关键词: 非均匀有理B样条, 曲线插补, 加减速控制, 实时自适应控制, 弓高误差, 法向加速度

Abstract: A new ACCeleration-DECeleration method (ACCDEC) was put forward, which aimed at the shortages of parabola-line-parabola S shaped ACC-DEC. The proposed approach was designed to satisfy the requirements of Non-Uniform Rational B-Spline (NURBS) interpolation with high-speed and highaccuracy. In this method, it provided good performance from two aspects through taking chord error and jerk into consideration. Firstly, feed-rate could satisfy the demand of ACC-DEC. Secondly, feed-rate could be adapted to the curve's curvature. Therefore, it could limit the contour accuracy and reduce the impact on machine. Meanwhile, based on contouring error limitation and maximal centripetal acceleration, algorithms were optimized and simplified, so that the real-time adaptive ACCE-DEC control of NURBS interpolation could be realized. Simulation result of interpolation examples showed that the method presented here satisfied the needs of velocity and acceleration-deceleration, ensured the high-speed and high-accuracy, and smoothed the velocity profile.

Key words: Non-uniform rational B-spline, curve interpolation, acceleration-deceleration control, real-time adaptive control, chord error, centripetal acceleration