关键词: 进给速度规划, 最小燃料控制模型, 急动度, 非线性规划

Abstract: Based on the S-shaped feedrate planning scheme,a fuel minimization control model for parametric curve was presented.The optimality quantitative evaluation for the heuristics of flexible acceleration control was solved in the context of motion control.The velocity,acceleration and jerk constraints were considered simultaneously in the model to realize the optimized smooth feedrate of the control trajectory.Moreover,considering the mechanical inertia,the proposed control model assumed that the acceleration starts from zero-transition and the control trajectory could be made more symmetrical then be given.Due to the structural characteristics of S-shaped trajectory control,the fuel minimization control problem was transformed into a non-linear programming problem.Compared with the existing time minimization model,the fuel minimization model had a broader implication and applicability.Through analyzing the sharp turning points,the entire piecewise curve could be split into a set of S-shaped velocity segment.The optimal S-shaped feedrate planning problem was formulated for both single-axis and multi-axis motion,and the energy consumption was also evaluated for the trajectory control strategy.Numerical simulation results demonstrated the effectiveness of the proposed control method.

Key words: federate planning, optimal fuel control problem, jerk, nonlinear programming