Rounding error compensation method for S curve acceleration and deceleration

A technology of error compensation, acceleration and deceleration, applied in the field of motion control of numerical control system, can solve the problems of not considering the change of jerk, the increase of interpolation time and displacement, and the inability to ensure that the motion parameters meet the requirements, etc.

Active Publication Date: 2018-03-06
SHANDONG UNIV
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Problems solved by technology

However, the last segment t7 of this method cannot be an integer multiple of the interpolation cycle, and it will also cause a cycle of speed fluctuations. At the same time, after the previous rounds are rounded up, the original motion parameters are still used for motion, resulting in inter-segment convergence. Position, velocity and acceleration errors appear at the position, and also cause errors in the calculation of the subsequent time period, seriously affecting the accuracy
[0005] Chinese patent document (Application No. 201310027747.1) discloses an acceleration and deceleration planning method for a numerical control system. The method includes: performing T-curve speed planning on the machining trajectory of the CNC machine tool operating equipment, and obtaining uniform acceleration and uniform speed in the T-curve. The time of uniform deceleration; the three time periods of uniform acceleration, uniform speed and uniform deceleration in the T-shaped curve are adjusted separately, and the step length less than one interpolation cycle is supplemented into a complete interpolation cycle; Each time period is complemented by an integer period, which increases the interpolation time and displacement and reduces the interpolation efficiency; at the same time, the T-shaped curve planning does not consider the jerk change, and cannot guarantee that the adjusted jerk will not exceed the limit
In order to compensate for the rounding error, this planning method superimposes the compensated motion parameters directly with the rounded motion parameters, and the motion parameters calculated by the rounding interpolation time meet the requirements, but it cannot guarantee that the superimposed motion parameters meet the requirements

Method used

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  • Rounding error compensation method for S curve acceleration and deceleration
  • Rounding error compensation method for S curve acceleration and deceleration
  • Rounding error compensation method for S curve acceleration and deceleration

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] The proof of principle of the program of the present invention is as follows:

[0057] In the S-curve acceleration and deceleration, the jerk of each section is constant and discontinuous, and the jerk of the uniform acceleration section and the uniform deceleration section is 0, but it may not be 0 after parameter adjustment, so the jerk of each section is respectively J 1 、J 2 、J 3 , J 5 , J 6 , J 7 , a i (i=1,2,...,7) for t i The acceleration value at the moment, v i for t i The speed value at the moment, ΔS i is the displacement in the i-th segment, according to the nature of S-curve acceleration and deceleration, there is J 1 =J com , J 2 =0,J 3 =J com J 5 =J com , J 6 =0,J 7 =J com , Δt 1 =Δt 3 , Δt 5 =Δt 7 ; The integral relationship between jerk and acceleration, velocity and displacement is:

[0058]

[0059] where τ i =t-t i-1 (i=1,2,...,7; t 0 = 0);

[0060] There are the following relations:

[0061] a 1 =J 1 Δt 1 ;a 2 =...

Embodiment 2

[0374] A rounding error compensation method for S-curve acceleration and deceleration, the method steps are as described in Embodiment 1, the difference is that in this example, set: S=200mm, v s =30mm / s, v e = 10mm / s, v com =400mm / s, a com =1000mm / s^2,J com =10000mm / s^3, T s =0.001s

[0375] First, the original 7-segment time and displacement are planned according to the S-curve acceleration and deceleration algorithm, among which:

[0376] t1=0.1s, t2=0.26833s, t3=0.1s, t4=0s, t5=0.1s, t6=0.28833s, t7=0.1s;

[0377] s1=4.66667mm; s2=57.467mm; s3=38.1664mm; s4=0mm, s5=38.1664mm; s6=58.867mm; s7=2.66667mm;

[0378] It is not difficult to see that the total planning time T=t1+t2+t3+t4+t5+t6+t7=0.95666s is not an integer multiple of the interpolation period.

[0379] If T=t acc1 +t con +t dec1 =m 1 T s +Δt, where m1 is a non-negative integer, then Δt=0.00066s, in order to ensure that the total planning time T is an integer multiple of the interpolation period, Δt nee...

Embodiment 3

[0392] A rounding error compensation method for S-curve acceleration and deceleration, the method steps are as described in Embodiment 1, the difference is that in this example, set: S=201.6mm, v s =30mm / s, v e = 10mm / s, v com =400mm / s, a com =1000mm / s^2,J com =10000mm / s^3, T s =0.001s

[0393] First, the original 7-segment time and displacement are planned according to the S-curve acceleration and deceleration algorithm, among which:

[0394] t1=0.1s, t2=0.27s, t3=0.1s, t4=0.00025s, t5=0.1s, t6=0.29s, t7=0.1s;

[0395] s1=4.66667mm; s2=58.05mm; s3=38.3333mm; s4=0.1mm, s5=38.3333mm; s6=59.45mm; s7=2.66667mm;

[0396] It is not difficult to see that the total planning time T = t1 + t2 + t3 + t4 + t5 + t6 + t7 = 0.96025s, which is not an integer multiple of the interpolation period.

[0397] If T=t acc1 +t con +t dec1 =m 1 T s +Δt, where m1 is a non-negative integer, then Δt=0.00025s, in order to ensure that the total planning time T is an integer multiple of the int...

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Abstract

The invention belongs to the field of motion control of numerical control systems and specifically relates to a rounding error compensation method for S-curve acceleration and deceleration. After primary S curve planning, an acceleration segment, a constant-speed segment and a deceleration segment cannot exist at the same time. Different error compensation strategies need to be adopted aiming at different combination types according to analysis on above motion parameter relation. When the constant-speed segment is in presence, a displacement adjustment method is selected. When the constant-speed segment is in absence while the acceleration segment and the deceleration segment are in presence at the same time, a maximal speed adjustment method is selected. When the constant-speed segment isin presence and the displacement of the constant-speed segment is comparatively short and cannot meet adjustment requirements, displacement adjustment is employed first and then speed adjustment is employed. According to the invention, single-segment interpolation time is not adjusted and the interpolation total time is adjusted only. Interpolation time of compensation is reduced as far as possible, so that the interpolation efficiency is improved. Based on the adjusted interpolation time, all motion parameters are calculated again by using the displacement and speed adjustment methods, so that a condition that the motion parameters do not surpass limits after adjustment is ensured.

Description

technical field [0001] The invention belongs to the field of motion control of a numerical control system, in particular to a rounding error compensation method for S-curve acceleration and deceleration. Background technique [0002] In the numerical control system, in order to avoid the impact, out of step, overtravel and vibration of each axis, and to ensure the stable and accurate positioning of the moving parts, acceleration and deceleration control must be carried out. At the same time, good acceleration and deceleration control can realize the rapid response of the CNC machine tool, reach the specified speed in a short time, shorten the acceleration and deceleration time, and improve production efficiency. Commonly used acceleration and deceleration control methods include linear acceleration and deceleration, exponential acceleration and deceleration, and S-curve acceleration and deceleration. Although linear acceleration and deceleration and exponential acceleration...

Claims

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Application Information

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IPC IPC(8): G05B19/404
CPCG05B19/404G05B2219/35408
Inventor 张承瑞倪鹤鹏陈齐志张岳姬帅胡天亮
Owner SHANDONG UNIV
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