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吴继春, 许可, 周会成, 范大鹏. 利用CNC多维约束的S型速度规划[J]. 计算机辅助设计与图形学学报.
引用本文: 吴继春, 许可, 周会成, 范大鹏. 利用CNC多维约束的S型速度规划[J]. 计算机辅助设计与图形学学报.
Jichun Wu, Ke Xu, Huicheng Zhou, Li Fan. S-type Velocity Planning Using CNC Multi-dimensional Constraints[J]. Journal of Computer-Aided Design & Computer Graphics.
Citation: Jichun Wu, Ke Xu, Huicheng Zhou, Li Fan. S-type Velocity Planning Using CNC Multi-dimensional Constraints[J]. Journal of Computer-Aided Design & Computer Graphics.

利用CNC多维约束的S型速度规划

S-type Velocity Planning Using CNC Multi-dimensional Constraints

  • 摘要:  针对经典控制模型时间过耦合问题, 速度规划与实时轨迹控制都与时间建立关联, 导致实时计算量、规划与控制协调性等处于不利情形. 建立双重反馈的控制模型, 内反馈继承经典控制模型将时间反馈到控制器, 外反馈将非时间反馈到规划器; 将影响速度规划的因素分为时间相关与时间无关, 与时间相关因素主要考虑在控制器中实时控制, 与时间无关因素考虑在规划器中进行非时间速度规划; 在规划器中建立基于轨迹位移、轨迹几何特性、运动参数以及程序行号等信息的多维约束模型; 以轨迹位移代替时间作为运动参考量, 结合多维约束模型, 考虑轨迹的几何特性与轨迹位移映射关系的一种非时间速度规划, 使轨迹特性与非时间建立具有空间性关联. 通过MATLAB仿真对控制模型的抗干扰能力进行验证, 并通过CODESYS软件编程和实验平台的实验结果表明了非时间速度规划方法的可行性和有效性.

     

    Abstract: For the classical control model time-overcoupled problem, velocity planning and real-time trajectory control are related to time, resulting in the disadvantageous situation of real-time calculation, planning and control coordination. A dual feedback control model is established, which the internal feedback inherits the classical control model to feed back time to the controller, and the external feedback feeds back non-time to the planner; The factors affecting velocity planning are divided into time dependent factors and time independent factors, which the time related factors are mainly considered to be controlled in real time in the controller, and the time independent factors are considered to be used in the planner for non time speed planning; A multi-dimensional constraint model based on trajectory displacement, trajectory geometric characteristics, motion parameters and program line number is established in the planner; A non-teme velocity planning, which takes the trajectory displacement instead of time as the motion reference, combines the multi-dimensional constraint model, and considers the mapping relationship between the geometric characteristics of the trajectory and the trajectory displacement, so that the trajectory characteristics and the non-time are spatially related. The anti-interference ability of the control model is verified by MATLAB simulation, and the feasibility and effectiveness of the non-time velocity planning method are demonstrated by CODESYS software programming and experimental results on the experimental platform.

     

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