JP2000148223A5 - Curve interpolation acceleration / deceleration control method and numerical control device - Google Patents
Curve interpolation acceleration / deceleration control method and numerical control device Download PDFInfo
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- JP2000148223A5 JP2000148223A5 JP1998316446A JP31644698A JP2000148223A5 JP 2000148223 A5 JP2000148223 A5 JP 2000148223A5 JP 1998316446 A JP1998316446 A JP 1998316446A JP 31644698 A JP31644698 A JP 31644698A JP 2000148223 A5 JP2000148223 A5 JP 2000148223A5
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- 238000000034 method Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 1
Description
【特許請求の範囲】
【請求項1】
曲線データを入力する指令入力部と、そのデータから曲率半径と曲率半径極小点を求める曲率評価部と、目標速度設定部と、減速目標点設定部と、加減速設定部とからなる数値制御装置において、以下の手順を踏んで曲線の補間計算をすることを特徴とする曲線補間加減速制御方法。
(1)送り速度データと曲線形状データを含む曲線補間データと指令加速度を入力し、
(2)前記曲線の曲率半径極小点をすべて求め、
(3)前記送り速度と、前記曲率半径極小点での曲率半径と、前記指令加速度とを用いてそれぞれの前記曲率半径極小点での曲率限界速度を求め、
(4)前記曲率半径極小点すべてと前記曲線上の終点を減速目標点として設定し、
(5)前記曲率限界速度を用いて前記減速目標点における目標速度を決定し、
(6)前記減速目標点のうち、前記曲線の終点に向かってある時刻における現在補間点に最も近い点を現在減速目標点とし、
(7)前記現在補間点と前記現在減速目標点との間の直線距離と、前記現在減速目標点における目標速度と、前記指令加速度を用いて前記時刻における補間速度を決定し、
(8)前記曲線補間データと前記補間速度を用いて前記時刻の1制御周期後時刻における補間点を決定し、
(9)前記補間点が前記現在減速目標点に到達するまで(7)、(8)を繰り返し、
前記補間点が前記現在減速目標点に到達し、
(10)もし前記現在減速目標点が前記曲線の終点でないならば次減速目標点を新たに現在減速目標点に設定し、
(11)前記補間点が前記曲線の終点に到達するまで前記ステップ(7)〜(10)を繰す。
【請求項2】
前記現在減速目標点で目標速度を決定する際は、前記現在減速目標点での曲率限界速度と、現在減速目標点と前記曲線の終点に向かって現在減速目標点に最も近い次減速目標点と前記指令加速度から決まる前記現在減速目標点における許容最高初速度とを用いて決定することを特徴とする請求項1記載の曲線補間加減速制御方法。
【請求項3】
前記現在減速目標点で目標速度を決定する際は、以下の手順を踏むことを特徴とする請求項1記載の曲線補間加減速制御方法。
(1)滑らかに接続される連続した複数の前記曲線補間データを入力し、
(2)滑らかに接続される連続した曲線を生成し、
(3)滑らかに接続された各前記曲線の終点が曲率半径極小点でない場合は、前記終点を始点とする滑らかに接続された次曲線上の最初の曲率半径極小点を減速目標点として前記終点と置き換える。
【請求項4】
請求項1ないし3のいずれかに記載の方法を適用したことを特徴とする数値制御装置。
[Claims]
[Claim 1]
A numerical control device consisting of a command input unit for inputting curve data, a curvature evaluation unit for obtaining the radius of curvature and the minimum point of the radius of curvature from the data, a target speed setting unit, a deceleration target point setting unit, and an acceleration / deceleration setting unit. A curve interpolation acceleration / deceleration control method, characterized in that a curve interpolation calculation is performed by following the following procedure.
(1) Input the curve interpolation data including the feed rate data and the curve shape data and the command acceleration, and input the command acceleration.
(2) Find all the minimum points of the radius of curvature of the curve.
(3) Using the feed speed, the radius of curvature at the minimum point of radius of curvature, and the command acceleration, the limit speed of curvature at each minimum point of radius of curvature is obtained.
(4) All the minimum points of the radius of curvature and the end point on the curve are set as deceleration target points.
(5) The target speed at the deceleration target point is determined using the curvature limit speed.
(6) Among the deceleration target points, the point closest to the current interpolation point at a certain time toward the end point of the curve is set as the current deceleration target point.
(7) The linear distance between the current interpolation point and the current deceleration target point, the target speed at the current deceleration target point, and the command acceleration are used to determine the interpolation speed at the time.
(8) Using the curve interpolation data and the interpolation speed, the interpolation point at the time after one control cycle of the time is determined.
(9) Repeat steps (7) and (8) until the interpolation point reaches the current deceleration target point.
The interpolation point reaches the current deceleration target point,
(10) If the current deceleration target point is not the end point of the curve, the next deceleration target point is newly set as the current deceleration target point.
(11) The steps (7) to (10) are repeated until the interpolation point reaches the end point of the curve.
2.
When determining the target speed at the current deceleration target point, the curvature limit speed at the current deceleration target point and the next deceleration target point closest to the current deceleration target point toward the current deceleration target point and the end point of the curve are used. The curve interpolation acceleration / deceleration control method according to claim 1, wherein the maximum permissible initial velocity at the current deceleration target point determined from the command acceleration is used.
3.
The curve interpolation acceleration / deceleration control method according to claim 1, wherein when determining the target speed at the current deceleration target point, the following procedure is performed.
(1) Input a plurality of continuous curve interpolation data that are smoothly connected, and input the curve interpolation data.
(2) Generate a continuous curve that is smoothly connected,
(3) If the end point of each smoothly connected curve is not the minimum point of radius of curvature, the end point is set to the minimum point of radius of curvature on the smoothly connected next curve starting from the end point as the deceleration target point. Replace with.
4.
A numerical control device according to the method according to any one of claims 1 to 3.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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JP31644698A JP4085418B2 (en) | 1998-11-06 | 1998-11-06 | Curve interpolation acceleration / deceleration control method |
Applications Claiming Priority (1)
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JP31644698A JP4085418B2 (en) | 1998-11-06 | 1998-11-06 | Curve interpolation acceleration / deceleration control method |
Publications (3)
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JP2000148223A JP2000148223A (en) | 2000-05-26 |
JP2000148223A5 true JP2000148223A5 (en) | 2005-10-27 |
JP4085418B2 JP4085418B2 (en) | 2008-05-14 |
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JP31644698A Expired - Fee Related JP4085418B2 (en) | 1998-11-06 | 1998-11-06 | Curve interpolation acceleration / deceleration control method |
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Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4813616B1 (en) * | 2010-07-12 | 2011-11-09 | ファナック株式会社 | Numerical control device for machine tool having speed control function during arc motion |
JP5146512B2 (en) | 2010-10-13 | 2013-02-20 | オムロン株式会社 | Control device, control system, and control method |
CN102981455A (en) * | 2012-12-04 | 2013-03-20 | 杭州电子科技大学 | Method for realizing real-time interpolation of non-uniform rational B-spline (NURBS) curve for embedded system |
CN103454979B (en) * | 2013-09-11 | 2015-07-22 | 大连理工计算机控制工程有限公司 | Quick variable-speed curve circular interpolation method packaged into PLCopen instruction |
CN103699056B (en) * | 2013-12-02 | 2016-06-01 | 嘉兴学院 | The little line segment real-time smooth transition interpolation method of high-speed, high precision digital control processing |
CN103926880A (en) * | 2014-04-04 | 2014-07-16 | 张万军 | High-frequency and high-precision interpolation processing numerical control system |
CN105045210B (en) * | 2015-07-13 | 2019-10-29 | 苏州谷夫道自动化科技有限公司 | The smooth interpolating method of high error is bent in CNC numerical control device self adaptive control |
CN109839901A (en) * | 2017-11-24 | 2019-06-04 | 友嘉实业股份有限公司 | Process time Prediction System |
CN109656200B (en) * | 2018-12-10 | 2020-09-25 | 大族激光科技产业集团股份有限公司 | Flexible acceleration and deceleration control method and system for machine table |
TWI831648B (en) * | 2023-03-16 | 2024-02-01 | 國立臺灣科技大學 | Method of predicting a machining cycle time of cnc lathe |
CN117351109B (en) * | 2023-09-05 | 2024-06-07 | 中交第二公路勘察设计研究院有限公司 | Method for reconstructing section curve of shield tunnel |
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1998
- 1998-11-06 JP JP31644698A patent/JP4085418B2/en not_active Expired - Fee Related
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