中圖分類號：TP13 文獻標志碼：A DOI: 10.16157/j.issn.0258-7998.234117 中文引用格式： 謝翰君，王林,，王欽若. 基于動力學的自適應多段回溯前推實時速度規(guī)劃算法開發(fā)[J]. 電子技術應用,，2023，49(12)：120-126. 英文引用格式： Xie Hanjun,，Wang Lin,，Wang Qinruo. Development of a dynamics-based adaptive multi-segment look-ahead real-time velocity planning algorithm[J]. Application of Electronic Technique，2023，49(12)：120-126.
Development of a dynamics-based adaptive multi-segment look-ahead real-time velocity planning algorithm
Xie Hanjun1,，Wang Lin2,，Wang Qinruo1
1.School of Automation， Guangdong University of Technology,， Guangzhou 510000,， China； 2.Guogongxin （Cangzhou） Robot Co.,， Ltd.,， Cangzhou 061000， China
Abstract： A real-time velocity planning algorithm is proposed to improve the processing accuracy and efficiency of small line segments. The algorithm consists of two parts: a dynamics-based preliminary planning algorithm is proposed to optimize the actual acceleration of short line segments and improve the smoothness of motion, addressing the jitter problem of rigid-flexible coupling and heavy-load platforms in numerical control (NC) motion; a dynamics-based adaptive multi-segment look-ahead velocity planning algorithm is proposed to enhance processing efficiency for small straight lines/arcs, addressing the inefficiency issue of the single-segment look-ahead algorithm. The algorithm was tested on a PC-based real-time controller and a gantry dual-drive XY laser cutting platform and was compared with the adaptive feed-rate algorithm and single-segment look-ahead algorithm. The results show that the proposed algorithm improves both processing quality and efficiency. Additionally, the algorithm is simple and effective, and thus suitable for high real-time application environments.
Key words : CNC system,；velocity planning,；dynamics；look-ahead algorithm,；gantry dual-drive
