Abstract: For inconsistencies of discrete speed requirement with continuous velocity planning in NURBS curve interpolation,a S-type series velocity planning algorithm was proposed for NURBS curves,which was entirely designed by the discrete method to meet the discrete requirements of uniform speed within the interpolation cycle and its step changes between interpolation cycle in actual interpolations.According to the known conditions to calculate the number of interpolation cycle,S-type series velocity curve was planned for this reason.S-type series velocity planning algorithm was consistent with the actual interpolating speed requirements,and the speed margin factor compensated for speed losses caused by the rounding algorithm.MATLAB simulation results showed the effectiveness of the algorithm.

Key words: series algorithm, velocity planning, margin factor, NURBS curves, numencal control systems

摘要： 针对NURBS曲线插补时采用连续积分的速度规划算法与插补离散不一致性的问题,提出一种NURBS曲线的S型级数式速度规划算法,该算法完全按离散方式进行设计,满足实际插补时在插补周期内匀速、速度阶跃变化的离散性要求。根据已知条件计算出加减速、匀速等相应段的插补周期数,以此规划出离散级数式速度曲线。S型级数式速度规划算法与实际插补离散性要求一致,且设定的加减速余量因子修正了圆整算法对速度造成的损失。通过MATLAB仿真实验验证了该算法的有效性。

关键词: 级数式算法, 速度规划, 余量因子, NURBS曲线, 数控系统