关键词: 颠簸度, 急动速度, 高阶柔性控制, 分段线性连续, 高速进给控制算法

Abstract: High order flexible feed could not be realized with the existing feed planning method conveniently and effectively which made against enhancing kinematical accuracy and suppressing vibration for high feed motion.Aiming at this conundrum,feed control algorithm with piecewise linear continuous jounce such as second derivative of acceleration was proposed.According to the planning parameters,feed motion was classified into transitional courses with and without constant acceleration phase,and the realization modes for each one were given separately with motion stroke.The curvature of a NURBS curve was analyzed,and its local maximum was used to split the curve into several sub-curves.The feasible feed for each curvature local maximum was determined,and the feed speed was scheduled with the proposed method and S curve algorithm for each sub-curve respectively based on displacement compatibility expression,as well as the results from them were compared.The result indicated that the proposed method could plan high order flexible feed motion and improve chord height precision significantly for high speed interpolation parameter contour.

Key words: jounce, jerk, high order flexible control, piecewise linear continuity, high speed feed control algorithm