WO2018068302A1

WO2018068302A1 - Trajectory velocity planning method and trajectory velocity planning device

Info

Publication number: WO2018068302A1
Application number: PCT/CN2016/102126
Authority: WO
Inventors: 陈晓颖
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2016-10-14
Filing date: 2016-10-14
Publication date: 2018-04-19
Also published as: CN108235742B; CN108235742A

Abstract

Disclosed are a trajectory velocity planning method and a trajectory velocity planning device. The method comprises: for a designated target trajectory MP, determining a relationship coefficient f_i between single-axis acceleration (I) and composite acceleration (II) to obtain (III), wherein M is a start point of the target trajectory MP, and P is an end point of the target trajectory MP; determining the maximum value of the relationship coefficient f_i as B; according to the maximum value B of the relationship coefficient f_i and the maximum value of the single-axis acceleration (I), calculating the maximum value a_rm of the composite acceleration (II) to obtain (IV), wherein A is the given maximum acceleration value; and, according to the maximum value a_rm of the composite acceleration (II) and a given feed speed F, performing velocity planning for the target trajectory MP. By setting the maximum value of the single-axis acceleration (I) as the maximum acceleration A, and thus determining the maximum value a_rm of the composite acceleration (II), processing efficiency may be improved.

Description

Track speed planning method and track speed planning device

Technical field

The implementation of the present application relates to the field of numerical control systems, and in particular, to a track speed planning method and a track speed planning device.

Background technique

The trajectory speed planning performed by the numerical control system usually includes T-type speed planning or S-type speed planning. When speed planning for a specified target trajectory, the user usually gives the desired feed speed F and maximum acceleration A, and then calculates Track acceleration on this trajectory

And according to the obtained trajectory acceleration

Calculate track speed

Related motion parameters. Where the trajectory speed

Refers to the actual speed at which the workpiece moves along the target trajectory, which is the combined speed of the velocity relative to a single axis; trajectory acceleration

Yes and track speed

Corresponding acceleration

Track speed

The initial speed.

In the process of speed planning, since the maximum acceleration of a single shaft is related to the acceleration capability of the motor itself and the vibration during machining, it is directly related to the surface machining quality of the workpiece, so it is necessary to limit the combined acceleration of each axis.

Maximum value to increase the acceleration of a single axis

Limited to a range less than the maximum acceleration A, for the Cartesian coordinate system XYZ,

include

with

At the same time, in order to improve the processing efficiency and reduce the total processing time, it is necessary to increase the combined acceleration of each axis.

That is to maximize the acceleration of a single axis

Normally, synthetic acceleration

Acceleration with a single axis

Not on the same line, so

In the prior art, when speed planning is performed on a specified trajectory, in order to ensure

Does not exceed a given maximum acceleration A and maximizes the resultant acceleration

Will

The maximum value a _{rm is} set to A, and is determined according to

The maximum value a _{rm is} calculated for the relevant motion parameters.

However, when planning the trajectory speed,

The maximum value is set to A, which will result in

The value cannot reach the maximum acceleration A,

The maximum value still has room for improvement, so the processing efficiency has not been sufficiently improved.

Summary of the invention

The embodiment of the invention is used to solve the prior art, because the synthetic acceleration will be

The maximum value is set to feedrate A, resulting in acceleration of a single axis

The value cannot reach the maximum acceleration A, which reduces the problem of processing efficiency.

An aspect of the embodiments of the present invention provides a method for trajectory speed planning, including:

Determine the acceleration of a single axis for the specified target trajectory MP

Synthetic acceleration

The relationship coefficient f _i between

Point M is the starting point of the target trajectory MP, point P is the end point of the target trajectory MP; determining the maximum value of the relation coefficient f _i is B; according to the maximum value B of the relationship coefficient f _i and the acceleration of the single axis

Maximum value A, calculate the composite acceleration

The maximum value of a _rm , get

A is the given maximum acceleration value; according to the combined acceleration

The maximum value a _rm and the given feed speed F are used for speed planning of the target trajectory MP.

In conjunction with the first aspect, in a first possible implementation of the first aspect, the target trajectory MP is a line segment MP, and the line segment MP has a point M and a point P as end points.

In conjunction with the first aspect, in a second possible implementation of the first aspect, the target trajectory MP is an arc MP, and the arc MP is terminated by a point M and a point P.

In conjunction with the first possible implementation of the first aspect, in a third possible implementation of the first aspect, for the Cartesian coordinate system XYZ, the coordinates of the point M are M(x _M , _yM , z _M ), The coordinates of point P are P(x _P , y _P , z _P ), which determines the acceleration of a single axis

Synthetic acceleration

The relationship coefficient f _i between them includes:

Determining that the relationship coefficient f _i is:

Where |MP| is the length of the line segment MP;

Determining the maximum value of the relationship coefficient f _i as B includes: determining

The maximum value in the

In conjunction with the third possible implementation of the first aspect, in a fourth possible implementation of the first aspect,

The maximum value a _rm for the target trajectory MP speed planning includes:

Determining synthetic acceleration

The maximum value a _rm is the value of the first target trajectory acceleration

The value of the first target trajectory acceleration

For the line segment MP, uniform acceleration and uniform deceleration phase trajectory acceleration

Value, ie

According to the value of the first target trajectory acceleration

Calculate the path velocity with a given feedrate F

In conjunction with the second possible implementation of the first aspect, in a fifth possible implementation of the first aspect, for the Cartesian coordinate system XYZ, the centripetal unit direction vector at point M is

The tangential unit direction vector at point M is

Point N is the point on the arc MP, determining the acceleration of a single axis at point N

Synthetic acceleration

The relationship coefficient f _i between them includes:

According to the following formula:

Determine the combined acceleration at point N

among them

with

The tangential acceleration and the centripetal acceleration at point N, respectively, θ is the radians of the angle from point M to point N, which yields:

Obtain the following equations according to equation (2):

If the velocity of the target trajectory MP is planned to be T-speed planning, and the point M to the point N is in the uniform acceleration motion phase, there is a system of equations where r is the radius of the arc MN and s is rotated from the point M to the point N The arc length of the angle,

For the track speed at point N:

Determine the tangential acceleration at point N according to equation (4)

And centripetal acceleration

The numerical relationship is

Substituting equation (5) into equation (3) yields the relationship coefficient f _i as:

With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, determining that the maximum value of the relationship coefficient f _i is B includes:

According to the equation (6), the maximum values of f _x , f _y and f _z are calculated by Newton iteration method as f _xm , f _ym and f _{zm , respectively} ;

The maximum values in f _xm , f _{ym ,} and f _zm are determined, and B = max (f _xm , f _ym , f _zm ) is obtained.

In conjunction with the sixth possible implementation of the first aspect, in a seventh possible implementation of the first aspect,

The maximum value a _rm for the target trajectory MP speed planning includes:

Substituting equation (5) into the following formula:

get

When point N coincides with point P, θ=θ _P , where θ _P is the radians of the opening angle corresponding to the arc MP, at this time

Reaches the maximum value

get

among them

Will a _rm and

Substituting into formula (7), get

Maximum value

determine

Maximum value

The value of the second target trajectory acceleration

which is

The value of the second target trajectory acceleration

For the arc MP, uniform acceleration and uniform deceleration phase trajectory acceleration

Value

According to the value of the second target trajectory acceleration

Calculate the path velocity with a given feedrate F

A second aspect of the embodiments of the present invention provides a trajectory speed planning apparatus, including:

A relationship coefficient determination module for determining the acceleration of a single axis for a specified target trajectory MP

Synthetic acceleration

The relationship coefficient f _i between

Point M is the starting point of the target trajectory MP, and point P is the end point of the target trajectory MP;

a maximum value determining module, configured to determine that the maximum value of the relationship coefficient f _i is B;

a calculation module for using a maximum value B of the relationship coefficient f _i and an acceleration of the single axis

Maximum value A, calculate the combined acceleration

The maximum value of a _rm , get

A is the given maximum acceleration value;

a speed planning module for synthesizing acceleration according to the

In conjunction with the second aspect, in a first possible implementation of the second aspect, the target trajectory MP is a line segment MP, and the line segment MP has a point M and a point P as end points.

In conjunction with the second aspect, in a second possible implementation manner of the second aspect, the target trajectory MP is an arc MP, and the arc MP is a point M and a point P as end points.

In conjunction with the first possible implementation of the second aspect, in a third possible implementation of the second aspect, for the Cartesian coordinate system XYZ, the coordinates of the point M are M(x _M , y _M , z _M ) The coordinates of the point P are P(x _P , y _P , z _P ), and the relationship coefficient determining module includes:

a first determining unit, configured to determine that the relationship coefficient f _i is:

Where |MP| is the length of the line segment MP;

The maximum value determining module includes:

a second determining unit for determining

The maximum value in the

In conjunction with the third possible implementation of the second aspect, in a fourth possible implementation of the second aspect, the speed planning module includes:

a third determining unit, configured to determine the combined acceleration

The value of the first target trajectory acceleration

Value, ie

a first calculating unit, configured to calculate a value of the first target trajectory acceleration

Calculating the trajectory speed with the given feed rate F

In conjunction with the second possible implementation of the second aspect, in a fifth possible implementation of the second aspect, for the Cartesian coordinate system XYZ, the centripetal unit direction vector at the point M is

The tangential unit direction vector at point M is

Point N is a point on the arc MP, and the relationship coefficient determining module includes:

The fourth determining unit is used according to the following formula:

Determine the combined acceleration at point N

among them

with

a second calculation unit for obtaining the following system of equations according to equation (2):

If the speed of the target trajectory MP is planned to be a T-type velocity plan, and the point M to the point N are in the uniform acceleration motion phase, there is a following equation group, where r is the radius of the arc MN, and s is from the point M to the point N The arc length of the angle is turned,

For the track speed at point N:

a fifth determining unit, configured to determine a tangential acceleration at a point N according to the system of equations (4)

And centripetal acceleration

The numerical relationship is

a third calculating unit for substituting the formula (5) into the system of equations (3) to obtain the relationship coefficient f _i is:

With reference to the fifth possible implementation of the second aspect, in a sixth possible implementation manner of the second aspect, the maximum value determining module includes:

a fourth calculating unit for calculating the maximum values of f _x , f _{y ,} and f _z by the Newton iteration method according to the equation group (6), respectively, f _xm , f _{ym ,} and f _zm , and determining f _xm , f _{ym ,} and f _zm The maximum value in the

B = max (f _xm , f _ym , f _zm ).

In conjunction with the sixth possible implementation of the second aspect, in a seventh possible implementation of the second aspect, the speed planning module includes:

A fifth calculation unit for substituting the formula (5) into the following formula:

get

a sixth calculating unit, configured to: when the point N coincides with the point P, θ=θ _P , where θ _P is a radians of the opening angle corresponding to the arc MP,

Reaches the maximum value

get

among them

a seventh calculation unit for a _rm and

Substituting into formula (7), get

Maximum value

a sixth determining unit for determining

Maximum value

The value of the second target trajectory acceleration

which is

The value of the second target trajectory acceleration

Value

An eighth calculating unit, configured to calculate a value of the second target trajectory acceleration

Calculating the trajectory speed with the given feed rate F

A third aspect of the embodiments of the present invention provides a trajectory speed planning apparatus, including:

Memory and processor;

The processor is configured to perform the following steps by calling an operation instruction stored by the memory:

Synthetic acceleration

The relationship coefficient f _i between

Determining that the maximum value of the relationship coefficient f _i is B;

According to the maximum value B of the relationship coefficient f _i and the acceleration of the single axis

Maximum value A, calculate the combined acceleration

The maximum value of a _rm , get

A is the given maximum acceleration value;

According to the combined acceleration

In the solution provided by the embodiment of the present application, the acceleration of a single axis is adopted.

The maximum value is set to the maximum acceleration A, which in turn determines the combined acceleration

The maximum value of a _rm , as is usually the case

Therefore, a _rm >A improves processing efficiency.

DRAWINGS

1 is a schematic diagram of an embodiment of a method for planning a trajectory speed according to the present invention;

2 is a schematic diagram of another embodiment of a method for planning a trajectory speed according to the present invention;

3 is a schematic diagram of another embodiment of a method for planning a trajectory speed according to the present invention;

4 is a schematic diagram of an embodiment of a track speed planning device of the present invention;

Figure 5 is a schematic view showing another embodiment of the track speed planning device of the present invention;

Figure 6 is a schematic view showing another embodiment of the track speed planning device of the present invention;

Figure 7 is a schematic illustration of another embodiment of the trajectory velocity planning apparatus of the present invention.

detailed description

Embodiments of the present invention provide a trajectory speed planning method and a trajectory speed planning device by using an acceleration of a single axis

The maximum value of a _{rm is} to improve processing efficiency.

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is an embodiment of the invention, but not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention and the above figures are used to distinguish similar objects without having to use To describe a specific order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units, but may include those that are not clearly listed or for these processes, methods, Other steps or units inherent to the product or equipment.

For ease of understanding, the specific process in the embodiment of the present invention is described below. Referring to FIG. 1, an embodiment of the method for trajectory speed planning in the embodiment of the present invention includes:

101. Determine a relationship coefficient between an acceleration of a single axis and a combined acceleration;

For the specified target trajectory MP, where point M is the starting point of the target trajectory MP, point P is the end point of the target trajectory MP, and the acceleration of the single axis is determined

Synthetic acceleration

The relationship coefficient f _i between

Where f _i corresponds to the axis, and the relationship between the acceleration of the different axes and the combined acceleration may be different. If there is only one axis in the path velocity planning process, then determining f _i means determining the relationship coefficient between the acceleration of the axis and the combined acceleration; if there are two or more axes in the path velocity planning process, for example, including X and Y , Z three axes, then determine f _i is to determine the acceleration of the X axis

Synthetic acceleration

The relationship between the relationship coefficient f _x and the acceleration of the Y axis

Synthetic acceleration

The relationship between the coefficient f _y and the acceleration of the Z axis

Synthetic acceleration

The relationship between the factors f _z , where

102. Determine a maximum value of the relationship coefficient;

Synthetic acceleration

After the relationship between the coefficients f _i, the relationship between the maximum value may be calculated coefficients f _i, the maximum value is obtained for the relationship between the coefficient f _i B.

103. Calculate a maximum value of the combined acceleration;

For the speed planning of the target trajectory MP, the user gives the maximum acceleration A, ie the acceleration of a single axis

The value cannot exceed the maximum acceleration A. Will f _i =B and

Into the formula

Calculated

In other words, to ensure the acceleration of a single axis

The value does not exceed the maximum acceleration A, the resultant acceleration

Value cannot exceed

Synthetic acceleration

Maximum value

104. Perform speed planning of the target trajectory MP.

For the speed planning of the target trajectory MP, the user gives the desired feed rate F. According to the resulting synthetic acceleration

The maximum value a _rm and the given feed rate F can be used for speed planning of the target trajectory MP, for example, calculating the trajectory acceleration on this trajectory

And according to the obtained trajectory acceleration

Calculate track speed

Related motion parameters.

Embodiment of the present application by accelerating a single axis

Maximum value

Since f _i ≤ 1, and usually, synthetic acceleration

Acceleration with a single axis

They are not on the same line, so f _i <1, so B<1, and therefore a _rm >A, which improves the processing efficiency compared with the prior art.

In the above embodiment, the speed planning for the target trajectory MP may include linear velocity planning and arc velocity planning. Correspondingly, the target trajectory MP may be a line segment MP or an arc MP, which are respectively described below:

First, the target track MP is the line segment MP:

In this embodiment, the speed of the target trajectory MP is planned as a linear velocity plan, the target trajectory MP is a line segment MP, and the line segment MP is represented by a point M and a point P. For details, refer to FIG. 2, the trajectory speed planning method of the present invention is another Examples include:

201. Determine a projection of the line segment MP on the coordinate axis;

The line segment MP starts with one end point M and ends with the other end point P. For the Cartesian coordinate system XYZ, the coordinates of the point M are M(x _M , y _M , z _M ), and the coordinates of the point P are P(x _P , y _P , z _P ), then the projection of the line segment MP on the X-axis is |x _P -x _M |, the projection of the line segment MP on the Y-axis is |y _P -y _M |, and the projection of the line segment MP on the X-axis is |z _P -z _M |.

202. Determine a relationship coefficient according to a projection of the line segment MP on the coordinate axis;

If the acceleration of each single axis of the CNC system is the same as the X, Y, and Z axes, respectively, the acceleration of the single axis at this time.

for

with

Determining the relationship coefficient f _i means determining the acceleration of the X axis separately

Synthetic acceleration

The relationship between the coefficient fx and the acceleration of the Y-axis

Synthetic acceleration

The relationship between the coefficient fy, the acceleration of the Z axis

Synthetic acceleration

The relationship coefficient fz, where

And, for linear velocity planning, synthetic acceleration

The direction is the same as the direction of the line segment MP. Therefore, the following equations can be obtained:

Where |MP| is the length of the line segment MP.

Due to the acceleration of a single axis

Synthetic acceleration

There is a relationship coefficient f _i between them

Therefore the relationship coefficient f _i is:

203. Determine a maximum value of the relationship coefficient.

After determining the values of the relationship coefficients f _x , f _{y ,} and f _z , compare the magnitudes of the values of f _x , f _{y ,} and f _z , that is, compare

Size, hypothesis

The value is the largest, then the maximum value of the relationship coefficient f _i

204. Calculate a maximum value of the combined acceleration;

For the speed planning of the line segment MP, the user gives the maximum acceleration A, ie the acceleration of a single axis

The value cannot exceed the maximum acceleration A. will

with

Into the formula

Calculated

In other words, to ensure the acceleration of a single axis

Value cannot exceed

Synthetic acceleration

Maximum value

205. Determine a maximum value of the combined acceleration as a value of the first target trajectory acceleration;

Synthetic acceleration due to linear velocity planning

The direction is the same as the direction of the line segment MP, so the resultant acceleration

That is the trajectory acceleration of the line segment MP

In order to improve the processing efficiency, it is necessary to maximize the first target trajectory acceleration.

Value of the first target trajectory

For T-speed planning or S-type speed planning, the trajectory acceleration in the uniform acceleration and deceleration phases of the line segment MP

Therefore, the first target trajectory acceleration can be made

Synthetic acceleration

The maximum value of a _rm , ie:

206. Calculate the trajectory speed.

For the speed planning of the line segment MP, the user gives the desired feed rate F. According to the determined value of the first target trajectory acceleration

And the given feed rate F can calculate the track speed on the target line segment MP

Related motion parameters.

The embodiment of the present application determines the maximum value of the relationship coefficient f _i

And the acceleration of a single axis

Maximum value

Normally, synthetic acceleration

Acceleration with a single axis

Not on the same line, so

Therefore, a _rm >A, the processing efficiency is improved as compared with the prior art.

Second, the target track MP is an arc MP:

In this embodiment, the speed of the target trajectory MP is planned to be an arc speed plan, the target trajectory MP is an arc MP, and the arc MP is represented by a point M and a point P. For details, refer to FIG. 3, the trajectory speed planning of the present invention. Another embodiment of the method includes:

301. Determine a synthetic acceleration at a point N;

For the Cartesian coordinate system XYZ, the centripetal unit direction vector at point M is

The tangential unit direction vector at point M is

Synthetic acceleration at point N when the workpiece is running to point N

Where point N can be any point N on the arc MP,

with

The tangential acceleration and the centripetal acceleration at point N, respectively, θ is the radians of the angle from point M to point N. Will be above

The expression is further organized into

with

Expression, get:

302. Determine an expression of a relationship coefficient at a point N;

When the workpiece runs to point N, according to formula (2), you can get

Projection on each coordinate axis, where

The projection on the X axis is:

The projection on the Y axis is:

The projection on the Z axis is:

for

with

Acceleration of a single axis

Synthetic acceleration

There is a relationship coefficient f _i between them

Synthetic acceleration

The relationship between the factors f _z , where

Therefore, the expression of the relationship coefficient f _i at point N is:

among them,

303. Determine a relationship between a tangential acceleration at a point N and a centripetal acceleration;

If the speed of the target trajectory MP is planned to be T-type velocity planning, and the point M to point N is in the uniform acceleration motion phase, there is a system of equations where r is the radius of the arc MN and s is from the point M to the point N The arc length over the angle,

For the track speed at point N:

The tangential acceleration at point N can be determined according to the equation (4)

And centripetal acceleration

The numerical relationship is:

304. Calculate a relationship coefficient at a point N;

Substituting equation (5) into equation (3) yields the relationship coefficient f _i at point N as:

It should be noted that there is no timing limitation between step 303 and step 301 between step 303 and step 301, as long as step 303 is completed before step 304.

305. Determine a maximum value of the relationship coefficient.

According to the equation (6), the maximum values of f _x , f _y and f _z are calculated by the Newton iteration method to be f _xm , f _ym and f _{zm , respectively} . Then, the sizes of f _xm , f _{ym ,} and f _zm can be compared. In this embodiment, the maximum value max(f _xm , f _ym , f _zm )=f _{xm among the three is taken} as an example, and then the maximum of the relationship coefficient f _i . The value B = f _xm .

306. Calculate a maximum value of the combined acceleration;

For the speed planning of the arc MP, the user gives the maximum acceleration A, ie the acceleration of a single axis

The value cannot exceed the maximum acceleration A. Will f _i = B = f _xm and

Into the formula

Calculated

In other words, to ensure the acceleration of a single axis

Value cannot exceed

Synthetic acceleration

Maximum value

In order to improve the processing efficiency, in the speed planning, the synthetic acceleration

The maximum value reaches a _rm .

In the speed planning of the arc MP in this embodiment, the trajectory acceleration

Tangential acceleration

In order to determine the trajectory acceleration on the arc MP

Need to determine tangential acceleration

The maximum value. Step 306 determines the resultant acceleration

Maximum value due to the relationship

So you can be sure

Range of values, and then determine

The maximum value.

307. Determine a relationship between the combined acceleration and the centripetal acceleration;

Substituting equation (5) into the following formula:

Synthetic acceleration

Centripetal acceleration

Relationship:

308. Determine a maximum value of the centripetal acceleration;

The movement of the workpiece on the arc MP may have the following two conditions: 1) The uniform circular motion is always performed, and when moving to the point P, the tangential velocity is the trajectory linear velocity.

The value reaches the maximum; 2) the uniform acceleration circular motion is first accelerated to the user-specified feed rate, ie

After that, the uniform speed circular motion is performed at the speed F.

due to

and

Therefore, in the process of moving from point M to point P, for the first case, when moving to point P,

to reach maximum,

Achieve the maximum value a _rm ; for the second case, when

Time,

to reach maximum,

The maximum value a _{rm is} reached. Satisfied during the uniform acceleration of the circular motion

So when

When the maximum value a _rm is reached, compared with the above two cases, in the first case, the point N coincides with the point P, and θ can take the maximum value θ=θ _P , where θ _P is the opening angle corresponding to the arc MP Radian value, at this time

Reaches the maximum value

considering

therefore

In this embodiment, it is assumed

therefore

309. Determine a maximum value of the tangential acceleration;

will

with

Substituting into formula (7), get

due to

Synthetic acceleration

Maximum value,

Centripetal acceleration

Maximum value, therefore

Tangential acceleration

The maximum value.

310. Determine a maximum value of the tangential acceleration as a value of the second target trajectory acceleration;

In this embodiment, in the speed planning of the arc MP, the trajectory acceleration

Tangential acceleration

The maximum value is

In order to improve the processing efficiency, it is necessary to maximize the second target trajectory acceleration.

Value of the second target trajectory

For T-speed planning or S-type speed planning, the trajectory acceleration in the uniform acceleration and deceleration phases of the arc MP

Therefore, the second target trajectory acceleration can be made

Tangential acceleration

The maximum value, namely:

311. Calculate the trajectory speed.

For the speed planning of the arc MP, the user gives the desired feed rate F. According to the determined value of the second target trajectory acceleration

And the given feed speed F can calculate the track speed on the target arc MP

Related motion parameters.

The trajectory velocity planning method in the embodiment of the present invention has been described above. The trajectory velocity planning device in the embodiment of the present invention will be described below.

Referring to FIG. 4, an embodiment of a trajectory speed planning apparatus according to an embodiment of the present invention includes:

The relationship coefficient determining module 401 is configured to determine the relationship between the acceleration of the single axis and the combined acceleration Coefficient

a maximum value determining module 402, configured to determine a maximum value of the relationship coefficient;

a calculation module 403, configured to calculate a maximum value of the combined acceleration;

The speed planning module 404 is configured to perform speed planning of the target trajectory MP.

The relationship between the modules of the trajectory speed planning apparatus in this embodiment refers to the corresponding embodiment of FIG. 1 and will not be described herein.

Referring to FIG. 5, another embodiment of the trajectory speed planning apparatus in the embodiment of the present invention includes:

a projection determining module 501, configured to determine a projection of the line segment MP on the coordinate axis;

a first determining unit 502, configured to determine a relationship coefficient according to a projection of the line segment MP on the coordinate axis;

a second determining unit 503, configured to determine a maximum value of the relationship coefficient;

a ninth calculating unit 504, configured to calculate a maximum value of the combined acceleration;

a third determining unit 505, configured to determine a maximum value of the combined acceleration as a value of the first target trajectory acceleration;

The first calculating unit 506 is configured to calculate a track speed.

The relationship between the modules of the trajectory speed planning device in this embodiment refers to the corresponding embodiment in FIG. 2, and details are not described herein again.

Referring to FIG. 6, another embodiment of the trajectory speed planning apparatus in the embodiment of the present invention includes:

a fourth determining unit 601, configured to determine a combined acceleration at the point N;

a second calculating unit 602, configured to determine an expression of a relationship coefficient at a point N;

a fifth determining unit 603, configured to determine a relationship between the tangential acceleration at the point N and the centripetal acceleration;

a third calculating unit 604, configured to calculate a relationship coefficient at the point N;

a fourth calculating unit 605, configured to determine a maximum value of the relationship coefficient;

a tenth calculating unit 606, configured to calculate a maximum value of the combined acceleration;

a fifth calculating unit 607, configured to determine a relationship between the combined acceleration and the centripetal acceleration;

a sixth calculating unit 608, configured to determine a maximum value of the centripetal acceleration;

a seventh calculating unit 609, configured to determine a maximum value of the tangential acceleration;

a sixth determining unit 610, configured to determine that a maximum value of the tangential acceleration is a value of the second target trajectory acceleration;

The eighth calculating unit 611 is configured to calculate a track speed.

The relationship between the modules of the trajectory speed planning device in this embodiment refers to the corresponding embodiment of FIG. 3, I will not repeat them here.

The trajectory speed planning apparatus in the embodiment of the present invention is described above from the perspective of a modular functional entity. The trajectory speed planning apparatus in the embodiment of the present invention is described below from the perspective of hardware processing. Referring to FIG. 7, in the embodiment of the present invention, Another embodiment of the trajectory velocity planning apparatus includes:

The processor 701 and the memory 702 and the like, wherein the number of processors in the trajectory speed planning device may be one or more, and one processor 701 is taken as an example in FIG. It will be understood by those skilled in the art that the trajectory velocity planning device structure shown in FIG. 7 does not constitute a limitation of the trajectory velocity planning device, and may include more or less components than those illustrated, or combine some components, or different. Parts layout.

The processor 701 is configured to perform the following steps by calling an operation instruction stored in the memory 702:

Synthetic acceleration

The relationship coefficient f _i between

Determining that the maximum value of the relationship coefficient f _i is B;

According to the maximum value B of the relationship coefficient f _i and the acceleration of a single axis

Maximum value A, calculate the composite acceleration

The maximum value of a _rm , get

A is the given maximum acceleration value;

Synthetic acceleration

In some embodiments of the present invention, the processor 701 is further configured to perform the following steps:

For the Cartesian coordinate system XYZ, the coordinates of the point M are M(x _M , y _M , z _M ), and the coordinates of the point P are P(x _P , y _P , z _P ), and the relationship coefficient f _i is determined as:

Where |MP| is the length of the line segment MP;

The maximum value in the

Determining synthetic acceleration

The value of the first target trajectory acceleration

Value, ie

According to the value of the first target trajectory acceleration

Calculate the path velocity with a given feedrate F

The tangential unit direction vector at point M is

Point N is the point on the arc MP, according to the following formula:

Determine the combined acceleration at point N

among them

with

Obtain the following equations according to equation (2):

For the track speed at point N:

Determine the tangential acceleration at point N according to equation (4)

And centripetal acceleration

The numerical relationship is

Substituting equation (5) into the following formula:

get

Reaches the maximum value

get

among them

Will a _rm and

Substituting into formula (7), get

Maximum value

determine

Maximum value

The value of the second target trajectory acceleration

which is

The value of the second target trajectory acceleration

Value

According to the value of the second target trajectory acceleration

Calculate the path velocity with a given feedrate F

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that The technical solutions are described as being modified, or equivalent to some of the technical features, and the modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

A method for trajectory velocity planning, comprising:

Determine the acceleration of a single axis for the specified target trajectory MP
Synthetic acceleration
The relationship coefficient f i between
Point M is the starting point of the target trajectory MP, and point P is the end point of the target trajectory MP;

Determining that the maximum value of the relationship coefficient f i is B;

According to the maximum value B of the relationship coefficient f i and the acceleration of the single axis
Maximum value A, calculate the combined acceleration
The maximum value of a rm , get
A is the given maximum acceleration value;

According to the combined acceleration
The maximum value a rm and the given feed speed F are used for speed planning of the target trajectory MP.
The trajectory velocity planning method according to claim 1, wherein the target trajectory MP is a line segment MP, and the line segment MP has a point M and a point P as end points.
The trajectory velocity planning method according to claim 1, wherein the target trajectory MP is an arc MP, and the arc MP is represented by a point M and a point P.
The trajectory velocity planning method according to claim 2, wherein for the Cartesian coordinate system XYZ, the coordinates of the point M are M (x M , y M , z M ), and the coordinates of the point P are P (x P , y P , z P ), the determination of the acceleration of a single axis
Synthetic acceleration
The relationship coefficient f i between them includes:

Determining that the relationship coefficient f i is:

Where |MP| is the length of the line segment MP;

Determining that the maximum value of the relationship coefficient f i is B includes: determining

The maximum value in the
The trajectory velocity planning method according to claim 4, wherein said synthetic acceleration is based on said
The maximum value a rm for the target trajectory MP speed planning includes:

Determining the combined acceleration
The maximum value a rm is the value of the first target trajectory acceleration
The value of the first target trajectory acceleration
For the line segment MP, uniform acceleration and uniform deceleration phase trajectory acceleration
Value, ie

According to the value of the first target trajectory acceleration
Calculating the trajectory speed with the given feed rate F
The trajectory velocity planning method according to claim 3, wherein for the Cartesian coordinate system XYZ, the centripetal unit direction vector at the point M is
The tangential unit direction vector at point M is
Point N is the point on the arc MP, determining the acceleration of a single axis at point N
Synthetic acceleration
The relationship coefficient f i between them includes:

According to the following formula:

Determine the combined acceleration at point N
among them
with
The tangential acceleration and the centripetal acceleration at point N, respectively, θ is the radians of the angle from point M to point N, which yields:

Obtain the following equations according to equation (2):

If the speed of the target trajectory MP is planned to be a T-type velocity plan, and the point M to the point N are in the uniform acceleration motion phase, there is a following equation group, where r is the radius of the arc MN, and s is from the point M to the point N The arc length of the angle is turned,
For the track speed at point N:

Determine the tangential acceleration at point N according to equation (4)
And centripetal acceleration
The numerical relationship is

Substituting equation (5) into equation (3) yields the relationship coefficient f i as:
The trajectory velocity planning method according to claim 6, wherein the determining that the maximum value of the relationship coefficient f i is B comprises:

According to the equation (6), the maximum values of f x , f y and f z are calculated by Newton iteration method as f xm , f ym and f zm , respectively ;

The maximum values in f xm , f ym , and f zm are determined, and B = max (f xm , f ym , f zm ) is obtained.
The trajectory velocity planning method according to claim 7, wherein said synthetic acceleration is based on said
The maximum value a rm for the target trajectory MP speed planning includes:

Substituting equation (5) into the following formula:

get

When point N coincides with point P, θ=θ P , where θ P is the radians of the opening angle corresponding to the arc MP, at this time
Reaches the maximum value
get
among them

Will a rm and
Substituting into formula (7), get
Maximum value

determine
Maximum value
The value of the second target trajectory acceleration
which is
The value of the second target trajectory acceleration
For the arc MP, uniform acceleration and uniform deceleration phase trajectory acceleration
Value

According to the value of the second target trajectory acceleration
Calculating the trajectory speed with the given feed rate F
A trajectory speed planning device, comprising:

A relationship coefficient determination module for determining the acceleration of a single axis for a specified target trajectory MP
Synthetic acceleration
The relationship coefficient f i between
Point M is the starting point of the target trajectory MP, and point P is the end point of the target trajectory MP;

a maximum value determining module, configured to determine that the maximum value of the relationship coefficient f i is B;

a calculation module for using a maximum value B of the relationship coefficient f i and an acceleration of the single axis
Maximum value A, calculate the combined acceleration
The maximum value of a rm , get
A is the given maximum acceleration value;

a speed planning module for synthesizing acceleration according to the
The maximum value a rm and the given feed speed F are used for speed planning of the target trajectory MP.
The trajectory velocity planning apparatus according to claim 9, wherein the target trajectory MP is a line segment MP, and the line segment MP has a point M and a point P as end points.
The trajectory velocity planning apparatus according to claim 9, wherein the target trajectory MP is an arc MP, and the arc MP is represented by a point M and a point P.
The trajectory velocity planning apparatus according to claim 10, wherein for the Cartesian coordinate system XYZ, the coordinates of the point M are M (x M , y M , z M ), and the coordinates of the point P are P (x P , y P , z P ), the relationship coefficient determining module includes:

a first determining unit, configured to determine that the relationship coefficient f i is:

Where |MP| is the length of the line segment MP;

The maximum value determining module includes:

a second determining unit for determining
The maximum value in the
The trajectory speed planning apparatus according to claim 12, wherein the speed planning module comprises:

a third determining unit, configured to determine the combined acceleration
The maximum value a rm is the value of the first target trajectory acceleration
The value of the first target trajectory acceleration
For the line segment MP, uniform acceleration and uniform deceleration phase trajectory acceleration
Value, ie

a first calculating unit, configured to calculate a value of the first target trajectory acceleration
Calculating the trajectory speed with the given feed rate F
The trajectory velocity planning apparatus according to claim 11, wherein for the Cartesian coordinate system XYZ, the centripetal unit direction vector at the point M is
The tangential unit direction vector at point M is
Point N is a point on the arc MP, and the relationship coefficient determining module includes:

The fourth determining unit is used according to the following formula:

Determine the combined acceleration at point N
among them
with
The tangential acceleration and the centripetal acceleration at point N, respectively, θ is the radians of the angle from point M to point N, which yields:

a second calculation unit for obtaining the following system of equations according to equation (2):

If the speed of the target trajectory MP is planned to be a T-type velocity plan, and the point M to the point N are in the uniform acceleration motion phase, there is a following equation group, where r is the radius of the arc MN, and s is from the point M to the point N The arc length of the angle is turned,
For the track speed at point N:

a fifth determining unit, configured to determine a tangential acceleration at a point N according to the system of equations (4)
And centripetal acceleration
The numerical relationship is

a third calculating unit for substituting the formula (5) into the system of equations (3) to obtain the relationship coefficient f i is:
The trajectory speed planning apparatus according to claim 14, wherein the maximum value determining module comprises:

a fourth calculating unit for calculating the maximum values of f x , f y , and f z by the Newton iteration method according to the equation (6), respectively, f xm , f ym , and f zm , and determining f xm , f ym , and f zm The maximum value in the

B = max (f xm , f ym , f zm ).
The trajectory speed planning apparatus according to claim 15, wherein the speed planning module comprises:

A fifth calculation unit for substituting the formula (5) into the following formula:

get

a sixth calculating unit, configured to: when the point N coincides with the point P, θ=θ P , where θ P is a radians of the opening angle corresponding to the arc MP,
Reaches the maximum value
get

among them

a seventh calculation unit for a rm and
Substituting into formula (7), get
Maximum value

a sixth determining unit for determining
Maximum value
The value of the second target trajectory acceleration
which is
The value of the second target trajectory acceleration
For the arc MP, uniform acceleration and uniform deceleration phase trajectory acceleration
Value

An eighth calculating unit, configured to calculate a value of the second target trajectory acceleration
Calculating the trajectory speed with the given feed rate F
A trajectory speed planning device, comprising:

Memory and processor;

The processor is configured to perform the following steps by calling an operation instruction stored by the memory:

Determine the acceleration of a single axis for the specified target trajectory MP
Synthetic acceleration
The relationship coefficient f i between
Point M is the starting point of the target trajectory MP, and point P is the end point of the target trajectory MP;

Determining that the maximum value of the relationship coefficient f i is B;

According to the maximum value B of the relationship coefficient f i and the acceleration of the single axis
Maximum value A, calculate the combined acceleration
The maximum value of a rm , get
A is the given maximum acceleration value;

According to the combined acceleration
The maximum value a rm and the given feed speed F are used for speed planning of the target trajectory MP.