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自适应加减速控制的NURBS曲线插补算法
引用本文:刘凯,赵东标,陆永华.自适应加减速控制的NURBS曲线插补算法[J].南京航空航天大学学报(英文版),2008,25(4).
作者姓名:刘凯  赵东标  陆永华
作者单位:南京航空航天大学机电学院,南京,210016,中国
基金项目:江苏省自然科学基金(BK2003005)资助项目.Supported by the Natural Science Foundation of Jiangsu Province  
摘    要:通过对轮廓误差引起的速度变化曲线分析,提出了自适应加减速控制的NURBS曲线插补算法,在插补预处理中对进给速度突变的敏感区域进行加减速控制。应用该算法,在保证系统加工精度的基础上,自适应地调整进给速度,使进给速度变化趋于平滑,有效地避免了进给速度一阶或二阶导数的变化对伺服系统造成的机械冲击。通过NURBS曲线插补的实例,验证了该算法的可行性和有效性。该算法同样可以应用于其他参数曲线的轨迹规划。

关 键 词:数控系统  插补  自适应算法  NURBS曲线插补  自适应加减速  加加速度限制

NURBS CURVE INTERPOLATOR WITH ADAPTIVE ACCELERATION-DECELERATION CONTROL
Liu Kai,Zhao Dongbiao,Lu Yonghua.NURBS CURVE INTERPOLATOR WITH ADAPTIVE ACCELERATION-DECELERATION CONTROL[J].Transactions of Nanjing University of Aeronautics & Astronautics,2008,25(4).
Authors:Liu Kai  Zhao Dongbiao  Lu Yonghua
Abstract:The feedrate profile of non-uniform rational B-spline(NURBS) interpolation due to the contour errors is analyzed. A NURBS curve interpolator with adaptive acceleration-deceleration control is presented. In interpolation preprocessing, the sensitive zones of feedrate variations are processed with acceleration-deceleration control. By using the proposed algorithm, the machining accuracy is guaranteed and the feedrate is adaptively adjusted to be smoothed. The mechanical shock imposed in the servo system is avoided by the first and the second time derivatives of feedrates. A simulation of NURBS interpolation is given to demonstrate the validity and the effectiveness of the algorithm. The proposed interpolator can also be applied to the trajectory planning of the other parametric curves.
Keywords:numerical control systems  interpolation  adaptive algorithms  NURBS curve interpolator  adaptive acceleration and deceleration  limited jerk
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