CN112650145B - S-shaped speed curve self-adaptive combination evaluation method - Google Patents
S-shaped speed curve self-adaptive combination evaluation method Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
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Abstract
The invention discloses a self-adaptive combination evaluation method for an S-shaped speed curve, which comprises the following steps: s1, calculating a time evaluation value required by each S-shaped speed curve; and S2, traversing each S-shaped speed curve, if the S-shaped speed curve can be S-shaped planned, skipping, and if not, converting the non-S-shaped planned into the S-shaped planned. The invention greatly shortens the processing time and greatly improves the processing efficiency through the algorithm of self-adaptive evaluation on whether to combine, thereby improving the yield and having wide application prospect.
Description
Technical Field
The invention belongs to the field of motion control, and particularly relates to an S-shaped speed curve self-adaptive combination evaluation method.
Background
In CNC machining, a large number of tiny line segments or arcs exist in a tool path, and proper speed reduction is needed at a corner. By means of prospective speed planning of the tool path, acceleration and deceleration information can be obtained in advance, and machining efficiency is improved.
In the speed planning, a higher-level algorithm is S-shaped speed planning, so that the vibration can be effectively inhibited, the efficiency is improved, the whole-course speed, the acceleration and the like can be controlled, and the last item are required to be continuous.
And a global S-shaped speed curve algorithm is realized, and in the iterative planning process, adjacent S-shaped speed curves need to be repeatedly merged and split so as to obtain the maximum processing efficiency. However, improper merging may cause too small combination of processing parameters to be transmitted to adjacent segments, resulting in a decrease in overall processing efficiency, and some immature schemes, such as comparing corresponding ratios of lengths, maximum speeds, and the like of adjacent segments, may predict whether merging is worth, but all of them have poor threshold adaptivity, resulting in limited algorithm applicability.
Therefore, in order to solve the above technical problem, it is necessary to provide an adaptive combination and evaluation method for S-shaped velocity curves.
Disclosure of Invention
In view of the above, the present invention provides an adaptive combination and evaluation method for an S-shaped velocity curve to achieve maximum processing efficiency.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions:
an adaptive sigmoidal velocity profile merging assessment method, the assessment method comprising:
s1, calculating a time evaluation value required by each S-shaped speed curve;
and S2, traversing each S-shaped speed curve, if the S-shaped speed curve can be S-shaped planned, skipping, and if not, converting the non-S-shaped planned into the S-shaped planned.
In an embodiment, the step S1 specifically includes:
s11, if the S-shaped speed curve can be planned in an S shape, calculating the shortest processing time required by the S-shaped speed curve;
and S12, if the S-shaped speed curve section can not be S-shaped planned, evaluating the processing time required by the S-shaped speed curve section.
In an embodiment, the step S12 specifically includes:
s121, comparing the starting point speed and the end point speed of the S-shaped speed curve of the current section, and determining Vmin and Vmax;
s122, calculating the shortest time T1 required by accelerating from Vmin to Vmax;
s123, iteratively calculating the maximum speed Vmax ', wherein when Vmin is accelerated to the maximum speed Vmax', the distance traveled is the length of the S-shaped speed curve, and the time required at the moment is T2;
and S124, making T equal to (T1+ T2)/2, wherein T is a time evaluation value on the S-shaped speed curve.
In an embodiment, the step S2 specifically includes:
s21, connecting the S-shaped speed curve section which can not be S-shaped planned with the adjacent S-shaped speed curve section to establish a temporary merging section;
s22, determining each motion parameter of the temporary merging section;
s23, determining the time evaluation value of the temporary merging section according to the step S1;
s24, if the time evaluation value is smaller than the sum of the two time evaluation values before combination, combining; otherwise, no merging is performed and the splice point is recorded to prevent later repeat decisions.
In an embodiment, the step S22 specifically includes: the smallest motion parameter of the combined sigmoidal speed profile segment which is not sigmoidal in plan and the adjacent sigmoidal speed profile segment is selected.
In one embodiment, the step S22 further includes: while not exceeding the motion parameters allowed at the splice point.
Compared with the prior art, the invention has the following advantages:
the invention greatly shortens the processing time and greatly improves the processing efficiency through the algorithm of self-adaptive evaluation on whether to combine, thereby improving the yield and having wide application prospect.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of the S-shaped acceleration and deceleration process of the present invention;
FIG. 2 is a system flow diagram of the adaptive combination and evaluation method for S-shaped velocity curves according to the present invention;
FIG. 3 is a flowchart of step S1 according to the present invention;
FIG. 4 is a flowchart of step S12 according to the present invention;
fig. 5 is a flowchart of step S2 in the present invention.
Detailed Description
The present invention will be described in detail below with reference to embodiments shown in the drawings. The embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to the embodiments are included in the scope of the present invention.
The invention discloses a self-adaptive merging evaluation method for an S-shaped speed curve, which comprises the following steps:
s1, calculating a time evaluation value required by each S-shaped speed curve;
and S2, traversing each S-shaped speed curve, if the S-shaped speed curve can be S-shaped planned, skipping, and if not, converting the non-S-shaped planned into the S-shaped planned.
The present invention is further illustrated by the following specific examples.
Referring to FIG. 1, a complete S-shaped acceleration/deceleration curve includes 7 speed curve segments, i.e. /)1Adding an acceleration section2Uniform acceleration section 13Acceleration reduction section l4Uniform velocity section l5Acceleration and deceleration section l6Uniform deceleration section sum7And a deceleration section.
Wherein, the motion parameters include: displacement s, speed v, acceleration a, acceleration j; motion defining parameters: v is less than or equal to Vmax、|a|≤Amax、j＝±JmaxOr 0;
the sigmoidal velocity profile, generally divided into: seven stages of acceleration, uniform acceleration, deceleration, uniform speed, acceleration and deceleration, uniform deceleration and deceleration (17 different combinations).
A section of S-shaped speed curve is that at the starting and stopping end points, the speed of the curve is a corresponding known value, and the acceleration are both required to be 0, if a section of movement can be accelerated or decelerated from the starting point speed to the end point speed, and the maximum speed, the maximum acceleration and the acceleration in the whole process all accord with movement limiting parameters, the section of S-shaped planning can be called; otherwise, the segment is said to be non-S-plannable. For the latter, the higher end point speed is required to be adjusted downwards to convert the terminal speed from non-S-shaped programming to S-shaped programming; or combined with the motion of the adjacent segments, and then the S-shaped planning is tried.
Referring to fig. 2, an adaptive combination evaluation method for S-shaped velocity curves includes:
s1, calculating a time evaluation value required by each S-shaped speed curve;
and S2, traversing each S-shaped speed curve, if the S-shaped speed curve can be S-shaped planned, skipping, and if not, converting the non-S-shaped planned into the S-shaped planned.
Referring to fig. 3, step S1 specifically includes:
s11, if the S-shaped speed curve can be planned in an S shape, calculating the shortest processing time required by the S-shaped speed curve;
and S12, if the S-shaped speed curve of the section cannot be S-shaped planned (namely the distance of the route is not enough to realize the variation of the S-shaped speed curve), evaluating the processing time required by the S-shaped speed curve of the section.
Referring to fig. 4, step S12 specifically includes:
s121, comparing the starting point speed and the end point speed of the S-shaped speed curve of the current segment to determine Vmin and Vmax, wherein due to symmetry, only the acceleration from low speed Vmin to Vmax can be considered;
s122, calculating the shortest time T1 required by accelerating from Vmin to Vmax without considering that the shortest distance required to be traveled exceeds the actual distance length;
s123, iteratively calculating the maximum speed Vmax ', selecting a proper value for the value of Vmax ', so that when Vmin is accelerated to the Vmax ' at the highest speed, the distance traveled is exactly the length of the S-shaped speed curve, and the time required at the moment is T2;
and S124, making T equal to (T1+ T2)/2, wherein T is a time evaluation value on the S-shaped speed curve.
Step S2 specifically includes:
s21, connecting the S-shaped speed curve section which can not be S-shaped to the adjacent S-shaped speed curve section to establish a temporary merging section, wherein the higher end point speed is used as a connecting point, a new merging section is temporarily established with the adjacent S-shaped speed curve section, the distance is the sum of the two sections, and the starting speed and the end point speed of the new merging section are consistent with the corresponding speed before the adjacent S-shaped speed curve section is merged;
s22, determining each motion parameter of the temporary merging section, wherein the motion parameters comprise maximum speed, acceleration and acceleration, selecting the minimum motion parameter of the merged S-shaped speed curve section which can not be S-shaped planned and the adjacent S-shaped speed curve section, and simultaneously considering that the motion parameter does not exceed the motion parameter allowed at the joint point, wherein the motion parameter at the joint point comprises: maximum velocity, maximum acceleration (which is calculated in relation to the magnitude of the deflection angle of the tangent at the point of engagement);
s23, determining the time evaluation value of the temporary merging section according to the step S1;
s24, if the time evaluation value is smaller than the sum of the two time evaluation values before combination, combining; otherwise, no merging is performed and the splice point is recorded to prevent later repeat decisions.
And S3, repeating the steps until the merging planning can not be continued.
After a large number of tool paths are detected, the processing time can be averagely shortened by about 8 percent after the algorithm is started; the processing time of partial cutter paths, such as the processing of the triangular conical surface, can be even shortened by more than 35 percent, and the income is considerable.
The above implementation steps are explained by taking "global seven-segment S-shaped speed curve" as an example. It is also applicable to higher order sigmoid velocity curves, such as "global 15-segment sigmoid velocity curve", which adds "plus acceleration" on the basis of seven segments, i.e. it requires that the full-segment velocity, acceleration, plus acceleration are controlled and all other items except the last one are continuous.
According to the technical scheme, the invention has the following beneficial effects:
the invention greatly shortens the processing time and greatly improves the processing efficiency through the algorithm of self-adaptive evaluation on whether to combine, thereby improving the yield and having wide application prospect.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (3)
1. An adaptive combination evaluation method for S-shaped speed curves, which is characterized by comprising the following steps:
s1, calculating a time evaluation value required by each S-shaped speed curve;
s2, traversing each S-shaped speed curve, if the S-shaped speed curve can be S-shaped planned, skipping, otherwise, converting the non-S-shaped planned into the S-shaped planned;
s3, repeating the steps until the merging and planning can not be continued;
the step S1 specifically includes:
s11, if the S-shaped speed curve can be planned in an S shape, calculating the shortest processing time required by the S-shaped speed curve;
s12, if the S-shaped speed curve can not be S-shaped planned, estimating the processing time required by the S-shaped speed curve;
the step S12 specifically includes:
s121, comparing the starting point speed and the end point speed of the S-shaped speed curve of the current section, and determining Vmin and Vmax;
s122, calculating the shortest time T1 required by accelerating from Vmin to Vmax;
s123, iteratively calculating the maximum speed Vmax ', wherein when Vmin is accelerated to the maximum speed Vmax', the distance traveled is the length of the S-shaped speed curve, and the time required at the moment is T2;
s124, making T equal to (T1+ T2)/2, wherein T is a time evaluation value on the S-shaped speed curve;
the step S2 specifically includes:
s21, connecting the S-shaped speed curve section which can not be S-shaped planned with the adjacent S-shaped speed curve section to establish a temporary merging section;
s22, determining each motion parameter of the temporary merging section;
s23, determining the time evaluation value of the temporary merging section according to the step S1;
s24, if the time evaluation value is smaller than the sum of the two time evaluation values before combination, combining; otherwise, no merging is performed and the splice point is recorded to prevent later repeat decisions.
2. The adaptive merging evaluation method for S-shaped speed curves according to claim 1, wherein the step S22 specifically comprises: the smallest motion parameter of the combined sigmoidal speed profile segment which is not sigmoidal in plan and the adjacent sigmoidal speed profile segment is selected.
3. The S-shaped speed profile adaptive merging evaluation method according to claim 2, wherein the step S22 further comprises: while not exceeding the motion parameters allowed at the splice point.
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| CN113467368A (en) * | 2021-07-15 | 2021-10-01 | 苏州谋迅智能科技有限公司 | Method for adjusting S-shaped speed curve |
| CN113467378B (en) * | 2021-07-15 | 2024-03-29 | 苏州谋迅智能科技有限公司 | CNC time axis alignment method |
| CN114035513B (en) * | 2021-09-28 | 2024-07-02 | 苏州谋迅智能科技有限公司 | S-shaped speed curve look-ahead planning method and device, storage medium and computing equipment |
| CN114200892B (en) * | 2021-11-01 | 2024-07-05 | 苏州谋迅智能科技有限公司 | Method and device for smooth output of interactive input device, storage medium and device |
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