Abstract: The traditional S type acceleration/ deceleration algorithm in CNC system is not suitable for high-speed motion due to the mutation of jerk.A flexible acceleration/deceleration algorithm suitable for high-speed motion system was introduced,in which the velocity,acceleration,jerk and displacement were all consecutive and the values of jerk at the beginning and end point were zero.Compared with traditional trigonometric function algorithms,the proposed algorithm was more flexible and could give full play to the maximum acceleration performance of CNC machine tool.Displacement adaptation method and interval discrimination method were proposed to plan the acceleration and deceleration mode.The interval discrimination method could quickly find the interval of velocity value by a few simple calculations.The acceleration and deceleration curve parameters could be obtained by solving quadratic equation only once,which ensured the high efficiency.This algorithm was analyzed and discussed with MATLAB.Through experiment,the smooth continuous acceleration and velocity curve were obtained,which proved the accuracy and the feasibility of the proposed algorithm.

Key words: S type acceleration/deceleration, continuous jerk, fast planning, S-shaped curve algorithm, numerical control tools

摘要： 传统S型加减速算法的加加速度不连续,起止端存在突变导致机床进给过程中产生柔性冲击和振动,为改善机床动力学性能,提出一种加加速度无突变且起止端连续的加减速曲线,其加速度曲线由三角函数与直线连接组成,与纯三角函数加减速曲线相比可控性更强,可充分发挥机床的最大加速度性能。根据该加减速曲线特征,分别提出位移适配法和区间判别法对加减速模式进行规划分析和探讨。区间判别法只需简单少量计算,便可快速寻找出速度取值区间,规划出曲线构型,通过一次方程求解即可获得完整加减速曲线参数,具有高效的求解效率。对规划方法给出了详细的数学描述,并对曲线算法进行仿真和实验,得到平滑连续的加速度与速度曲线。仿真和实验结果证明了研究内容的正确性和方法的可行性。

关键词: S型加减速, 加加速度连续, 快速规划, S形曲线算法, 数控机床