocityEnd speed->Maximum acceleration->、/>In this case, a calculation formula of the total interpolation period number T of the acceleration section in step S2 is obtained according to formula (2):
（3）
it should be noted that the instantaneous acceleration of the deceleration section and the total number of interpolation cycles are also obtained by the above-described equation (2) and equation (3), with the difference that, in the deceleration section,for initial speed +.>Is the final speed; and according to the characteristic of the formula (3), the speed planning method of the present embodiment can be realized by the maximum acceleration +.>To limit the acceleration and deceleration time, i.e. according to the maximum accelerationTo adjust the instantaneous slope and flexibly adjust the processing response time.
Fig. 3 is a graph showing jerk in the present embodiment, as can be seen from fig. 3, in the acceleration section, the machine tool starts to accelerate according to the processing track of the workpiece from the stationary state, and the acceleration of the first half of the acceleration section gradually increases to the maximum acceleration, and the jerk gradually increases and then gradually decreases to 0; the acceleration of the first half section of the acceleration section gradually decreases to 0, and the jerk becomes a negative value and gradually decreases and then gradually increases to 0; the acceleration change at the initial stage and the final stage of acceleration is gentle, the motor is not easy to be impacted, and the smooth transition of the speed change required by the motor is met. Similarly, in the deceleration section, the acceleration change at the initial stage and the final stage of deceleration is also gentle.
In one embodiment of the invention, the calculation formula for the instantaneous displacement is obtained by integrating formula (1):
（4）
according to the formula (4), the motor feed quantity of each interpolation period, namely the instantaneous displacement difference value of two adjacent interpolation periods is calculated, and the calculation formula is as follows:
（5）
in the method, in the process of the invention,is->The distance that the motor needs to run in the time interpolation period, when the numerical control system is in the acceleration stage, the value range of t is [0, T]The method comprises the steps of carrying out a first treatment on the surface of the When the numerical control system is in a deceleration stage, the value range of T is [ T,0 ]]。
In one embodiment of the present invention, the deceleration point calculation in step S4 is as follows: calculated according to the formula (3) and the formula (4)Displacement to acceleration sectionAs the speed planning models of the acceleration section and the deceleration section are the same and the start and end speeds and the maximum acceleration are the same, the displacement of the acceleration section can be known>Equal to the displacement of the deceleration section +.>Set the total length of the path≥2/>The displacement of the machine tool which has been operated is +.>Machine tool is finished +.>Is T n Then the speed profile of the acceleration phase and the deceleration phase is related to t=t n Symmetrical with respect to 2, and when->=/>-/>And when the speed is the deceleration point, the machine tool starts to enter a deceleration section for deceleration after passing through the deceleration point, and stops running until the speed is 0.
In one embodiment of the present invention, step S4 further includes the following steps before entering the constant speed section:
according to the total length of the pathDisplacement of acceleration section +.>Calculating the displacement of the constant speed section>：
（6）
According to the displacement of the constant speed sectionAnd maximum speed calculation of the number of interpolation cycles of the constant speed section +.>：
（7）
Number of interpolation cyclesInteger value correction is performed to obtain corrected actual interpolation period number +.>
And according to the actual interpolation period numberTo calculate the correction speed of the constant speed segment>：
（8）
Making the uniform speed section in the step S4 at a corrected speedAnd (3) operating at a constant speed until reaching a deceleration point, starting to decelerate and entering a deceleration section. This approximation isThe method can effectively ensure that the error between the planned distance of the whole speed and the given distance is small, ensure that the fluctuation of acceleration is small, the speed change is smooth, and reduce the vibration of the motor.
Simulation verification:
the machine tool parameters in the numerical control system are set as follows: interpolation periodMaximum speed>Maximum acceleration of +.>. Maximum speed after conversion into time and distance units used in a digital control system is +.>Maximum acceleration of +.>Total displacement->. The speed planning method of the above embodiment is used for planning, and the obtained result is shown in table 1, and the planned total displacement and the actual path have only 0.0006 deviation due to the deviation caused by the calculation process data type.
TABLE 1 acceleration and deceleration stage speed planning results
The embodiment of the invention also relates to a control terminal and at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the speed planning numerical control method embodiments described above.
Where the memory and the processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors and the memory together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over the wireless medium via the antenna, which further receives the data and transmits the data to the processor.
The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory may be used to store data used by the processor in performing operations.
Embodiments of the present invention relate to a computer-readable storage medium storing a computer program. The computer program, when executed by the processor, implements the speed planning numerical control method embodiment 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 the related descriptions of other embodiments.
The foregoing is a description of the embodiments of the present invention, and is not to be construed as limiting the invention, since modifications in the detailed description and the application scope will become apparent to those skilled in the art upon consideration of the teaching of the embodiments of the present invention.

Claims (7)

1. The S-shaped curve speed planning method is characterized by comprising the following steps of:
obtaining a speed planning parameter of workpiece processing according to the workpiece processing track, wherein the speed planning parameter comprises the total length of a pathMaximum speed->Maximum acceleration->；
Calculating to obtain the total interpolation period number T of the acceleration section through a preset speed planning model according to the speed planning parameters;
calculating the instantaneous speed corresponding to each interpolation period T in the acceleration section according to the total interpolation period number T through the speed planning modelConstructing a speed planning curve of the acceleration section;
setting a deceleration point according to the total length of the path, and when the instantaneous speed of the acceleration section is higher than the preset speedReaching the maximum speed->Then entering a constant speed section, enabling the constant speed to move to the deceleration point and enter the deceleration section, wherein the speed planning curve of the deceleration section is symmetrical to the speed planning curve of the acceleration section;
wherein the velocity planning model comprises the following formula:
the calculation formula of the instantaneous speed of the acceleration section comprises the following formula:
（1）
in the method, in the process of the invention,for the interpolation of the instantaneous speed at time t, t represents the interpolation period, < >>Is half of the total number of interpolation cycles T, +.>To accelerate the initial velocity of the segment.
2. The S-curve speed planning method according to claim 1, wherein the calculation formula of the instantaneous acceleration is obtained by deriving formula (1):
（2）
based on acceleration reaching a maximum at the middle of the acceleration section, at a known initial velocityEnd speed->Maximum acceleration->、/>In this case, a calculation formula of the total interpolation period number T of the acceleration section is obtained according to formula (2):
（3） 。
3. the S-curve speed planning method according to claim 2, wherein the calculation formula of the instantaneous displacement is obtained by integrating the formula (1)
（4）
Calculating the motor feed amount for each interpolation period according to the formula (4), which calculates the formula
（5）
In the method, in the process of the invention,is->The distance the motor needs to run in the time interpolation period.
4. The S-curve speed planning method according to claim 3, wherein the displacement amount of the acceleration section is calculated according to formula (3) and formula (4)And the displacement of the accelerating section is +.>Equal to the displacement of the deceleration section +.>Let the total length of the route->≥2/>The displacement of the machine tool which has been operated is +.>When said->=/>-/>And when the machine tool passes through the deceleration point, the machine tool starts to enter a deceleration section for deceleration.
5. An S-curve speed planning method according to claim 4 and according to said path total lengthAnd the displacement of the acceleration section +.>Calculating the displacement of the uniform speed section>：
（6）
According to the displacement of the uniform speed sectionCalculating the interpolation period number of the uniform speed section by the maximum speed +.>：
（7）
For the interpolation period numberInteger value correction is performed to obtain corrected actual interpolation period number +.>
And based on the actual number of interpolation cyclesTo calculate the correction speed of said constant speed segment>：
（8）
Causing the constant velocity segment to be at the corrected velocityAnd (3) operating at a constant speed until reaching the deceleration point, starting to decelerate and entering the deceleration section.
6. A control terminal, characterized by comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the speed planning method of any one of claims 1 to 5.
7. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the speed planning method of any one of claims 1 to 5.
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