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在传统的速度规划中,受系统实时性的影响,采用前瞻作速度规划时,前瞻段数和计算量都会受到限制。根据离线插补的思想,论述了基于离线插补的最后段减速区域路程量的求解;引入递归算法的思路,详细分析了减速区域可能出现的几种情况,完成了前瞻速度规划中很难有效实现的减速点查找,得到了减速区域的规划算法。实验显示:这种算法简单、可行,规划出来的减速区域曲线平滑,能有效降低机床可能产生的失程和超程程度。
In the traditional speed planning, influenced by the real-time performance of the system, when using forward-looking speed planning, the number of forerunner segments and the amount of computation will be limited. According to the idea of off-line interpolation, this paper discusses the calculation of the distance of the final deceleration area based on offline interpolation. By introducing the idea of recursive algorithm, it analyzes the possible situations of deceleration area in detail and makes it difficult to validate the forward-looking speed planning The realization of the deceleration point to find the deceleration area of the planning algorithm. Experiments show that this algorithm is simple and feasible, and the curve of the deceleration area is smooth, which can effectively reduce the range and the extent of the machine tool.