CN116795044B - Speed planning method, device, machine tool control system and storage medium - Google Patents
Speed planning method, device, machine tool control system and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a speed planning method, a speed planning device, a machine tool control system and a storage medium, wherein the speed planning method comprises the following steps: acquiring an initial speed scheme of a target point, wherein the initial speed scheme comprises corresponding speed and acceleration when the target point moves along a preset track, and positions corresponding to track points on the preset track; calculating the target position and the target speed corresponding to each track point on the preset track in sequence based on the movement direction of the target point to obtain a speed planning result corresponding to the preset track; the calculating the target position and the target speed corresponding to the preset track point includes: filtering the preset track points and the accelerations corresponding to the reference track points corresponding to the preset track points to obtain target accelerations corresponding to the preset track points; and calculating the target position and the target speed corresponding to the preset track point based on the target acceleration. The speed planning scheme can improve the quality of the parts.
Description
Technical Field
The embodiment of the invention relates to the field of numerical control machine tools, in particular to a speed planning method, a speed planning device, a machine tool control system and a storage medium.
Background
The numerical control machine tool is a numerical control machine tool (Computer numerical control machine tools) for short, and is an automatic machine tool provided with a program control system. After compiling a preset program into a control code, the control code is input into the numerical control device, and the numerical control device sends out a corresponding control signal to control the cutter of the machine tool to operate at a preset movement track and movement speed, so that the part is automatically machined.
In a specific part processing flow, the numerical control machine tool firstly needs to form a specific motion track and speed planning scheme based on the shape of a part, and then executes corresponding operation based on the corresponding motion track and speed planning scheme.
However, the quality of the parts machined under existing speed planning schemes is to be improved.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a speed planning method, a speed planning device, a machine tool control system and a storage medium, so as to improve the quality of machined parts.
In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions.
In a first aspect, an embodiment of the present invention provides a speed planning method, including:
acquiring an initial speed scheme of a target point, wherein the initial speed scheme comprises corresponding speed and acceleration when the target point moves along a preset track, and positions corresponding to track points on the preset track;
calculating the target position and the target speed corresponding to each track point on the preset track in sequence based on the movement direction of the target point to obtain a speed planning result corresponding to the preset track;
the method for calculating the target position and the target speed corresponding to the preset track points comprises the steps of: filtering the preset track points and the accelerations corresponding to the reference track points corresponding to the preset track points to obtain target accelerations corresponding to the preset track points; and calculating the target position and the target speed corresponding to the preset track point based on the target acceleration.
Optionally, after the initial velocity scheme of the target point is obtained, before calculating, in sequence, a target position and a target velocity corresponding to each track point on the preset track based on the movement direction of the target point, the method further includes:
processing the initial speed scheme by adopting a look-ahead algorithm to obtain a transition speed scheme of the target point;
performing interpolation calculation based on the transition speed scheme to obtain an interpolation scheme matched with the transition speed scheme, wherein the interpolation scheme is used for determining track points in a preset track;
and determining the acceleration corresponding to each track point in the preset track based on the interpolation scheme.
Optionally, the determining, based on the interpolation scheme, the acceleration corresponding to each track point in the preset track includes: based on the position information of each track point in the interpolation scheme, carrying out difference of the positions of each track point in a preset coordinate system, and determining the speed of each corresponding track point; based on the speed difference of each track point, determining the acceleration of the corresponding track point;
the calculating the target position and the target speed corresponding to the preset track point based on the target acceleration comprises the following steps: integrating based on the target acceleration of each track point to determine the target speed of each track point; and integrating the target speed of each track point to determine the target position of each track point.
Optionally, after the initial velocity scheme of the target point is obtained, before calculating, in sequence, a target position and a target velocity corresponding to each track point on the preset track based on the movement direction of the target point, the method further includes:
dividing a track section in the preset track into a corner section and a micro section, wherein the curvature of the corner section is larger than that of the micro section;
constraining the speed of the corner section based on a corner maximum allowable speed difference corresponding to each axis in the machine tool;
and constraining the speed of the micro-segment based on the maximum acceleration corresponding to each axis in the machine tool.
Optionally, after calculating the target position and the target speed corresponding to the preset track point, the method further includes:
calculating a contour error corresponding to the target position, adjusting a filtering parameter if the contour error is greater than a contour error constraint, and executing the process again
Filtering the preset track points and the accelerations corresponding to the reference track points corresponding to the preset track points to obtain target accelerations corresponding to the preset track points; calculating a target position and a target speed corresponding to the preset track point based on the target acceleration
Until the contour error corresponding to the target position is less than or equal to the contour error constraint.
Optionally, the reference track points are track points with preset numbers adjacent to the track points and selected backwards along the movement direction of the target point, or the reference track points are track points with preset numbers adjacent to the track points and selected forwards along the movement direction of the target point, or the reference track points are track points with part of track points adjacent to the track points and selected forwards along the movement direction of the target point, and part of track points adjacent to the track points are selected backwards along the movement direction of the target point.
Optionally, the filtering mode is mean filtering, kalman filtering or finite length unit impulse response filtering.
In a second aspect, an embodiment of the present invention further provides a speed planning apparatus, including:
the acquisition module is used for acquiring an initial speed scheme of a target point, wherein the initial speed scheme comprises corresponding speed and acceleration when the target point moves along a preset track and positions corresponding to track points on the preset track;
the calculation module is used for sequentially calculating the target position and the target speed corresponding to each track point on the preset track based on the movement direction of the target point to obtain a speed planning result corresponding to the preset track; the method for calculating the target position and the target speed corresponding to the preset track points comprises the steps of: filtering the preset track points and the accelerations corresponding to the reference track points corresponding to the preset track points to obtain target accelerations corresponding to the preset track points; and calculating the target position and the target speed corresponding to the preset track point based on the target acceleration.
In a third aspect, an embodiment of the present invention further provides a machine tool control system, where the machine tool control system is configured to execute the speed planning method according to the embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a storage medium, where one or more computer executable instructions are stored, where the one or more computer executable instructions implement the speed planning method according to the embodiment of the present invention when executed.
Based on the above, the embodiment of the invention provides a speed planning method, a device, a machine tool control system and a storage medium, wherein the speed planning method comprises the following steps: acquiring an initial speed scheme of a target point, wherein the initial speed scheme comprises corresponding speeds when the target point moves along a preset track, and positions and accelerations corresponding to track points on the preset track; calculating target positions and target speeds of the target positions corresponding to all track points on the preset track in sequence based on the movement direction of the target points to obtain a speed planning result corresponding to the preset track; the calculating the target position and the target speed corresponding to each track point on the preset track comprises the following steps: filtering accelerations corresponding to a preset track point and a preset number of adjacent track points to obtain target accelerations corresponding to the preset track points; and calculating the target position and the target speed of the corresponding preset track point based on the target acceleration.
It can be seen that, in the speed planning method according to the embodiment of the present invention, after the initial speed scheme of the target point is obtained, the target positions and the target speeds corresponding to the track points on the preset track are further calculated in sequence based on the movement direction of the target point, so as to obtain the speed planning result corresponding to the preset track; and meanwhile, calculating the target position and the target speed corresponding to the preset track point based on the target acceleration, so that the speed and the position of each track point are adjusted based on the filtered acceleration, and the acceleration change in a corresponding speed planning result can be ensured to be stable, thereby avoiding machine tool vibration caused by overlarge acceleration change and ensuring the processing quality of parts.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an alternative flow of a speed planning method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of an alternative procedure of step S110 according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another alternative flow chart of a speed planning method according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of an alternative procedure of step S320 according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of another alternative speed planning method according to an embodiment of the present invention;
fig. 6 is an alternative block diagram of a speed planning apparatus according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
As described in the background art, in a specific machining process of a numerically-controlled machine tool, a control system of the numerically-controlled machine tool first forms a specific movement track and speed planning scheme based on a shape of a part, and then executes a corresponding operation based on the corresponding movement track and speed planning scheme.
The inventors believe that in existing speed planning schemes (also referred to as speed schemes), when the processing speed changes too much, such as corresponding speed changes at corners, the servo motor of a numerically controlled machine tool (also referred to as a machine tool) needs to provide a large torque to cope with such changes, and the machine tool is very prone to cause vibration of the machine tool when providing a large torque, thereby affecting the processing quality.
In view of this, an embodiment of the present invention provides a speed planning method, a device, a machine tool control system and a storage medium, where the speed planning method includes: acquiring an initial speed scheme of a target point, wherein the initial speed scheme comprises corresponding speeds when the target point moves along a preset track, and positions and accelerations corresponding to track points on the preset track; calculating target positions and target speeds of the target positions corresponding to all track points on the preset track in sequence based on the movement direction of the target points to obtain a speed planning result corresponding to the preset track; the method for calculating the target position and the target speed corresponding to the preset track point aiming at the preset track point comprises the following steps: filtering accelerations corresponding to a preset track point and a preset number of adjacent track points to obtain target accelerations corresponding to the preset track points; and calculating the target position and the target speed of the corresponding preset track point based on the target acceleration.
It can be seen that, in the speed planning method according to the embodiment of the present invention, after the initial speed scheme of the target point is obtained, the target positions and the target speeds corresponding to the track points on the preset track are further calculated in sequence based on the movement direction of the target point, so as to obtain the speed planning result corresponding to the preset track; and meanwhile, calculating the target position and the target speed corresponding to the preset track point based on the target acceleration, so that the speed and the position of each track point are adjusted based on the filtered acceleration, and the acceleration change in a corresponding speed planning result can be ensured to be stable, thereby avoiding machine tool vibration caused by overlarge acceleration change and ensuring the processing quality of parts.
The speed planning scheme of the present invention will be described in detail below in connection with embodiments of the present invention.
Referring to fig. 1, fig. 1 is an optional flowchart of a speed planning method according to an embodiment of the present invention. The speed planning method comprises the following steps:
step S100: acquiring an initial speed scheme of a target point;
the target point may be understood as a knife point, wherein in other application scenarios, the target point may also be an operation point such as a welding point, and the invention is not limited in detail herein.
The initial velocity profile may be an initial velocity profile formed based on the shape of the part given in the design drawing, for example, a spline curve formed based on the preprocessing stage of interpolation and a corresponding desired velocity, or the initial velocity profile may be a velocity profile formed after performing the complete interpolation process.
The initial velocity scheme may include a velocity and an acceleration corresponding to the target point moving along a preset track, and positions corresponding to each track point located on the preset track. It should be noted that the preset track may be a corner shape, or may be a straight line or a curve with a relatively gentle curvature.
The preset track may be understood as a set of a plurality of discrete track segments, and the track points may be understood as end points of each track segment, where the end points may be obtained based on interpolation calculation or may be determined based on other manners.
Step S110: calculating the target position and the target speed corresponding to each track point on the preset track in sequence based on the movement direction of the target point to obtain a speed planning result corresponding to the preset track;
the knife point with the understandable movement direction of the target point is used for the corresponding operation path direction when the processing operation is performed. Along the movement direction of the target point, track points positioned on a preset track can be sequentially selected, and the selected track points are used as track points to be calculated to calculate the target position and the target speed corresponding to the track points.
In the initial speed scheme of the target, each track point has a position, a speed and an acceleration corresponding to the track point, and the calculation flow in the step is used for adjusting the position, the speed and the acceleration of each track point based on the trend of the whole preset track and the corresponding movement trend, so that the speed change trend of the calculated speed planning result tends to be stable, and the processing quality of the part is improved.
In a specific calculation flow, the acceleration of the track point can be adjusted in a filtering mode, and then the speed and the position can be adjusted based on the adjusted acceleration. With one track point to be calculated as a preset track point, and a preset number of track points adjacent to the preset track point as reference track points, referring to the optional flowchart of step S110 provided by the embodiment of the present invention shown in fig. 2, the calculating process in step S110 may include:
step S200: filtering the preset track points and the accelerations corresponding to the reference track points corresponding to the preset track points to obtain target accelerations corresponding to the preset track points;
in this step, the number of the preset track points adjacent to the preset track points is the reference track point, the number of the preset track points may be 1 or more, it may be understood that the larger the number of the preset track points is, the more complex the corresponding filtering calculation is, but the better the corresponding calculation result performs on the generated effect (i.e. the closer to the original trend, the smaller the generated error is), and correspondingly, the smaller the number of the preset track points is, the simpler the corresponding filtering calculation is, but the worse the corresponding calculation result performs on the generated effect, and the larger the possible generated error is. In a preferred example, the preset number may be denoted as N, where N may be greater than or equal to 2, or in other preferred examples, the preset number N may be further greater than or equal to 4, or greater than or equal to 8, or the like, which is not described herein in detail.
The adjacent track points with preset number (namely reference track points) are used for indicating the track points with preset number which are sequentially adjacent to the preset track points on the preset track. The adjacent preset number of track points (i.e., reference track points) may be a preset number of track points adjacent to the track points selected backward along the movement direction of the target point, a preset number of track points adjacent to the track points may be selected forward along the movement direction of the target point, or a part of track points adjacent to the track points may be selected forward along the movement direction of the target point, and a part of track points adjacent to the track points may be selected backward along the movement direction of the target point.
Taking the track points as an example, the marks of the track points on the preset track along the moving direction of the target point are sequentially 1,2, & M is a positive integer, the marks of the preset track points can be i, the value of i is 1~M, the corresponding preset number of track points adjacent to the preset track points (i.e. reference track points) can be i+1, i+2, & gt, i+N, or the preset number of track points adjacent to the preset track points (i.e. reference track points) can be i-1, i-2, & gt, i-N, or the preset number of track points adjacent to the preset track points (i.e. reference track points) can also be a track points before i and b track points after i, a+b=N, wherein a and b are positive integers, and a and b can be equal or unequal.
It should be noted that, for the reference track points, specific selection manners may be one or a combination of multiple types, for example, after determining the main selection manner, when for a specific track point, corresponding computation may be performed by combining with other selection manners, for example, when i is smaller than N, a manner (for example, i+1, i+2,..a scheme of i+n) corresponding to the specific track point may be selected independently, and when i is greater than (M-N), a manner (for example, i-1, i-2,..a scheme of i-N) corresponding to the specific track point may be selected independently. For non-special track points, after a specific selection scheme of the reference track points is determined, the calculation of the corresponding track points is sequentially performed based on the method, and other selection modes are not selected.
It can be understood that after determining the preset number of track points (i.e., the reference track points) adjacent to the preset track points, filtering calculation can be performed based on the acceleration of the preset track points and the reference track points corresponding to the preset track points, so as to determine the target acceleration of the preset track points, which meets the filtering condition.
The filtering mode may be mean filtering, kalman filtering, or FIR (Finite Impulse Response, finite length unit impulse response) filtering, etc. Based on the determined filtering mode, the calculation of the acceleration of the preset track point and the reference track point corresponding to the preset track point can be performed based on the mode, so that the target acceleration of the preset track point can be determined.
It should be noted that, in an alternative example, after track points located on a preset track are sequentially selected and used as the preset track points, if a reference track point corresponding to the preset track point is a track point with calculated target acceleration, calculating the target acceleration of the preset track point based on the target acceleration corresponding to the reference track point.
Step S210: calculating a target position and a target speed corresponding to the preset track point based on the target acceleration;
after determining the corresponding target acceleration, the target position of the preset track point and the target speed thereof can be calculated based on the target acceleration.
In a specific implementation, after determining the corresponding target acceleration, the corresponding calculation may be performed based on the speed and the position corresponding to the selected reference track point and the target acceleration of the preset track point, so as to obtain the target position and the target speed of the preset track point.
It should be noted that, in an alternative example, after track points located on a preset track are sequentially selected and used as preset track points, if a reference track point corresponding to the preset track point is a track point with calculated target speed and target position, the calculation of the target position and target speed of the preset track point is performed based on the target speed and target position corresponding to the reference track point.
It can be understood that the filtering calculation flow is actually updating the acceleration, the speed and the position corresponding to each track point of the preset track, and after the corresponding data is updated by the previous track point, the calculation of the subsequent track point is performed based on the updated data.
In a further optional example, after the target position and the target speed are obtained by calculation, a contour error corresponding to the target position is further calculated, if the contour error is greater than a contour error constraint, a filtering parameter is adjusted, and the calculation of the target acceleration, the target speed and the target position of the preset track in step S200 and step S210 is performed again until the contour error corresponding to the target position is less than or equal to the contour error constraint.
After the target position and the target speed corresponding to each track point are executed, a corresponding speed planning result can be obtained. It can be understood that, based on the adjustment of the speed and the position of each track point based on the filtered acceleration, the speed change in the corresponding speed planning result can be ensured to be stable, so that the machine tool vibration caused by overlarge acceleration change is avoided, and the processing quality of the part is ensured.
In a specific implementation of the present invention, the initial velocity scheme may also be preprocessed to make step S110 more accurate. Specifically, referring to fig. 3, another optional flow chart of the speed planning method according to the embodiment of the present invention is shown, after step S100, before step S110, further including:
step S300: processing the initial speed scheme by adopting a look-ahead algorithm to obtain a transition speed scheme of the target point;
and processing the initial speed scheme based on a look-ahead algorithm, wherein the initial speed scheme is used for constructing an integral speed curve corresponding to a preset track, so as to form a corresponding transitional speed scheme. The look-ahead algorithm can be calculated by adopting a trapezoid speed curve or an S-shaped speed curve.
Step S310: performing interpolation calculation based on the transition speed scheme to obtain an interpolation scheme matched with the transition speed scheme, wherein the interpolation scheme is used for determining track points in a preset track;
it may be understood that the preset track may be understood as a set of a plurality of discrete track segments, and the interpolation scheme is used to plan interpolation points in the preset track and parameters corresponding to the interpolation points, such as position parameters, where the interpolation points may be understood as endpoints (also referred to as track points) of each track segment. The interpolation is used for updating a discrete scheme of track segments based on the specific speed change calculated in the transitional speed scheme, such as integrating adjacent track segments with similar speeds, dividing track segments with too fast speed change, and the like, and adjusting position information corresponding to endpoints in each track segment according to the corresponding speed change, so as to obtain new interpolation points.
Step S320: based on the interpolation scheme, determining the acceleration corresponding to each track point in the preset track;
and filtering the acceleration based on the acceleration corresponding to each track point.
In a specific example, referring to the optional flowchart of step S320 provided by the embodiment of the present invention shown in fig. 4, the process of determining the acceleration corresponding to each track point in the preset track may include:
step S321: based on the position information of each track point in the interpolation scheme, carrying out difference of the positions of each track point in a preset coordinate system, and determining the speed of each corresponding track point;
the preset coordinate system can be a workpiece coordinate system or a machine tool coordinate system. When the positions of the track points are differentiated, the positions of the axes may be differentiated based on the corresponding coordinate system, and the speeds of the axes may be determined.
Step S322: and determining the acceleration of the corresponding track point based on the difference of the speeds of the track points.
After determining the speed corresponding to each trace point, the corresponding acceleration may be determined based on a differential algorithm. In a specific preset coordinate system, differential calculation can be performed based on the speed of each axis, so that the acceleration of each corresponding track point is obtained.
Accordingly, in examples where acceleration is derived based on a differential, the corresponding velocity and position may be derived based on an integral. Accordingly, in a further example of the present invention, calculating the target position and the target speed corresponding to the preset track point in step S210 based on the target acceleration includes: the method comprises the steps of integrating the target acceleration of each track point, determining the target speed of each track point, and integrating the target speed of each track point to determine the target position of each track point.
In a further example of the invention, further constraints may be placed on the speed parameters in the initial speed scheme to reduce speed fluctuations. Referring to fig. 5, another optional flow chart of the speed planning method according to the embodiment of the present invention further includes, after step S100 and before step S110:
step S400: dividing a track section in the preset track into a corner section and a micro section, wherein the curvature of the corner section is larger than that of the micro section;
the corner segment may be understood as a track segment with a larger curvature, and the micro segment may be understood as a track segment with a smaller curvature. The corresponding dividing criteria may be determined based on parameters of the axes in the machine tool, and the invention is not particularly limited herein.
By dividing the corner segments and micro segments, different parameters or constraints can be matched based on different shapes of the corner segments and micro segments, thereby enabling a correspondingly obtained machining scheme to be more efficient and enabling machined parts to be of better quality.
Step S410: constraining the speed of the corner section based on a corner maximum allowable speed difference corresponding to each axis in the machine tool;
it will be appreciated that each axis in the machine tool has a corner maximum allowable speed difference, and therefore, based on that corner maximum allowable speed difference, the speed of the corner segment may be separately constrained so that the speed of the corner segment meets the corner maximum allowable speed difference constraint for each axis.
Step S420: constraining the speed of the micro-segment based on the maximum acceleration corresponding to each axis in the machine tool;
it will be appreciated that each axis in the machine tool has a maximum acceleration constraint, and therefore, based on this maximum acceleration constraint, the speed of the micro-segment may be separately constrained such that the speed of the micro-segment meets the maximum acceleration constraint corresponding to each axis.
It can be seen that, according to the embodiment of the invention, the speed and the position of each track point are adjusted based on the filtered acceleration, so that the acceleration change in the corresponding speed planning result can be ensured to be stable, the machine tool vibration caused by overlarge acceleration change is avoided, and the processing quality of the part is ensured.
The following describes a speed planning apparatus according to an embodiment of the present invention, and the content of the apparatus described below may be considered as a functional module required to implement the speed planning method according to the embodiment of the present invention. The device contents described below may be referred to in correspondence with the above description contents.
As an optional implementation, fig. 6 illustrates an optional block diagram of a speed planning apparatus provided by an embodiment of the present invention, as shown in fig. 6, where the apparatus may include:
the acquiring module 500 is configured to acquire an initial velocity scheme of a target point, where the initial velocity scheme includes a velocity and an acceleration corresponding to the target point when moving along a preset track, and positions corresponding to track points located on the preset track;
the calculation module 510 is configured to sequentially calculate, based on a movement direction of the target point, a target position and a target speed corresponding to each track point on the preset track, so as to obtain a speed planning result corresponding to the preset track; the method for calculating the target position and the target speed corresponding to the preset track points comprises the steps of: filtering the preset track points and the accelerations corresponding to the reference track points corresponding to the preset track points to obtain target accelerations corresponding to the preset track points; and calculating the target position and the target speed corresponding to the preset track point based on the target acceleration.
Optionally, the speed planning apparatus further includes a preprocessing module 520, configured to process the initial speed scheme by using a look-ahead algorithm to obtain a transitional speed scheme of the target point; performing interpolation calculation based on the transition speed scheme to obtain an interpolation scheme matched with the transition speed scheme, wherein the interpolation scheme is used for determining track points in a preset track; and determining the acceleration corresponding to each track point in the preset track based on the interpolation scheme.
Optionally, the preprocessing module 520 is configured to determine, based on the interpolation scheme, an acceleration corresponding to each track point in the preset track, including: based on the position information of each track point in the interpolation scheme, carrying out difference of the positions of each track point in a preset coordinate system, and determining the speed of each corresponding track point; based on the speed difference of each track point, determining the acceleration of the corresponding track point;
the calculating module 510 is configured to calculate, based on the target acceleration, a target position and a target speed corresponding to the preset track point, including: integrating based on the target acceleration of each track point to determine the target speed of each track point; and integrating the target speed of each track point to determine the target position of each track point.
Optionally, the preprocessing module 520 is further configured to divide a track segment in the preset track into a corner segment and a micro segment after acquiring the initial velocity scheme of the target point, and before sequentially calculating the target position and the target velocity corresponding to each track point on the preset track based on the motion direction of the target point, where the curvature of the corner segment is greater than that of the micro segment; constraining the speed of the corner section based on a corner maximum allowable speed difference corresponding to each axis in the machine tool; and constraining the speed of the micro-segment based on the maximum acceleration corresponding to each axis in the machine tool.
Optionally, the speed planning device further includes an error calculating module 530, configured to calculate a contour error corresponding to the target position; if the contour error is greater than the contour error constraint, the filtering parameters are adjusted, and the calculation module 510 is instructed again, and the filtering is performed on the preset track points and the accelerations corresponding to the reference track points corresponding to the preset track points, so as to obtain the target acceleration corresponding to the preset track points; and calculating a target position and a target speed corresponding to the preset track point based on the target acceleration until the contour error corresponding to the target position is smaller than or equal to the contour error constraint.
Optionally, the reference track points are track points with preset numbers adjacent to the track points and selected backwards along the movement direction of the target point, or the reference track points are track points with preset numbers adjacent to the track points and selected forwards along the movement direction of the target point, or the reference track points are track points with part of track points adjacent to the track points and selected forwards along the movement direction of the target point, and part of track points adjacent to the track points are selected backwards along the movement direction of the target point.
Optionally, the filtering mode is mean filtering, kalman filtering or finite length unit impulse response filtering.
The embodiment of the invention also provides a machine tool control system which is used for executing the speed planning method provided by the embodiment of the invention.
The embodiment of the invention also provides a storage medium which stores one or more computer executable instructions, and when the one or more computer executable instructions are executed, the speed planning method provided by the embodiment of the invention is realized.
The foregoing describes several embodiments of the present invention, and the various alternatives presented by the various embodiments may be combined, cross-referenced, with each other without conflict, extending beyond what is possible embodiments, all of which are considered to be embodiments of the present invention disclosed and disclosed. Although the embodiments of the present invention are disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (8)
1. A method of speed planning, comprising:
acquiring an initial speed scheme of a target point, wherein the initial speed scheme comprises corresponding speed and acceleration when the target point moves along a preset track, and positions corresponding to track points on the preset track;
processing the initial speed scheme by adopting a look-ahead algorithm to obtain a transition speed scheme of the target point;
performing interpolation calculation based on the transition speed scheme to obtain an interpolation scheme matched with the transition speed scheme, wherein the interpolation scheme is used for determining track points in a preset track;
based on the interpolation scheme, determining the acceleration corresponding to each track point in the preset track;
calculating the target position and the target speed corresponding to each track point on the preset track in sequence based on the movement direction of the target point to obtain a speed planning result corresponding to the preset track;
the determining the acceleration corresponding to each track point in the preset track based on the interpolation scheme includes: based on the position information of each track point in the interpolation scheme, carrying out difference of the positions of each track point in a preset coordinate system, and determining the speed of each corresponding track point; based on the speed difference of each track point, determining the acceleration of the corresponding track point; calculating the target position and the target speed corresponding to the preset track point, including: filtering the preset track points and the accelerations corresponding to the reference track points corresponding to the preset track points to obtain target accelerations corresponding to the preset track points, wherein the filtering is used for adjusting the accelerations of the preset track points and the accelerations of the reference track points corresponding to the preset track points; calculating a target position and a target speed corresponding to the preset track point based on the target acceleration; the calculating the target position and the target speed corresponding to the preset track point based on the target acceleration comprises the following steps: integrating based on the target acceleration of each track point to determine the target speed of each track point; and integrating the target speed of each track point to determine the target position of each track point.
2. The speed planning method according to claim 1, wherein after the initial speed scheme of the target point is obtained, before sequentially calculating the target position and the target speed corresponding to each track point on the preset track based on the movement direction of the target point, the method further comprises:
dividing a track section in the preset track into a corner section and a micro section, wherein the curvature of the corner section is larger than that of the micro section;
constraining the speed of the corner section based on a corner maximum allowable speed difference corresponding to each axis in the machine tool;
and constraining the speed of the micro-segment based on the maximum acceleration corresponding to each axis in the machine tool.
3. The speed planning method according to claim 1, wherein after calculating the target position and the target speed corresponding to the preset track point, further comprising:
calculating a contour error corresponding to the target position, if the contour error is greater than a contour error constraint, adjusting a filtering parameter, and filtering the acceleration corresponding to the preset track point and the reference track point corresponding to the preset track point again to obtain a target acceleration corresponding to the preset track point; and calculating a target position and a target speed corresponding to the preset track point based on the target acceleration until the contour error corresponding to the target position is smaller than or equal to the contour error constraint.
4. The speed planning method according to claim 1, wherein the reference track points are track points with a preset number adjacent to the track points selected backward along the movement direction of the target point, or the reference track points are track points with a preset number adjacent to the track points selected forward along the movement direction of the target point, or the reference track points are track points with a part adjacent to the track points selected forward along the movement direction of the target point, and a part adjacent to the track points are track points selected backward along the movement direction of the target point.
5. A method of speed planning according to claim 1 wherein the filtering is by means of mean filtering, kalman filtering or finite length unit impulse response filtering.
6. A speed planning apparatus applied to the speed planning method according to claim 1, comprising:
the acquisition module is used for acquiring an initial speed scheme of a target point, wherein the initial speed scheme comprises corresponding speed and acceleration when the target point moves along a preset track and positions corresponding to track points on the preset track;
the calculation module is used for sequentially calculating the target position and the target speed corresponding to each track point on the preset track based on the movement direction of the target point to obtain a speed planning result corresponding to the preset track; the method for calculating the target position and the target speed corresponding to the preset track points comprises the steps of: filtering the preset track points and the accelerations corresponding to the reference track points corresponding to the preset track points to obtain target accelerations corresponding to the preset track points; calculating a target position and a target speed corresponding to the preset track point based on the target acceleration; the filtering is used for adjusting the acceleration of the preset track point and the reference track point corresponding to the preset track point.
7. A machine tool control system for executing the speed planning method according to any one of claims 1 to 5.
8. A storage medium storing one or more computer-executable instructions which, when executed, implement the speed planning method of any one of claims 1-5.
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