KR20030060272A - Apparatus and method for controlling numerical of high process - Google Patents

Abstract

The present invention relates to an apparatus and a method for providing a numerical control signal to a numerically operated machine from a numerical controller for high speed processing through an input / output board. The numerical controller for high speed operation provides a trajectory of an axis to perform numerical control. An analyzer for receiving a representative part program from a user and interpreting the input part program to calculate a position at which the actual tool should move; A predictive controller which receives the tool's trajectory and command speed from an interpreter and uses the commanded speed of the block and the block information to be performed in the future to calculate the executable end speed and the command speed of the block; An acceleration / decelerator for calculating a speed profile per interpolation cycle using the end speed and the command speed of the block calculated by the predictive controller; An interpolator for calculating the distance to be moved and the position to be reached by the tool per interpolation period using the speed profile calculated by the accelerator; A mapper for decomposing the distance the tool should move per interpolation period calculated by the interpolator for each axis to calculate the distance each axis should move per interpolation period; A fine interpolator for dividing the distance to move the axis per interpolation period calculated by the mapper by the distance to move the axis per position control period; It is provided with a position controller that calculates the feed distance of the axis to be commanded to the drive of each axis by using the distance of the axis and the position information of the actual axis during the position control cycle divided by the fine interpolator. Therefore, even in the case of continuous linear blocks having a small length, the machining can be performed without deterioration of speed, and the tool path for free-form surface machining (mold machining) is composed of linear blocks having a small length, so that the accuracy of the operation, The smoothness and minimization of operation time can increase the productivity of the operation, which can be used as a contour control method in milling and lathe machining.

Description

Numerical control device and method for high speed operation {APPARATUS AND METHOD FOR CONTROLLING NUMERICAL OF HIGH PROCESS}

The present invention relates to a numerical control device and method for high speed operation, and in particular, in order to prevent high speed machining in consideration of numerical control together with information of several blocks to be performed in the future to control the machine to prevent the processing speed from being lowered. It relates to an apparatus and a method.

Conventionally, the existing numerical controller uses an interpreter that converts a part program into motion information of an axis, an interpolator that converts motion information of an axis into motion for a predetermined time, an acceleration / deceleration that smoothes the motion of the axis, and an axis position and command information. It is composed of a position controller that calculates the position information to be commanded to the actual drive.

Among the components of the numerical controller, the acceleration and deceleration performs acceleration and deceleration at the start point and the end point of the block of the part program to prevent the shock caused by the speed difference of the axis. That is, the numerical controller independently performs acceleration and deceleration for each block. As the acceleration / deceleration is performed, acceleration, constant speed, and deceleration sections exist in order when the length of the block is large enough.

However, if the length of the block is short, only the acceleration section and the deceleration section exist without reaching the command speed in the block.

As a result, the speed profile appears in the form of repeating acceleration and deceleration in the case of free-surface machining consisting of a small number of straight tool paths, and thus the command speed cannot be reached, and the machining time is increased. There is a problem of lowering the productivity.

Therefore, as described above, the technique of the numerical controller is described in the application number 1998-049965 "automatic speed trajectory that satisfies the contour error set by the user at the corners in high-speed machining using a computer numerical control machine tool And high speed machining while maintaining the accuracy thereof.

That is, in detail with respect to the disclosed prior art, "In the high-speed machining using a computer numerical control machine tool, a speed trajectory that satisfies the contour error set by the user at the corner is automatically generated to maintain high precision while maintaining precision. Method ", the contour error that can represent the precision of the controller is large in the corner where the processing shape changes rapidly, and the feed speed and the contour error are proportional to the characteristics of the PID controller.

Therefore, if you do not use the function of the imposition, dwell, etc., even in the straight section that can be transferred at high speed to feed at low speed to increase the machining time, even if you use these functions, the user must determine the corner to stop every day As it is inefficient and stops uniformly for various feed conditions and angles of edges, the method of machining while maintaining the precision at the corners during high-speed machining of machine tools is approximated to the primary system. Describing the edge response of the primary system as the reference trajectory and the system bandwidth, defining the contour error and obtaining the contour error function, and using the contour error function numerically analytically, According to the step of finding and the deceleration speed Automatically perform high-speed machining step in sequence.

As described above, when looking at the technology disclosed in the prior application patent, the conventional known technique has a speed profile of a block generated individually for each block in the conventional numerical control method proposed in the present invention. If blocks with short distances that cannot reach the command speed until continue, the command speed is not reached and the acceleration and deceleration are repeated. This is because the speed of the start and end of the block is assumed to be 0 unconditionally without considering whether there is a next block to be performed, as in the present invention, if there is a block to be executed in the future, the end speed of the block is It does not need to be zero, and it is possible to obtain a viable speed in consideration of the next block length, command speed, and machine performance. There was still a problem that the technical content fell short of describing how to generate an executable speed profile of the block that is closest to each other.

Therefore, the present invention has been made in view of the above-described needs, and an object thereof is to prevent the processing speed from being lowered in consideration of numerical control of information of several blocks to be performed at the time of machine control in order to realize high speed machining. To provide a numerical control device and method for high speed operation.

In the present invention for achieving the above object, the numerical controller for high-speed operation receives a part program indicating the trajectory of the axis to perform the numerical control from the user, and calculates the position to move the actual tool by interpreting the input part program An interpreter; A predictive controller which receives the tool's trajectory and command speed from an interpreter and uses the commanded speed of the block and the block information to be performed in the future to calculate the executable end speed and the command speed of the block; An acceleration / decelerator for calculating a speed profile per interpolation cycle using the end speed and the command speed of the block calculated by the predictive controller; An interpolator for calculating the distance to be moved and the position to be reached by the tool per interpolation period using the speed profile calculated by the accelerator; A mapper for decomposing the distance to which the tool should move per interpolation period calculated by the interpolator for each axis to calculate the distance to move each axis per interpolation period; A fine interpolator for dividing the distance to move the axis per interpolation period calculated by the mapper by the distance to move the axis per position control period; And a position controller that calculates the feed distance of the axis to be commanded to the drive of each axis and provides it to the numerically operated machine during the position control cycle divided by the fine interpolator. do.

In addition, according to the present invention for achieving the above object, the view point speed calculation method of the numerical control device for high-speed operation according to the straight line and arc type of the i + 1 st block and the i th block after receiving the view point speed from the user; Calculating a possible corner velocity; A second step of calculating a corner velocity between two blocks when both blocks are straight lines (line and line) in the process of calculating the type between the two blocks; A third step of calculating a corner velocity between the straight line and the circular arc block if one block is a straight line and one block is an arc in the process of calculating the type between two blocks; A fourth step of calculating corner speeds between the two arcs when the two blocks are both circular arcs in the type calculation process between the two blocks; A fifth step called a corner velocity V1 obtained through the second, third and fourth steps, and determining whether the i-th block is a straight line; In the fifth step, when the i-th block is a straight line, the length (S) of the block is obtained, and the start speed V2 at which the end speed can be reached is calculated through Equation 3, and the commands of the V1, V2 and i-th blocks are referred to. A sixth step of setting the smallest speed among the speeds Vc as the starting speed Vs (i); A seventh step of calculating a maximum speed V (performance index) possible in the circular motion when the i-th block is the circular arc in the fifth determination; An eighth step of calculating a maximum processable speed V (error) when using the chodal error during circular interpolation through Equation 5; The ninth step of setting the smallest speed among V (performance index) and V (error) and the command speed of the circular block as the command speed of the circular block, and determining the smaller of the modified command speed and V1 as the starting speed of the block. Characterized in that it comprises a.

In the present invention for achieving the above object, a method for generating a speed profile by checking the interpolation type by using the end speed, the command speed, and the starting speed of the numerical control device for high speed operation is a linear block in the interpolation type check. If yes, determining whether or not the normal block; When the linear block is the normal block in the determining step, generating a speed profile by calculating a speed per interpolation period for each of the first linear normal block speed profile generations; If the straight block is not a normal block in the determining step, generating a speed profile by calculating a speed per interpolation period for each second straight micro block speed profile generation; If the interpolation type is an arc block in the interpolation type check, determining whether the block is a normal block; When the circular block is the normal block in the determining step, generating a speed profile by calculating a speed per interpolation period for each third circular normal block speed profile generation; In the determining step, if the circular block is not a normal block, generating the velocity profile by calculating the velocity per interpolation period for each of the fourth circular minute block velocity profile generations.

1 is a block diagram of a numerical control device for high speed operation according to the present invention,

FIG. 2 is a block diagram illustrating in detail the numerical controller shown in FIG.

3 is an execution flow diagram for the predictive controller 120 shown in FIG. 2,

4 is a detailed flowchart illustrating a method of obtaining a start speed of an i th block illustrated in FIG. 3;

FIG. 5 is a detailed flowchart illustrating a method for calculating a speed at a corner where the straight block illustrated in FIG. 4 is in contact with each other.

FIG. 6 is a detailed flowchart illustrating the acceleration / deceleration unit 130 shown in FIG. 2.

7 is a generation flowchart showing details of a velocity profile of a straight line normal block;

8 is a generation flowchart showing details of a velocity profile of a straight micro block;

9 is a generation flowchart showing details of a velocity profile of an arc normal block;

10 is a generation flow chart showing in detail the velocity profile of the circular arc microblock.

<Description of the symbols for the main parts of the drawings>

100: numerical controller 110: analyzer

120: predictive controller 130: acceleration and deceleration

140: interpolator 150: mapper

160: fine interpolator 170: position controller

200: numerically operated machine

S1: I / O Board

Hereinafter, with reference to the accompanying drawings will be described in detail the operation of the preferred embodiment according to the present invention.

1 and 2 are the overall block diagram of a numerical control device for high speed operation according to the present invention, which includes a numerical controller 100 and a numerical operating machine 200.

The numerical controller 100 is a block that performs numerical control and provides the numerical operation machine 200 through the input / output board S1, and includes an analyzer 110, a predictive controller 120, and an accelerator / decelerator 130. And an interpolator 140, a mapper 150, a fine interpolator 160, and a position controller 170.

The interpreter 110 receives a part program indicating a trajectory of an axis to perform numerical control from a user, analyzes the input part program, calculates a position at which the actual tool should move, and provides the predicted controller 120.

The predictive controller 120 receives the tool's trajectory and command speed from the interpreter 110 and calculates the executable end speed and the command speed of the block using the commanded speed of the block and the block information to be performed in the future. Provided in shorthand (130).

The accelerator / decelerator 130 calculates and provides a velocity profile per interpolation period to the interpolator 140 using the end speed and the command speed of the block calculated by the predictive controller 120.

The interpolator 140 calculates and provides a distance to the tool 150 to the mapper 150 based on the velocity profile calculated by the acceleration / decelerator 130.

The mapper 150 decomposes the distance to which the tool should move per interpolation period calculated by the interpolator 140 for each axis, calculates the distance to move each axis per interpolation period, and provides it to the fine interpolator 160. .

The fine interpolator 160 provides the position controller 170 by dividing the distance to which the axis per interpolation period is to be moved by the mapper 150 by the distance to which the axis to be moved per position control period.

The position controller 170 generates a voltage signal by calculating the transfer distance of the axis to be commanded to the drive of each axis by using the distance of the axis to move and the position information of the actual axis during the position control period divided by the fine interpolator 160. Is provided to a motor drive (not shown) in the numerically operated machine 200 via an input / output board S1.

The numerical actuating machine 200 operates according to the numerical control signal provided from the numerical controller 100 through the input / output board S1.

3 to 10, of the overall configuration of the present invention having the above-described configuration, relates to the predictive controller 120 and the decelerator 130, Figure 3 is a predictive controller 120 shown in FIG. The flow chart for the following will be described in more detail.

That is, the number of blocks to be previewed when performing predictive control is called the predictive control buffer number, denoted by N (S1-1), Ve (i) is the end speed of the i-th block, and Vs (i) is the i-th block. A represents the starting speed, A is the maximum allowable value of the inter-block acceleration, the length Stot of the block means the length of the current block (i = 1, the block to obtain the executable end speed).

The start speed of the current block is the same as the end speed of the previous block, which is used for the predictive control method. It is assumed that the end speed of the block to be performed Nth from the current block for predictive control is 0, The viewpoint velocity is calculated (S1).

Here, a detailed method of calculating the start velocity is shown in FIG. 4. Referring to FIG. 4, after receiving the start velocity of the i + 1 th block (same as the end velocity of the i th block) as an input (SS1-) 1) First, the possible corner velocities are calculated according to the type (straight line and circular arc) of the i-th block and the i-th block (SS1-2).

If both blocks are straight lines (line and line) in the type calculation process (SS1-2) between two blocks, both blocks calculate corner speeds between straight lines (SS1). Here, when the straight line and the straight block are continuous, the speed at the corner is obtained as shown in FIG. 5, and the angle between the two blocks is defined as shown in FIG. 5, and the acceleration AC occurring at the corner point is Equal to 6, and if AC is greater than the maximum allowable acceleration A of the numerical control machine, the corner velocity not exceeding the maximum allowable acceleration of the machine is obtained again from Equation 7.

Next, when one block is a straight line and one block is an arc in the type calculation process (SS1-2) between two blocks, the corner velocity between the straight line and the arc block is calculated (SS2). Here, the method of calculating the corner velocity V1 at the corner point where the straight line and the arc meet each other is to obtain a normal vector of the arc at the corner point and regard it as a straight block, and as shown in FIG. After calculating the angle to form, the corner velocity V1 is obtained in the same manner as in the above-described step SS1.

Finally, when both blocks are circular arcs in the type calculation process (SS1-2) between the two blocks, both blocks calculate the corner velocity between the circular arcs (SS3). Here, the method for calculating the corner velocity V1 at the points where the arcs are continuous calculates the normal vectors of the two arcs at the corner points where the two arcs meet, respectively, and considers the two normal vectors as straight blocks, as shown in FIG. Similarly, after calculating the angle formed by the two normal vectors, the corner velocity V1 is obtained in the same manner as in step SS1.

The corner velocity obtained through the steps SS1, SS2, and SS3 is then V1, and it is determined whether the i-th block is a straight line (SS4-1).

When the i-th block is a straight line in the determination step SS4-1, the length S of the block is obtained (SS4), and the starting speed V2 at which the end speed can be reached is calculated through Equation 3 (SS5). The smallest speed among the command speeds Vc of V1, V2 and the i-th block is determined as the start speed Vs (i) (SS6).

If the i-th block is the circular arc in the determination step SS4-1, the maximum speed V (performance index) that is possible during the circular arc motion is first calculated through Equation 4 in order to determine the adequacy of the command speed (SS7).

Where α is the system performance index and R is the radius of the arc.

In addition, when considering the chodal error during circular interpolation, the maximum processable speed V (error) is calculated through Equation 5 (SS8).

Here, E represents a chodal error during circular interpolation, and TS represents an interpolation period.

Subsequently, the smallest speed among the V (performance index) and V (error) calculated through the steps SS6 and SS7 and the command speed of the arc block is set as the command speed of the arc block (SS9), and the modified command speed and The smaller speed among V1 is determined as the start speed of the block (SS10).

The start speed of the N-th block is the end speed of the N-th block (S2), and the result is repeatedly repeated to obtain the end speed Ve (1) of the current block.

However, if the length Stot of the block is not sufficient to accelerate or decelerate from the start velocity of the block (Vs (1)) to the end velocity, it is necessary to find a new end velocity, so it is checked whether i is greater than 1 (S2). -One).

If greater than 1 in the check step (S2-1), it calculates as "i = i-1", and then repeats from step S1 (step S2-2), than in 1 in the check step S2-1. If small, it is determined whether the end point speed of the block is possible using Equation 1 (S3).

If the end speed of the block is not possible in the determination step S3, a new end speed must be calculated (S4), and if the end speed of the block is possible in the determination step S3, the end point obtained from the steps S1 and S2. The speed is used as the end speed of the current block and used as the new end speed (S5). Here, the new end point velocity is obtained from equation (2).

where, sign = 1 if Vs (1) <Ve (1)

= -1 otherwise

On the other hand, using the end speed, the command speed, and the start speed of the block calculated from step S2 shown in FIG. 3, the step shown in FIG. 6 is shown in detail for the acceleration / deceleration unit 130 shown in FIG. 6. While referring to the execution flowchart, the interpolation types for the four cases are checked (PP1-1).

If the interpolation type is a straight block in the check step PP1-1, it is determined whether it is a normal block (PP1-2).

In the case of the normal block in the determination step PP1-2, the speed per interpolation period is calculated for each of the first linear normal block rate profile generations (PP1). On the other hand, if it is not a normal block in the determination step (PP1-2), the speed per interpolation period is calculated for each of the second linear micro block velocity profile generation (PP2).

If the interpolation type is an arc block in the check step PP1-1, it is determined whether it is a normal block (PP1-3).

In the case of the normal block in the determination step (PP1-3), the speed per interpolation period is calculated for the third arc normal block rate profile generation (PP3). On the other hand, if it is not the normal block in the determination step (PP1-3), the speed per interpolation period is calculated for each of the fourth circular arc block rate profile generation (PP4).

In more detail with respect to the method for calculating the speed per each interpolation period, first, a method (PP1) for calculating the speed profile of the linear normal block is shown in FIG. It is created in order of acceleration section, deceleration section and constant velocity section.

That is, the acceleration and the acceleration time are determined through Equation 8 to determine the velocity profile in the acceleration section (B1).

Where Tacc, is the time taken from the start speed to the command speed using the maximum allowable acceleration, a1 represents the acceleration, Ts is the interpolation period, Vstart is the start speed of the block, and Vmax is the command speed. .

Then, when using the predefined maximum allowable acceleration, it is impossible to reach the command speed through acceleration for an integer multiple of the interpolation period, so in B1, the acceleration that can reach the command speed through acceleration for an integral multiple of the interpolation period The acceleration time is calculated as close as possible to the maximum allowable acceleration.

Thereafter, the deceleration time and the deceleration are determined in the deceleration section (B2).

In other words, the deceleration is also determined as the deceleration closest to the maximum allowable acceleration of the deceleration to make the deceleration time is an integer multiple of the interpolation period, and calculate the deceleration and deceleration time through the equation (9)

Where Tdec is the time taken to reach the end speed from the command speed using the maximum allowable deceleration, a3 is the deceleration, and Vend represents the end speed.

Then, when the acceleration and deceleration time is determined, the moving distance (Srem) during the constant velocity section is obtained by subtracting the moving distance during acceleration and deceleration from the length of the block, and dividing it by the command speed to calculate the time of the constant velocity section by Equation 10 Calculate through (B3). At this time, the constant velocity time should be an integer multiple of the interpolation period like the acceleration and deceleration time.

Here, Tconst represents the time of the constant velocity section.

Then, after obtaining the time and the acceleration and deceleration speed in the acceleration, deceleration, constant velocity section, and calculates the speed in each interpolation period through the equation (11) (B4).

Where Vi represents the velocity at the i-th interpolation period.

Next, as shown in FIG. 8, the method PP2 of obtaining a velocity profile in the straight minute block calculates the maximum velocity Vmax of the block (C1).

Here, Stot represents the length of the block.

Thereafter, the time of the acceleration section is obtained using Vmax calculated in step C1 and Equation 13 (C2), and the time of the deceleration section is calculated using Equation 14 (C3).

Subsequently, the maximum block speed is corrected using the acceleration and deceleration time obtained in steps C2 and C3 and Equation 15 (C4), and the acceleration and deceleration is obtained through Equation 16 (C5).

Then, the speed in each interpolation period is calculated using Equation 17 (C6).

Next, the speed in the circular arc means the angular velocity, and the method PP3 for obtaining the velocity profile in the circular arc normal block is shown in FIG. The time and acceleration of the acceleration section are calculated through Equation 18 (D1).

Here, Wmax and Wstart represent the maximum speed and the start speed in the circular arc block, respectively.

Thereafter, the time and acceleration of the deceleration section are obtained through Equation 19 (D2), and the time of the constant velocity section is calculated using Equation 20 (D3).

Here, AW means angular acceleration.

Subsequently, the angular velocity in each interpolation period is calculated using Equation 21 using the acceleration / deceleration time, constant speed, and acceleration / deceleration times obtained from steps D1, D2, and D3 (D4).

Finally, a method PP4 for obtaining a velocity profile in an arc-shaped microblock is calculated using Equation 22 (E1), and using the maximum angular velocity as shown in FIG. The acceleration time is calculated through Equation 23 (E2), and the deceleration time is calculated through the maximum angular velocity and Equation 24 (E3).

Then, the maximum angular velocity is corrected through Equation 25 using the acceleration and deceleration times calculated in steps E2 and E3 (E4).

Here, tot means the angle between the start point and the end point of circular interpolation.

Then, the acceleration and deceleration in the acceleration section and the deceleration section using the acceleration and deceleration time is calculated through Equation 26 (E5), and the angular velocity in each interpolation period is calculated using Equation 27 (E6).

As described above, the present invention prevents the processing speed from being lowered in consideration of numerical control of information of several blocks to be performed at the time of machine control in order to realize high-speed machining, so that the case of straight linear blocks having a small length is continuous. The machining path can be carried out without slowing down, and the tool path for free-form cutting (mold machining) is made of straight blocks with a small length, thus minimizing the accuracy, smoothness and operation time of the operation. Since it can be increased, it can be used as a contour control method in milling and lathe machining.

Claims (17)

A system for providing a numerically operated signal to a numerically operated machine provided by an input / output board from a numerical controller for high speed machining, The numerical controller for the high speed machining includes: An analyzer for receiving a part program indicating a trajectory of the axis to perform the numerical control from a user, and analyzing the input part program to calculate a position at which an actual tool should move; A predictive controller which receives the trajectory and command speed of the tool from the analyzer and calculates an executable end speed and command speed of the block using the commanded speed of the block and the block information to be performed in the future; An acceleration / decelerator for calculating a speed profile per interpolation cycle using the end speed and the command speed of the block calculated by the prediction controller; An interpolator for calculating a distance to be moved and a position to be reached by the tool per interpolation period using the speed profile calculated by the acceleration / deceleration device; A mapper that calculates the distance to move each axis per interpolation period by decomposing the distance to be moved by the tool per interpolation period calculated by the interpolator for each axis; A fine interpolator dividing a distance to move the axis per interpolation period calculated by the mapper by a distance to move the axis per position control period; And a position controller which calculates a feed distance of an axis to be commanded to the drive of each axis by using the distance of the axis and the position information of the actual axis during the position control period divided by the fine interpolator and provides the numerically operated machine to the numerically operated machine. Numerical control device for high speed operation. The method of claim 1 wherein the means for executing the predictive controller comprises: When the predictive controller is running, the number of blocks to be previewed is indicated by the number of predictive control buffers (N), and the end speed of the block to be performed next to the Nth from the current block for the predictive control is assumed to be "0". Means for calculating a start speed, wherein the start speed of the N-th block is the end speed of the N-th block, and repeating this to obtain the end speed Ve (1) of the current block; Means for checking if i is greater than 1 since the new end speed must be found if the length Stot of the block is not sufficient to accelerate or decelerate from the start speed Vs (1) to the end speed; If it is greater than 1 in the check means, it calculates "i = i-1" and then repeats from the process of calculating the viewpoint velocity, and if it is less than 1 in the check means, the end point of the block using Equation 1 Means for determining whether speed is possible; Equation 1 Means for obtaining a new end speed through Equation 2 using the end speed as the end speed of the current block when the end speed of the block is impossible in the determination means; Equation 2 where, sign = 1 if Vs (1) <Ve (1) = -1 otherwise And the means for using the new end speed as the end speed of the current block if the end speed of the block is possible in the determination means. The method of claim 1, Ve (i) is the end speed of the i-th block, Vs (i) represents the start speed of the i-th block, and the length Stot of the block is the current block (i = 1, to obtain an executable end speed). Numerical control device for high-speed operation, characterized in that the length of the block). In the viewpoint speed calculation method of the numerical control device for high speed operation, A first step of calculating a possible corner velocity according to the types of straight lines and arcs of the i-th block and the i-th block after receiving the viewpoint velocity from a user; A second step of calculating a corner velocity between two blocks when both blocks are straight lines (line and line) in the type calculation process between the two blocks; A third step of calculating a corner velocity between the straight line and the arc block when one block is a straight line and one block is an arc in the process of calculating the type between the two blocks; A fourth step of calculating corner speeds between the two arcs if both blocks are arcs in the type calculation process between the two blocks; A fifth step called a corner velocity V1 obtained through the second, third and fourth steps, and determining whether the i th block is a straight line; In the fifth step, when the i-th block is a straight line, the length (S) of the block is obtained, and the start speed V2 at which the end speed can be reached is calculated by Equation 3, and the V1, V2 and i-th blocks are calculated. A sixth step of setting the smallest speed among the command speeds Vc of as the start speed Vs (i); Equation 3 A seventh step of calculating a maximum speed V (performance index) possible during the circular motion when the i-th block is the circular arc in the fifth step determination; Equation 4 An eighth step of calculating a maximum processable speed V (error) by using Equation 5 when considering a chodal error during circular interpolation; Equation 5 The smallest speed among the V (performance index) and V (error) and the command speed of the circular block is set as the command speed of the circular block, and the smaller one of the modified command speed and V1 is determined as the starting speed of the block. Numerical control method for high-speed operation, characterized in that it comprises nine steps. The method of claim 4, wherein Α is a system performance index, R is the radius of the circular arc, E represents the chodal error during circular interpolation, and TS represents the interpolation period. The method of claim 4, wherein when the straight line and the straight block is continuous, Acceleration AC occurring at the corner point is calculated by Equation 6, Equation 6 Equation 7 And when the AC is greater than the maximum allowable acceleration A of the numerical control machine, the corner speed not exceeding the maximum allowable acceleration of the machine is obtained through Equation 7 again. The method of claim 4, wherein the method for calculating the corner velocity V1 at the corner point where the straight line and the arc meet each other is as follows. A method of numerical control for high speed operation, comprising: calculating a normal vector of an arc at a corner point, considering the normal vector as a straight block, and calculating an angle formed between the normal vector and the straight block. The method of claim 4, wherein the method for calculating the corner velocity V1 at the point where the arc is continuous, Obtaining a normal vector of two circular arcs at a corner point where two circular arcs meet, considering the two normal vectors as a straight block, and calculating and calculating the angle formed by the two normal vectors, the numerical control method for high speed operation . In the method of generating the speed profile by checking the interpolation type by using the end speed, the command speed and the start speed of the numerical control device for high speed operation, Determining whether the interpolation type is a normal block in the interpolation type check; In the determining step, when the linear block is a normal block, generating a speed profile by calculating a speed per interpolation period for each of the first linear normal block speed profile generations; If the linear block is not a normal block in the determining step, generating a speed profile by calculating a speed per interpolation period for each second straight micro block speed profile generation; Determining whether the interpolation type is a normal block when the interpolation type is an arc block in the interpolation type check; Generating a speed profile by calculating a speed per interpolation period for each third arc normal block speed profile generation when the circular block is a normal block in the determining step; If the circular block is not a normal block in the determining step, generating a speed profile by calculating a speed per interpolation period for each fourth circular arc block block profile generation; Control method. The method of claim 9, wherein the velocity profile of the straight line normal block is calculated by: In the case of the linear normal block, the velocity profile is generated in the order of the acceleration section, the deceleration section, and the constant velocity section, and determining the acceleration and the acceleration time through Equation 8 to determine the velocity profile in the acceleration section; Equation 8 When using the predefined maximum allowable acceleration, it is impossible to reach the command speed through acceleration for an integer multiple of the interpolation period, and the acceleration and acceleration that can reach the command speed through acceleration for an integer multiple of the interpolation period. Calculating a deceleration time and a deceleration in the deceleration section after calculating the time; Determining the deceleration also as the deceleration closest to the maximum allowable acceleration among the decelerations such that the deceleration time is an integer multiple of the interpolation period, and calculating the deceleration and deceleration time through Equation 9; Equation 9 When the acceleration and deceleration times are determined, the moving distance Srem is obtained during the constant velocity section by subtracting the moving distance during acceleration and deceleration from the length of the block. Calculating; Equation 10 Equation 11 After obtaining the time and acceleration and deceleration in the acceleration, deceleration, constant velocity section, the numerical control method for high-speed operation, characterized in that further comprising the step of calculating the speed in each interpolation period through the equation (11). The method of claim 10, Tacc, is the time taken to reach the command speed from the start speed using the maximum allowable acceleration, a1 represents the acceleration, Ts is the interpolation period, Vstart is the start speed of the block, Vmax is the command speed Tdec is the time it takes to reach the end speed from the command speed using the maximum allowable deceleration, a3 is the deceleration, Vend represents the end speed, Tconst represents the time of the constant velocity section, Vi is a numerical control method for high-speed operation, characterized in that the speed in the i-th interpolation period. 10. The method of claim 9, wherein the method for obtaining the velocity profile in the straight microblock is Calculating a maximum speed Vmax of the straight minute block through Equation 12; Equation 12 Obtaining a time of an acceleration section using Vmax and Equation 13 and calculating a time of a deceleration section using Equation 14; Equation 13 Equation 14 Modifying the maximum block speed using the acceleration and deceleration time and Equation 15, and obtaining the acceleration and deceleration using Equation 16; Equation 15 Equation 16 Equation 17 And calculating a speed by using Equation 17 in each interpolation period. The method of claim 12, The Stot is a numerical control method for high speed operation, characterized in that the length of the block. 10. The method of claim 9, wherein the method for obtaining the velocity profile in the arc normal block comprises: Calculating a time Tacc to reach the command speed based on the maximum allowable acceleration, and calculating the time and the acceleration of the acceleration section using Equation 18; Equation 18 Calculating the time and acceleration of the deceleration section through Equation 19 and calculating the time of the constant velocity section using Equation 20; Equation 19 Equation 20 Equation 21 And calculating the angular velocity in each interpolation period using the acceleration / deceleration time, constant speed, and acceleration / deceleration rate by using Equation 21. The method of claim 14, Wherein Wmax, Wstart represents the maximum speed and the start speed in the circular arc block, respectively, AW means each acceleration. 10. The method of claim 9, wherein the method for obtaining the velocity profile in the circular arc microblock is Computing the maximum angular velocity (Wmax) of the circular arc microblock through Equation 22, using the maximum angular velocity to calculate the acceleration time through Equation 23, and calculating the deceleration time through the maximum angular velocity and Equation (24) ; Equation 22 Equation 23 Equation 24 Modifying a maximum angular velocity using Equation 25 using the acceleration and deceleration time; Equation 25 Equation 26 Equation 27 Comprising the acceleration and deceleration in the acceleration section and the deceleration section using the acceleration and deceleration time using Equation 26, and using the equation 27 further comprising the step of calculating the angular velocity in each interpolation period Numerical control method for operation. The method of claim 16, The tot is a numerical control method for high-speed operation, characterized in that the angle formed by the start point and the end point of the circular interpolation.