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

doi:10.1007/s12204-021-2322-4

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

CLC Number:

TG 659

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.

References

[1] TSAI M C, CHENG M Y, LIN K F, et al. On acceleration/deceleration before interpolation for CNC motioncontrol [C]//IEEE International Conference onMechatronics. Taipei, China: IEEE, 2005: 382-387. [2] LI D, WU J W, WAN J F, et al. The implementationand experimental research on an S-curve accelerationand deceleration control algorithm with the characteristicsof end-point and target speed modification on thefly [J]. The International Journal of Advanced ManufacturingTechnology, 2017, 91: 1145-1169. [3] WANG Y S, YANG D S, LIU Y Z, et al. Velocity planningand parameter calculating in NURBS interpolation[J]. Computer Integrated Manufacturing Systems,2014, 20(8): 1896-1902 (in Chinese). [4] SHI C, ZHAO T, YE P Q, et al. Study on S-shapecurve acceleration and deceleration control on NC system[J]. China Mechanical Engineering, 2007, 18(12):1421-1425 (in Chinese). [5] ZHENG K J, CHENG L. Adaptive S-curve acceleration/deceleration control method [C]//7th WorldCongress on Intelligent Control and Automation.Chongqing, China: IEEE, 2008: 2752-2756. [6] LUO F Y, YOU Y P, YIN J. Research on the algorithmof NURBS curve bidirectional optimization interpolationwith S-type acceleration and deceleration control[J]. Journal of Mechanical Engineering, 2012, 48(5):147-156 (in Chinese). [7] SUN Y E, LIN H. Effective non-uniform rational Bsplineinterpolator based on look-ahead algorithm [J].Computer Integrated Manufacturing Systems, 2009,15(10): 2029-2033 (in Chinese). [8] XU S L, XU Z B, GU T L, et al. Look-ahead interpolationalgorithm of NURBS curve based on interferencepretreatment [J]. Computer Integrated ManufacturingSystems, 2015, 21(5): 1229-1236 (in Chinese). [9] FENG Q, WANG L. FPGA-based accelerationand deceleration control for CNC machine tools[C]//International Conference on Mechatronic Sciences Electric Engineering and Computer. Shenyang,China: IEEE, 2013: 210-214. [10] DU D S, LIU Y D, GUO X G, et al. An accurate adaptiveNURBS curve interpolator with real-time flexibleacceleration/deceleration control [J]. Robotics andComputer-Integrated Manufacturing, 2010, 26(4): 273-281. [11] LI J G, ZHANG T H, LI Z X, et al. A completed adaptiveNURBS curve interpolator algorithm [J]. ChinaMechanical Engineering, 2008, 19(9): 1095-1098 (inChinese). [12] ZHAO G Y, ZHAO Y G, ZHAO Q Z. Acceleration& deceleration approach based on continuous jerk inCNC motion [J]. Computer Integrated ManufacturingSystems, 2011, 17(2): 316-320 (in Chinese). [13] GUO X G, LI C X. A new flexible acceleration anddeceleration algorithm [J]. Journal of Shanghai JiaoTong University, 2003, 37(2): 205-207 (in Chinese). [14] SONG Q Y, GUO B F, LI J, et al. Flexible accelerationand deceleration control algorithm for servo press [J].Transactions of the Chinese Society for AgriculturalMachinery, 2013, 44(6): 269-273 (in Chinese). [15] LIU H J. Research of NURBS interpolation algorithmand acceleration-deceleration control for five-axis machining[D]. Nanjing, China: Nanjing University ofAeronautics and Astronautics, 2017 (in Chinese). [16] LIU Q, LIU H, ZHOU S K, et al. Look-ahead feedrateplanning for continuous multi-type curve segments[J]. Computer Integrated Manufacturing Systems,2015, 21(9): 2369-2377 (in Chinese). [17] NIEN H W, YAU H T, SU H C, et al. On acceleration/deceleration hybrid interpolation for multiblocksof NURBS curves [C]//IEEE/ASME InternationalConference on Advanced Intelligent Mechatronics.Xi’an, China: IEEE, 2008: 910-915. [18] TSAI M S, NIEN H W, YAU H T. Development ofintegrated acceleration/deceleration look-ahead interpolationtechnique for multi-blocks NURBS curves [J].The International Journal of Advanced ManufacturingTechnology, 2011, 56: 601-618. [19] HUANG H M. An adjustable look-ahead acceleration/deceleration hybrid interpolation technique withvariable maximum feedrate [J]. The InternationalJournal of Advanced Manufacturing Technology, 2018,95: 1521-1538. [20] PENG J Q. Research on look-ahead interpolation technologyof non-uniform rational B-splines [D]. Xuzhou,China: China University of Mining and Technology,2017 (in Chinese).