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

摘要： 现有进给速度规划算法难以方便有效地实现高阶柔性进给运动,不利于提高高速进给定位精度和抑制其振动,为此提出加速度二阶导数即颠簸度分段线性连续的高速进给控制算法。按速度规划参量将其划分为有、无恒加速两种类型,并结合运动行程分别给出了每类进给运动的实现方式;分析了一条非均匀有理B样条曲线的曲率,并根据其局部极大值分割该曲线,确定了各曲率极值点的可行进给速度,由各子段曲线内的位移协调关系,分别利用所提算法及S曲线规划了该曲线的进给速度并进行比较。结果表明,所提算法可为高速加工参数轮廓规划高阶柔性的进给速度,并有效提高插补弦高精度。

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