CN116400648A - Speed planning method for uncertain interval - Google Patents
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- G—PHYSICS
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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
- G05B19/416—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 control of velocity, acceleration or deceleration
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Abstract
The invention relates to a speed planning method of an uncertain interval, which comprises the steps of establishing the speed planning method of the uncertain interval, firstly adopting a chord height error model to identify characteristic points of cutter position points, wherein the characteristic points are candidate points of the uncertain interval; secondly, compressing the characteristic tool points based on joint constraint of geometric characteristics such as angle deviation, curvature change and the like of adjacent tool points; again realizing that the knife positions with similar geometric characteristics of the original knife positions are in one interval, different values can be set according to chord height errors, adjacent deviation angles and curvature change thresholds, and different interval divisions can be obtained, so that reasonable speeds are planned. The method aims at setting different thresholds according to different cutter performance and processing speed requirements, so that an optimal interval can be selected in a plurality of interval divisions, and a basis is provided for follow-up concise and efficient speed planning.
Description
Technical Field
The invention belongs to the technical field of numerical control machine tool speed planning, and particularly relates to a speed planning method for an uncertain interval.
Background
Along with the development of science and technology, the numerically-controlled machine tool plays an increasingly important role in the field of machining, and although China starts later, the speed planning of the tool path is gradually perfected after decades of development, but the numerically-controlled machine tool still has some defects, such as difficulty in speed planning of the same speed interval, no need of accurate speed planning, large speed fluctuation generated in accurate speed planning of the tool path, influence on surface quality and the like.
The traditional method for planning the speed of the cutter on the numerical control machine tool is that according to different cutter positions on the cutter track, accurate speed planning is carried out on each cutter position, the cutter speed is related to the cutter track greatly, when the cutter moves from one cutter position to the next, the cutter speed is required to be changed frequently due to different speeds of each position, the cutter is easy to fluctuate due to the neglected speed, and a relatively flat processing surface cannot be obtained.
Disclosure of Invention
In order to solve the problems, the invention provides a speed planning method for an uncertain section, which is characterized in that according to different chord height errors, adjacent tool position point rotation angle deviation, curvature change and other thresholds, an uncertain section is divided for a section of tool position point to be processed through a chord height error model, so that a reasonable processing section is planned, and a reasonable tool speed is planned.
In order to achieve the aim of the invention, the invention adopts the following technical scheme: a method of speed planning for an uncertainty interval, comprising the steps of:
s1: selecting a section of cutter position point of the speed to be planned, and extracting characteristic points of the cutter position point on the section by using a chord height error model to serve as candidate points of the boundary of the uncertain interval;
s2: compressing the knife position points of the speed to be planned according to the feature points selected in the step S1 and the geometric feature values between the knife position points adjacent to the feature points to obtain segmented sections, and determining the end points on each segmented section in the uncertain sections;
s3: selecting chord Gao Wucha threshold values in different chord height error models, and geometrical characteristic values between the characteristic points and cutter position points adjacent to the characteristic points, and repeating the steps S1 and S2 to obtain candidate points of an array uncertain interval boundary and an array segmentation interval;
s4: determining an optimal chord Gao Wucha threshold and an optimal segmentation interval;
s5: the speed in each segment interval is separately planned based on the geometric parameters in each segment interval.
Preferably, the specific method for extracting the feature points by using the chord height error model in the step S1 is as follows:
s1.1: setting all points on a knife point of a speed to be planned, and setting a chord Gao Wucha threshold d r As a control factor;
s1.2: taking the starting point of the knife site as an initial point, and selecting the positions of j points from the starting point as a final point; calculating a middle point between the initial point and the final point, and obtaining a distance d between the initial point and the final point after the initial point and the final point are connected in a straight line;
s1.3: if d is greater than d r Taking the next point at the starting point as a new initial point, and repeating the step S1.2; if d is smaller than d r And (2) saving the terminal point as a candidate point of the boundary of the uncertain interval, and repeating the step (S1.2) by taking the saved terminal point as a new initial point.
Preferably, the geometric feature values between adjacent feature points in step S2 include a corner, a curvature, and a distance ratio between adjacent knife points.
Preferably, the specific method for compressing the cutter position points of the speed to be planned to obtain the segmented interval comprises the following steps: setting a threshold value of the corner deviation, curvature change and adjacent distance ratio between adjacent cutter points, calculating the corner, curvature and distance ratio between the candidate point and the adjacent cutter points, and if the corner deviation, curvature and distance ratio between the candidate point and the front cutter position point and the rear cutter position point are smaller than the corresponding threshold value, merging the candidate point into the same section; otherwise, the candidate point is a boundary point of the uncertainty section.
Preferably, in step S4, the specific method for determining the optimal chord Gao Wucha threshold and the optimal segmentation interval is as follows: calculating curvature, tangent line and chord height error in each section in each group of section interval; if the geometric features in each segment are close in a group of segment intervals, and the total number of the segment intervals is the minimum, the group of segment intervals are considered to be the optimal segment intervals.
Preferably, the geometric parameters in each segment interval described in step S5 include curvature, tangent line, chord height error.
Preferably, in step S5, the specific method for planning the speed in each segment interval is as follows: calculating the curvature of each cutter point, calculating the average curvature of each segmented section according to the curvature of each cutter point and the number of cutter points, and planning the speed in each segmented section based on the following formula;
wherein: q (Q) i The curvature R is the radius, F is the calculated section velocity, and a is the normal acceleration.
Preferably, the transition is made between adjacent segment intervals using a linear velocity.
An electronic device, comprising,
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of speed planning for an uncertainty interval described above.
A computer readable medium storing a computer program which, when executed by a processor, implements the above-described method of speed planning of an uncertainty interval.
The invention has the following beneficial effects:
1) According to the method, when the tool path is solved, the uncertain interval division can be reasonably performed according to the fact that a chord height error model is not adopted and the thresholds such as the corner deviation, the curvature change and the like of adjacent tool positions are combined, so that the path control is performed by using the same speed planning under the condition that the geometrical characteristics of the tool paths are similar; according to the invention, different thresholds are set according to different cutter performance and processing speed requirements, so that an optimal interval can be selected in a plurality of interval divisions, and a foundation is provided for the follow-up concise and efficient speed planning;
2) According to the method, the cutter position points with similar geometric characteristics of the original cutter position points are placed in one section, the points exceeding the set threshold value are used as section dividing points, so that a plurality of sections with different numbers are divided according to different threshold values, the average speed of each section is obtained according to the average curvature of the section and is used as the overall speed of the section, the speed on the whole cutter track is reasonably planned, and the adjacent sections are transited through linear speeds due to different planned speeds.
Drawings
FIG. 1 is a schematic overall flow chart of the present invention;
FIG. 2 is a schematic view of the tool path of the present invention during operation;
FIG. 3 is a schematic diagram of the division according to the embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The technical means used in the examples are conventional means well known to those skilled in the art unless otherwise indicated.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The invention provides a speed planning method of an uncertain interval, which is characterized in that a chord height error model is firstly adopted to identify characteristic points of cutter positions, wherein the characteristic points are candidate points of the uncertain interval; secondly, compressing the characteristic tool points based on joint constraint of geometric characteristics such as angle deviation, curvature change and the like of adjacent tool points; realizing that the cutter position points with similar geometric characteristics of the original cutter position points are in a section instead of precisely calculating the geometric characteristic value of each point, and dividing the section into points when the geometric characteristic value exceeds a threshold value; finally, different values can be set according to chord height errors, adjacent deviation angles and curvature change thresholds, different interval divisions can be obtained, and the uncertain intervals further plan out reasonable speeds according to geometric characteristics of cutter positions in the intervals, so that a speed planning method of the uncertain intervals is realized.
The uncertain interval in the invention is a section of a knife site to be planned, and is uncertain and divided into a plurality of sections. The invention aims at dividing the intervals based on the speed, thereby ensuring that the speed in each interval can be the same after the intervals are divided, and greatly reducing the speed change of the cutter.
Specifically, as shown in fig. 1-2, a speed planning method for an uncertain interval includes the following steps:
s1: selecting a section of cutter position point with a speed to be planned whether the cutting is line cutting or ring cutting, and extracting characteristic points of the section of cutter position point by using a chord height error model to serve as candidate points of an uncertain interval boundary; the specific method for extracting the characteristic points by using the chord height error model comprises the following steps:
s1.1: setting all points on a knife point of a speed to be planned, and setting a chord Gao Wucha threshold d r As a control factor;
s1.2: taking the starting point of the knife site as an initial point, and selecting the positions of j points from the starting point as a final point; calculating a middle point between the initial point and the final point, and obtaining a distance d between the initial point and the final point after the initial point and the final point are connected in a straight line;
s1.3: if d is greater than d r Taking the next point at the starting point as a new initial point, and repeating the step S1.2; if d is smaller than d r And (2) saving the terminal point as a candidate point of the boundary of the uncertain interval, and repeating the step (S1.2) by taking the saved terminal point as a new initial point.
Specifically, the site P of the knife is input 0 ，…，P n Combined with chord height error threshold d r As a control factor, let P k Point is the starting point, P j As the end point, wherein k is more than or equal to 0 and less than or equal to j-2, k+2 is more than or equal to j and less than or equal to n, and a middle point P is selected i K is less than i and less than j, and P is calculated i To straight line P k P j Distance d of (2); comparing d with a threshold d r If d is greater than d r Continuing searching downwards, otherwise, saving P j Point, at P k ＝P j As a new starting point, P j ＝P j+2 As a new endpoint, the search continues until all knife sites on the segment have been traversed, with the saved points being candidates for the boundary of the uncertainty interval.
S2: compressing the knife position points of the speed to be planned according to the feature points selected in the step S1 and the geometric feature values between the knife position points adjacent to the feature points to obtain segmented sections, and determining the end points on each segmented section in the uncertain sections; the geometric characteristic values between the adjacent characteristic points comprise the rotation angle, the curvature and the distance ratio between the adjacent knife points.
The specific method for compressing the cutter position points of the speed to be planned to obtain the segmented interval comprises the following steps: setting a threshold value of rotation angle deviation, curvature change and adjacent distance ratio between adjacent cutter points, calculating rotation angle, curvature and distance ratio (adjacent distance ratio and distance uniformity between control points) between the candidate points and the adjacent cutter points, and if the rotation angle deviation, curvature and distance ratio between the candidate points and the front cutter position points and the rear cutter position points are smaller than the corresponding threshold value, merging the candidate points into the same section; otherwise, the candidate point is a boundary point of the uncertainty section. That is, when compression segmentation is performed, front and rear tool positions adjacent to the candidate point (the tool position may not belong to the candidate point) are provided, the corner deviation, curvature and distance ratio are calculated between every two points, the calculated corner deviation, curvature and distance ratio is compared with the threshold value of the set corner deviation, curvature and distance ratio, and if the calculated corner deviation, curvature and distance ratio is smaller than the threshold value, the calculated corner deviation, curvature and distance ratio is in the same segmentation section; and if the calculated value of the angle deviation, the curvature and the distance ratio between certain two points is larger than a threshold value in the calculation process, the candidate point is taken as the boundary point of the segmented section.
Finally, a plurality of segmented intervals and end points at the head and tail of each segmented interval are obtained.
S3: selecting chord Gao Wucha threshold values in different chord height error models, and geometrical characteristic values between the characteristic points and cutter position points adjacent to the characteristic points, and repeating the steps S1 and S2 to obtain candidate points of an array uncertain interval boundary and an array segmentation interval; that is, when different chord height error thresholds and geometric feature values between adjacent feature points are selected, a plurality of groups of segment sections can be obtained, and the number of segments segmented by each group is different, or the segment positions are different.
S4: determining an optimal chord Gao Wucha threshold and an optimal segmentation interval; the specific method for determining the optimal chord Gao Wucha threshold and the optimal segmentation interval is as follows: calculating curvature, tangent line, chord height error and the like in each section in each group of section interval; if the geometric features in each segment are close in a group of segment intervals, and the total number of the segment intervals is minimum, the group of segment intervals are considered to be the optimal segment intervals.
S5: the speed in each segment interval is separately planned based on the geometric parameters in each segment interval. The geometric parameters in each segment interval comprise curvature, tangent line and chord height error. The specific method for planning the speed in each segment interval is as follows: the curvature of each cutter point is calculated, the average curvature of each segmented section is calculated according to the curvature of each cutter point and the number of cutter points, and the speeds in the segmented sections are planned based on the following formulas, so that the speeds of cutters can be the same in one segmented section, the speeds in the next segmented section are adopted after the transition to the next segmented section, and the problem of cutter tremble caused by different speeds of the cutters on each cutter point is avoided, so that the uneven machining surface is generated.
Q is as described above i The curvature R is the radius, F is the calculated section velocity, and a is the normal acceleration.
And (3) carrying out transition between adjacent segmented intervals by adopting linear speed, so as to realize speed planning of an uncertain interval of the whole track. The linear speed is the end point of the last section and the start point speed of the next section are subjected to linear addition and subtraction.
In summary, when solving the tool path, the invention can reasonably divide the uncertain intervals, ensure that the path control strategy is performed by using the same speed planning under the condition that the geometric characteristics of the tool path are similar, and set different thresholds according to different tool performance and processing speed requirements so as to generate the optimal uncertain intervals.
The invention also provides an electronic device comprising one or more processors; a storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of speed planning for an uncertainty interval described above.
The present invention also provides a computer readable medium storing a computer program which when executed by a processor implements the above-described method of speed planning of an uncertainty interval.
Examples
The tool path of a selected program section is composed of 29 tool positions, as shown in FIG. 3a, and a chord Gao Wucha threshold E is set for calculating the same speed interval thr Distance ratio l=0.1 thr =5, curvature ratio threshold Q thr =2. And obtaining the characteristic cutter site of the cutter site according to the error threshold, wherein the square cutter site is the characteristic cutter site as shown in fig. 3 b.
Further, curvature and distance calculations are performed for the feature knife sites and their adjacent original knife sites. 1/L thr ＜L i ＜L thr Or 1/Q thr ＜Q i ＜Q thr The feature knife sites are merged into the bins, meaning within the threshold. As shown in fig. 3c, the hollow dots are the start point and the end point of the same-speed interval, the 14 cutter position points are combined into the interval, and four sections with different speeds are finally obtained through uncertain interval division, wherein the speeds in each section are consistent, and the speeds in the different sections are different.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications, variations, alterations, substitutions made by those skilled in the art to the technical solution of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (10)
1. A method of speed planning for an uncertainty interval, comprising the steps of:
s1: selecting a section of cutter position point of the speed to be planned, and extracting characteristic points of the cutter position point on the section by using a chord height error model to serve as candidate points of the boundary of the uncertain interval;
s2: compressing the knife position points of the speed to be planned according to the feature points selected in the step S1 and the geometric feature values between the knife position points adjacent to the feature points to obtain segmented sections, and determining the end points on each segmented section in the uncertain sections;
s3: selecting chord Gao Wucha threshold values in different chord height error models, and geometrical characteristic values between the characteristic points and cutter position points adjacent to the characteristic points, and repeating the steps S1 and S2 to obtain candidate points of an array uncertain interval boundary and an array segmentation interval;
s4: determining an optimal chord Gao Wucha threshold and an optimal segmentation interval;
s5: the speed in each segment interval is separately planned based on the geometric parameters in each segment interval.
2. The method for speed planning of an uncertainty interval as set forth in claim 1, wherein: the specific method for extracting the characteristic points by using the chord height error model in the step S1 is as follows:
s1.1: setting all points on a knife point of a speed to be planned, and setting a chord Gao Wucha threshold d r As a control factor;
s1.2: taking the starting point of the knife site as an initial point, and selecting the positions of j points from the starting point as a final point; calculating a middle point between the initial point and the final point, and obtaining a distance d between the initial point and the final point after the initial point and the final point are connected in a straight line;
s1.3: if d is greater than d r Taking the next point at the starting point as a new initial point, and repeating the step S1.2; if d is smaller than d r And (2) saving the terminal point as a candidate point of the boundary of the uncertain interval, and repeating the step (S1.2) by taking the saved terminal point as a new initial point.
3. The method for speed planning of an uncertainty interval as set forth in claim 2, wherein: the geometric characteristic values between the adjacent characteristic points in the step S2 comprise the rotation angle, the curvature and the distance ratio between the adjacent knife points.
4. A method of speed planning for an uncertainty interval as claimed in claim 3, wherein: the specific method for compressing the cutter position points of the speed to be planned to obtain the segmented interval comprises the following steps: setting a threshold value of the corner deviation, curvature change and adjacent distance ratio between adjacent cutter points, calculating the corner, curvature and distance ratio between the candidate point and the adjacent cutter points, and if the corner deviation, curvature and distance ratio between the candidate point and the front cutter position point and the rear cutter position point are smaller than the corresponding threshold value, merging the candidate point into the same section; otherwise, the candidate point is a boundary point of the uncertainty section.
5. The method for speed planning of an uncertainty interval as set forth in claim 4, wherein: in step S4, the specific method for determining the optimal chord Gao Wucha threshold and the optimal segmentation interval is as follows: calculating curvature, tangent line and chord height error in each section in each group of section interval; if the geometric features in each segment are close in a group of segment intervals, and the total number of the segment intervals is the minimum, the group of segment intervals are considered to be the optimal segment intervals.
6. The method for speed planning of an uncertainty interval as set forth in claim 5, wherein: the geometric parameters in each segment interval described in step S5 include curvature, tangent line, chord height error.
7. The method for speed planning of an uncertainty interval of claim 6, wherein: in step S5, the specific method for planning the speed in each segment interval is as follows: calculating the curvature of each cutter point, calculating the average curvature of each segmented section according to the curvature of each cutter point and the number of cutter points, and planning the speed in each segmented section based on the following formula;
wherein: q (Q) i The curvature R is the radius, F is the calculated section velocity, and a is the normal acceleration.
8. The method for speed planning of an uncertainty interval as set forth in claim 1, wherein: and the transition is carried out between the adjacent segmented intervals by adopting linear speed.
9. An electronic device, characterized in that: comprising the steps of (a) a step of,
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of speed planning for an uncertainty interval of any of claims 1-8.
10. A computer readable medium storing a computer program, characterized in that: the computer program, when executed by a processor, implements a method of speed planning for an uncertainty interval according to any of claims 1-8.
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| CN118123849A (en) * | 2024-05-08 | 2024-06-04 | 鹏城实验室 | Robot track control method, device, equipment and storage medium |
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