具急衝度限制之多軸運動加減速規劃; Acceleration/Deceleration Planning with Jerk Limitation for Multi-Axis Motion Control

NCUIR > Engineering College > Graduate Institute of Mechanical Engineering > Electronic Thesis & Dissertation > Item 987654321/2189

Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/2189

Title:	具急衝度限制之多軸運動加減速規劃;Acceleration/Deceleration Planning with Jerk Limitation for Multi-Axis Motion Control
Authors:	張維仁;Wei-Jen Chang
Contributors:	機械工程研究所
Keywords:	加減速規劃;急衝度限制;Jerk limitation;Acceleration/deceleration planning
Date:	2002-07-03
Issue Date:	2009-09-21 11:40:26 (UTC+8)
Publisher:	國立中央大學圖書館
Abstract:	CNC控制器運動控制命令主要包含運動路徑插值以及運動加減速規劃兩部分。不良的加減速會令機台產生結構振動，因而導致工件或刀具移動定位不精確，增加機台磨耗縮短使用期限。所以規劃平滑化的加減速在機台的急衝度限制之下，對於高速高精度的CNC控制器是一個相當重要的性能。本論文介紹兩種加減速規劃方法，混和型S曲線（Blended S- Curve）以及正弦函數平方曲線（Squared Sine）。此兩速度曲線可以在機台加速度和急衝度等物理限制之下完成運動位移。另外使用重疊一段時間的方法來規劃急衝度限制下的多軸連續運動。最後以多軸運動控制卡以及伺服驅動馬達來實現本論文所介紹的方法。 Motion control command of CNC controller includes path interpolation and acceleration/deceleration planning. Smooth feed acceleration/deceleration with jerk limitation noticeably reduces wear on mechanical parts and optimizes travel response. Jerk limitation is an important factor when attempting to obtain high speed cutting (HSC) on CNC machines. This thesis imposes Blended S-Curve and Squared Sine function to provide smooth velocity profiles for point-to-point motion. The trajectories are depended on the acceleration and jerk constraints of machine. Overlapping one period of time has been used for continuous motion. The proposed velocity profiles have been implemented by two servo driver/motors and multi-axis motion control card.
Appears in Collections:	[Graduate Institute of Mechanical Engineering] Electronic Thesis & Dissertation

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