Speed Planning Algorithm Based on Improved S-Type Acceleration and Deceleration Model

doi:10.1007/s12204-021-2322-4

J Shanghai Jiaotong Univ Sci ›› 2021, Vol. 26 ›› Issue (6): 786-793.doi: 10.1007/s12204-021-2322-4

收稿日期:2019-06-29 出版日期:2021-11-28 发布日期:2021-12-01
通讯作者: ZHAO Dongbiao? (赵东标), ?E-mail: zdbme@nuaa.edu.cn

Speed Planning Algorithm Based on Improved S-Type Acceleration and Deceleration Model

LUO Huimiao (罗晖淼), ZHAO Dongbiao∗ (赵东标), FU Wenqiang (付文强)

(College of Mechanical and Electronic Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing 210016, China)

Received:2019-06-29 Online:2021-11-28 Published:2021-12-01

摘要/Abstract

Abstract: The acceleration saltation of the traditional S-type acceleration model in the speed planning of theNURBS curve will result in the vibration and flexible impact of the machine tool. It will affect the surface qualityof the components. The high speed smooth S-type acceleration and deceleration model deals with flexible impact,but the calculation is tedious. Aimed at the above problems, the traditional S-type acceleration and decelerationmodel is improved to make the jerk change linearly at a certain slope to reduce the flexible impact. Before thespeed planning, it is needed to find the arc length and curvature of each point on the NURBS curve with atiny step, and to determine the speed sensitivity point on the curve accordingly. According to the speed sensitivepoint, the NURBS curve is segmented. The attribute parameters of each section are determined by adaptive speedplanning. Then, the speed planning can be performed on the NURBS curve according to the speed characteristicsclassification. The simulation results show that the algorithm can effectively reduce the flexible impact, improvethe machining precision and efficiency, and simplify the classification of speed characteristics.

Key words: speed planning, flexible impact, classification of speed characteristics, improved S-type accelerationand deceleration

中图分类号:

TG 659

. [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(6): 786-793.

LUO Huimiao (罗晖淼), ZHAO Dongbiao∗ (赵东标), FU Wenqiang (付文强). Speed Planning Algorithm Based on Improved S-Type Acceleration and Deceleration Model[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(6): 786-793.

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Speed Planning Algorithm Based on Improved S-Type Acceleration and Deceleration Model

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