外文翻译_cnc加工加减速平稳变化的方法

AGENERALIZEDAPPROACHFORTHEACCELERATIONANDDECELERATIONOFCNCMACHINETOOLSJAEWOOKJEONDEPARTMENTOFCONTROLANDINSTRUMENTATIONENGINEERINGSUNGKYUNKWANUNIVERSITY300CHUNCHUNDONG,JANGANGU,SUWONCITY,KOREAABSTRACTMANYTECHNIQUESFORTHEACCELERATIONANDDECELERATIONOFCNCMACHINETOOLSHAVEBEENPROPOSEDINORDERTOMAKECNCMACHINETOOLSPERFORMGIVENMACHININGTASKSEFFICIENTLYSINCETHEYSHOULDBECALCULATEDINALIMITEDTIME,MOSTOFTHEMARENOTCOMPUTATIONALLYINTENSIVEHOWEVER,THESEPREVIOUSTECHNIQUESCANNOTGENERATEVELOCITYPROFILESHAVINGSOMEKINDSOFACCELERATIONANDDECELERATIONCHARACTERISTICSTHOUGHTHEYCANGENERATEVELOCITYPROFILESHAVINGVARIOUSACCELERATIONANDDECELERATIONCHARACTERISTICSTHISPAPERPROPOSESAGENERALIZEDAPPROACHFORGENERATINGVELOCITYPROFILESWHICHCANNOTBEGENERATEDBYPREVIOUSTECHNIQUESASWELLASVELOCITYPROFILESGENERATEDBYTHEMACCORDINGTOTHEDESIREDCHARACTERISTICSOFACCELERATIONANDDECELERATION,EACHSETOFCOEFFICIENTSISCALCULATEDANDISSTOREDGIVENAMOVINGDISTANCE,ANACCELERATIONINTERVAL,ANDADECELERATIONINTERVALFORCNCMACHINETOOLS,AVELOCITYPROFILEHAVINGTHEDESIREDCHARACTERISTICSOFACCELERATIONANDDECELERATIONCANBEEFFICIENTLYGENERATEDBYUSINGTHESECOEFFICIENTSITWILLBESHOWNHOWTOGENERATETYPICALVELOCITYPROFILESBYTHEPROPOSEDTECHNIQUEIINTRODUCTIONTHEDEMANDFORBETTERACCURACYINTHEMANUFACTURINGOFCOMPLICATEDPARTSANDTHEDESIRETOINCREASEPRODUCTIVITYHAVEDEVELOPEDCNCSYSTEMSSOTHATCNCMACHINETOOLSMOVEMOREACCURATELYANDMOREQUICKLYSINCETHECOMBINEDCHARACTERISTICSOFTHECONTROLANDTHEMACHINETOOLDETERMINETHEFINALACCURACYANDPRODUCTIVITYOFTHECNCSYSTEM,THEREAREMANYFACTORSTOCONSIDERFORIMPROVINGTHESEQUANTITIESONEOFTHEIMPORTANTFACTORSISEFFICIENTLYGENERATINGVELOCITYPROFILESWHICHHAVETHEDESIREDACCELERATIONANDDECELERATIONCHARACTERISTICSWHICHINTURNAREDETERMINEDACCORDINGTOGIVENMACHININGTASKSMANYRESEARCHERSHAVEPROPOSEDTECHNIQUESFORGENERATINGVELOCITYPROFILESOFCNCMACHINETOOLSONEOFTHEMISGENERATINGVELOCITYPROFILESBYTHESELECTIONOFPOLYNOMIALFUNCTIONS1THISTECHNIQUECANGENERATESOMANYKINDSOFVELOCITYPROFILESANDFURTHERMORECANMAKETHECHARACTERISTICSOFDECELERATIONBEINDEPENDENTFROMTHATOFACCELERATIONTHEMAJORPROBLEMOFTHISTECHNIQUEISCOMPUTATIONALLOADTOINCREASEALMOSTEXPONENTIALLYWITHTHEORDEROFPOLYNOMIALINTHEACCELERATIONORTHATINTHEDECELERATIONDUETOTIMECONSTRAINTS,ITISVERYDIFFICULTTOAPPLYTHESETECHNIQUESTOCONTROLLINGCNCSYSTEMSOTHERPREVIOUSTECHNIQUESFORGENERATINGVELOCITYPROFILESISBASEDONADIGITALCONVOLUTION26THESETECHNIQUESAREMUCHMOREEFFICIENTTHANTHETECHNIQUESSELECTINGPOLYNOMIALFUNCTIONSANDAREEASILYIMPLEMENTEDBYAHARDWAREBUT,INVELOCITYPROFILESGENERATEDBYTHESETECHNIQUES,THEACCELERATIONINTERVALISALWAYSSAMEASTHEDECELERATIONINTERVALANDTHECHARACTERISTICSOFDECELERATIONAREDEPENDENTONTHATOFTHEACCELERATIONTHUS,SOMEVELOCITYPROFILESCANNOTBEGENERATEDBYTHESETECHNIQUESINTHISPAPER,AGENERALIZEDAPPROACHFORTHEACCELERATIONANDDECELERATIONOFCNCMACHINETOOLSISPROPOSEDTHEPROPOSEDTECHNIQUEISASSIMPLEANDEFFICIENTASTHETECHNIQUESBASEDONADIGITALCONVOLUTIONANDCANGENERATEVELOCITYPROFILESWHICHHAVEMOREVARIOUSCHARACTERISTICSOFACCELERATIONANDDECELERATIONTHANTHETECHNIQUESBASEDONADIGITALCONVOLUTIONCANTHATIS,THEPROPOSEDTECHNIQUECANGENERATEVELOCITYPROFILESOFWHICHTHEDECELERATIONCHARACTERISTICSAREINDEPENDENTFROMTHEACCELERATIONCHARACTERISTICSFIRST,SOMECOEFFICIENTSARECALCULATEDANDARESTOREDACCORDINGTOTHEACCELERATIONCHARACTERISTIC,THEDECELERATIONCHARACTERISTIC,ANDTHEACCELERATIONINTERVAL,ANDTHEDECELERATIONINTERVALTHENGIVENADESIREDMOVINGDISTANCE,AVELOCITYPROFILEWHICHHASTHEDESIREDCHARACTERISTICSISGENERATEDBYCALCULATINGTHEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMETHEPOSITIONINCREMENTDURINGEACHSAMPLINGISCALCULATEDBYMULTIPLYINGTHESTOREDCOEFFICIENTSWITHTHEPRODUCTOFONESAMPLINGTIMEANDTHEVELOCITYAFTERACCELERATIONINSECTIONII,EXISTINGTECHNIQUESFORGENERATINGVELOCITYPROFILESOFCNCMACHINETOOLSWILLBEEXPLAINEDINSECTIONIII,ITWILLBEEXPLAINEDHOWTOGENERATEADESIREDVELOCITYPROFILEBYTHEPROPOSEDTECHNIQUETHEPROPOSEDTECHNIQUEANDOTHEREXISTINGTECHNIQUESWILLBECOMPAREDINSECTIONIV,ITWILLBESHOWNTHATTHEPROPOSEDTECHNIQUECANGENERATESOMEUSEFULVELOCITYPROFILESFORCNCMACHINETOOLSIIPREVIOUSTECHNIQUESFORTHEILLUSTRATIONOFTHEPREVIOUSTECHNIQUES,LETUSCONSIDERONESINGLEAXISCONTROLSYSTEMOFWHICHTHEMAXIMUMVELOCITY,THEMAXIMUMACCELERATION,ANDTHESAMPLINGTIMEAREVMAX，AMAX，ANDTSRESPECTIVELYIFTHISSYSTEMMOVESTHEGIVENDISTANCESATTHEMAXIMUMVELOCITYVMAX,THENTHEMOVEMENTTIMET1INTHERECTANGULARVELOCITYPROFILEWILLBET1S/VMAXPTS,1SELECTINGANINTEGERNWHICHISTHESMALLESTINTEGERAMONGINTEGERSWHICHAREEQUALTOORGREATERTHANP,THERESULTINGRECTANGULARVELOCITYPROFILEISCONSTRUCTEDASINFIG1THEVELOCITYANDPOSITIONEQUATIONSFORTHISPROFILEARETHEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEIS0001/,14SSSPKTPKTSNKNWHEREANDARETHEPOSITIONCOMMANDSATTHEANDKTHTHESAMPLINGTIMESRESPECTIVELYTHATIS,THEPOSITIONINCREMENTDURINGEVERY1THSAMPLINGTIMEISTHESAMEHOWEVER,SINCENOPHYSICALSYSTEMCANACHIEVETHEABOVERECTANGULARVELOCITYPROFILEDUETOIMPULSEACCELERATION,THEACCELERATIONINTERVALTOINCREASEVELOCITYFROMTHERESTTOASPECIFIEDVALUEANDTHEDECELERATIONINTERVALTODECREASEVELOCITYFROMTHESPECIFIEDVALUETOTHERESTARENEEDEDIIASELECTIONOFPOLYNOMIALFUNCTIONSGIVENANACCELERATIONINTERVALTSNATS,ADECELERATIONINTERVALTDNDTSWHERENAND,ANDADISTANCES,ATRAPEZOIDALVELOCITYPROFILEWHICHHASTHELINEARACCELERATIONANDDECELERATIONCHARACTERISTICSCANBECONSTRUCTEDASINFIG2IFTHISPROFILEHASTHECONSTANTVELOCITYINTERVAL,THENNS/VMAXTSISLARGERTHANNATHEVELOCITYANDPOSITIONEQUATIONSFORTHISPROFILEAREAND1ASASSSAASSTTTNTVTNTNST50/,23SSTSTNFIG1ARECTANGULARVELOCITYPROFILEFORMOVINGADISTANCESFIG2ATRAPEZOIDALVELOCITYPROFILEFORMOVINGADISTANCESINTHEABOVEDERIVATION,ITISASSUMEDTHATTHEACCELERATIONINTERVALISTHESAMEASTHEDECELERATIONINTERVALANDTHECONSTANTVELOCITYINTERVALISPRESENTINTHECASETHATTHEACCELERATIONINTERVALISDIFFERENTFROMTHEDECELERATIONINTERVALORTHECONSTANTVELOCITYINTERVALISNOTPRESENT,SIMILAREQUATIONSAREPOSSIBLETODERIVETHISTRAPEZOIDALVELOCITYPROFILEWHICHHASTHELINEARACCELERATIONANDDECELERATIONCHARACTERISTICSISPARTICULARLYEFFECTIVEFORCONTROLLINGAMACHINETOOLHAVINGAHIGHDEGREEOFRIGIDITYHOWEVER,LARGEJERKQUANTITYATTHESTOPPOINTINTHETRAPEZOIDALVELOCITYPROFILEMAYWEAROUTALEADSCREWASSEMBLYVERYQUICKLYANDBELIKELYTOMAKEMACHINETOOLSHAVINGLITTLERIGIDITYVIBRATESINCESMOOTHVELOCITYPROFILESWHICHHAVEPARABOLICSECONDORDERORHIGHERORDERACCELERATIONANDDECELERATIONCHARACTERISTICSDONOTHAVELARGEJERKQUANTITYATTHESTOPPOINT,THESEVELOCITYPROFILESAREVERYOFTENUSEDFORCNCMACHINETOOLS16SEVERALTECHNIQUESWHICHSELECTAPOLYNOMIALFUNCTIONFORGENERATINGVELOCITYPROFILESWITHSMALL2120ASASSSASSASASTTTNTPTTNSNTTTTNT6JERKQUANTITYHAVEBEENPROPOSED1GIVENPOSITION,VELOCITY,ANDACCELERATIONATTHEINITIALANDFINALPOSITIONS,ACLASSOFPOLYNOMIALFUNCTIONSFORSATISFYINGTHESECONDITIONSISSELECTEDONEAPPROACHISTOSPECIFYASEVENTHDEGREEPOLYNOMIALFOREACHAXISANOTHERAPPROACHISTOSPLITTHEENTIRETRAJECTORYINTOSEVERALTRAJECTORYSEGMENTSSOTHATDIFFERENTPOLYNOMIALSOFALOWERDEGREECANBEUSEDINEACHTRAJECTORYSEGMENTTHEMOSTCOMMONMETHODSARE434TRAJECTORY,353TRAJECTORY,AND5CUBICTRAJECTORYTHEMAJORPROBLEMINGENERATINGVELOCITYPROFILESBYTHESELECTIONOFPOLYNOMIALFUNCTIONSISCOMPUTATIONALLOADTHEREQUIREDTIMEFORGENERATINGASMOOTHVELOCITYPROFILEINCREASESALMOSTEXPONENTIALLYWITHADDEDORDERTHEREFORE,ITISALMOSTIMPOSSIBLETOUSETHESETECHNIQUESFORGENERATINGANARBITRARYSMOOTHVELOCITYPROFILEBECAUSEOFTIMECONSTRAINTSINCONTROLLINGCNCMACHINESYSTEMSIIBDIGITALCONVOLUTIONTECHNIQUESGIVENANACCELERATIONINTERVALTANATSWHICHDETERMINESTHEDECELERATIONINTERVALTDNDTSNATSBECAUSETWOINTERVALSCANNOTBEDIFFERENTINVELOCITYPROFILESGENERATEDBYDIGITALCONVOLUTIONTECHNIQUESANDADESIREDDISTANCES,ATRAPEZOIDALVELOCITYPROFILEWHICHHASTHELINEARACCELERATIONANDDECELERATIONCHARACTERISTICSCANBECONSTRUCTEDBYDIGITALCONVOLUTIONTECHNIQUESTHEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEINATRAPEZOIDALVELOCITYPROFILEPLKTSISCONSTRUCTEDBYTHECONVOLUTIONOFTHEPOSITIONINCREMENTP0KTSASIN4DURINGEACHSAMPLINGTIMEINARECTANGULARVELOCITYPROFILEANDTHESEQUENCEHKTSGIVENBY,7MKTHS1MK1WHERE8AANASINFIG3THERELATIONSHIPBETWEENP0ANDP1ISEXPRESSEDASTHEFOLLOWINGRECURSIVEEQUATION2EQUATION9PROVIDESTHEBASICINFORMATIONFORTHETRAPEZOIDALVELOCITYPROFILEBASEDON9,WECANDESIGNTHEHARDWARESYSTEMFORTRAPEZOIDALVELOCITYPROFILESASINFIG4,WHEREBUFFERREGISTERSACTASDELAYELEMENTS4ASECONDORDERVELOCITYPROFILEWHICHHASTHEPARABOLICACCELERATIONANDDECELERATIONCHARACTERISTICSCANALSOBECONSTRUCTEDBYDIGITALCONVOLUTIONTECHNIQUESTHEPOSITIONINCREMENTINASECONDORDERVELOCITYPROFILE2P0011SSSPKTPKTM9CANBEOBTAINEDBYSUCCESSIVECONVOLUTIONSASINFIG5WHERE1011/IIISMFORKMHKTTHESHAPEOFSECONDORDERVELOCITYPROFILECANBEDETERMINEDBYTHEVALUESOFM1ANDM22,4THERELATIONSHIPBETWEENANDISEXPRESSEDASTHEFOLLOWING1SPKT2SRECURSIVEEQUATIONS2FIG3ADIGITALCONVOLUTIONFORATRAPEZOIDALVELOCITYPROFILEFIG4AHARDWARESTRUCTUREFORATRAPEZOIDALVELOCITYPROFILEFIG5SUCCESSIVEDIGITALCONVOLUTIONSFORASECONDORDERVELOCITYPROFILE112221SSSSPKTTPKTMSIMILARLY,THEPOSITIONINCREMENTOFASMOOTHVELOCITYPROFILEWHICHHASTHEHIGHORDERACCELERATIONANDDECELERATIONCHARACTERISTICSCANBEOBTAINEDBYSEVERALSUCCESSIVECONVOLUTIONSASINFIG6WHEREEACHSEQUENCEHASTHESIMILARMEANINGASIN10THESHAPEOFTHESMOOTHVELOCITYPROFILECANBEDETERMINEDBYTHEVALUESOFML,M2,MQ,ANDQ2,4THERELATIONSHIPSBETWEENANDARE01,PQPEXPRESSEDASTHEFOLLOWINGRECURSIVEEQUATIONS2THEVELOCITYPROFILESGENERATEDBY13HAVETHEPROPERTYTHATTHEMOVINGDISTANCESDURINGTHEACCELERATIONINTERVALANDDURINGTHEDECELERATIONINTERVALARESAMETHESEDISTANCESAREALSOSAMEASTHEMOVINGDISTANCEOFTRAPEZOIDALVELOCITYPROFILEDURINGTHEACCELERATIONINTERVALUNDERTHESAMECONDITIONINORDERTOGENERATEANARBITRARYSHAPEVELOCITYPROFILE,THEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEINTHEDESIREDVELOCITYPROFILECANBEGENERATEDFROMSPKTTHEFOLLOWINGCONVOLUTION2,4FROMTHEAPPROPRIATEOFCHOICEAI,FORI1,2,M,THEDESIREDVELOCITYPROFILECANBE00111SSSSKTTKT00111,SSSSPKTTKTM222111SSSSQSQSQSQSKPPTTKKT011/KMSSIIIPTTA11121314OBTAINEDTHEHARDWARESYSTEMBASEDON14FORGENERATINGANARBITRARYVELOCITYPROFILECANBEDESIGNEDASINFIG7THEACCELERATIONANDDECELERATIONINTERVALT,ISGIVENBYTAMTS2,4IN3,ASIMILARCONVOLUTIONTECHNIQUEWHICHCANGENERATEVELOCITY12321ANASNPROFILESWHICHHASSEVERALACCELERATIONANDDECELERATIONCHARACTERISTICSISDERIVEDWHILETHECOMPUTATIONALLOADFORGENERATINGSMOOTHVELOCITYPROFILEBYTHESEDIGITALCONVOLUTIONTECHNIQUESISMUCHLESSTHANTHATFORTHESELECTIONOFPOLYNOMIALTECHNIQUES,THEDECELERATIONCHARACTERISTICGENERATEDBYTHESETECHNIQUESISDETERMINEDFROMTHEACCELERATIONCHARACTERISTICSTHATIS,THEDECELERATIONCHARACTERISTICCANNOTBEMADETOBEINDEPENDENTFROMTHEACCELERATIONCHARACTERISTICBYUSINGDIGITALCONVOLUTIONTECHNIQUESTHEREFORE,SOMEUSEFULVELOCITYPROFILESFORCNCMACHINETOOLSCANNOTBEGENERATEDBYTHESECONVOLUTIONTECHNIQUESFIG6SUCCESSIVEDIGITALCONVOLUTIONSFORAHIGHERORDERVELOCITYPROFILEIIIPROPOSEDTRAJECTORYGENERATIONTECHNIQUEASINSECTIONII,LETUSCONSIDERONESINGLEAXISCONTROLSYSTEMOFWHICHTHEMAXIMUMVELOCITY,THEMAXIMUMACCELERATION,ANDTHESAMPLINGTIMEAREVMAX,AMAX,ANDTSRESPECTIVELYGIVENANACCELERATIONINTERVALTANATS,ADECELERATIONINTERVALTDNDTS,ANDADISTANCES,AVELOCITYPROFILEWHICHHASTHEDESIREDCHARACTERISTICSOFACCELERATIONANDDECELERATIONCANBECONSTRUCTEDBYTHEPROPOSEDTECHNIQUEIIIALINEARACCELERATIONANDDECELERATIONINTHETECHNIQUESELECTINGPOLYNOMIALFUNCTIONS,THEVELOCITYEQUATIONWHICHHASTHELINEARACCELERATIONANDDECELERATIONCHARACTERISTICSISCALCULATEDBY5THECOEFFICIENTSOF5MAYVARYACCORDINGTOGIVENCONDITIONSBUTTHERATIOBETWEENTHEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEINTHEACCELERATIONINTERVALISFIXEDTHATIS,INFIG8SIMILARLY,THERATIOBETWEENEACHPOSITIONINCREMENTINTHEDECELERATIONINTERVALISFIXEDTHEREFORE,THEVELOCITYPROFILEWHICHHASTHELINEARACCELERATIONANDDECELERATIONCHARACTERISTICSCANBECALCULATEDASTHEFOLLOWINGITHEVELOCITYAFTERTHEACCELERATIONVMISDETERMINEDASFIG7THEHARDWARESTRUCTUREOFARBITRARYACCELERATIONANDDECELERATIONWHERE16MAXSADNS/VTL/2NIITHENTHEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEISCALCULATEDASIF,0IF,0NACCORDINGTOTHEACCELERATIONANDDECELERATIONINTERVAL,THECOEFFICIENTSANDIN17AND18CANBECALCULATEDANDBE012SIFNNADVMTSIFN1211MSAASDSADKTKNNPTV1211MSAASSADMSADKTKNNPTVNNKVTN21AKN21ADNNK151718STOREDINADVANCETHEREFOREAVELOCITYPROFILEWHICHHASTHELINEARACCELERATIONANDDECELERATIONCHARACTERISTICSISABLETOBEEFFICIENTLYCALCULATEDFORAGIVENDISTANCEIIIBARBITRARYACCELERATIONANDDECELERATIONLETUSCONSIDERAVELOCITYPROFILEVTWHICHHASFILEACCELERATIONCHARACTERISTICANDTHEDECELERATIONCHARACTERISTICREPRESENTEDBYANDRESPECTIVELY,AFUDFWHEREBOTHOFANDAREDIFFERENTIALONANDARECONTINUOUSONAFUDF01U,ANDTCISTHETIMETOSTARTDECELERATIONANDVMISTHEVELOCITYAFTER01UACCELERATIONTHENTHEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEINTHEACCELERATIONINTERVALCANBEREPRESENTEDASANDITCANBEWRITTENASWHEREISTHECOEFFICIENTSWHICHCANBECALCULATEDFROMFAUANDNATA/TSANDBEAKSTOREDSIMILARLY,THEPOSITIONINCREMENTSDURINGEACHSAMPLINGTIMEINTHEDECELERATIONINTERVALCANBEREPRESENTEDASFIG8THEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEINTHEACCELERATIONINTERVALOFATRAPEZOIDALVELOCITY/0MCDCDDFTTFORTTVT/11/SAKTKNAPFTDTFUD/1AKNASKMSFUV/11CSDKNCDDKMSTKSTTPFTFU192021220ADMSSIFNNVTNMAXSADS/TNWHEREDKISTHECOEFFICIENTSWHICHCANBECALCULATEDFROMFDUANDNDTD/TSANDBESTOREDTHEAREASAUNDERFADURINGTHEACCELERATIONINTERVALANDTHEAREASDUNDERFDDURINGTHEDECELERATIONINTERVALCANBEREPRESENTEDASWHERECANBECALCULATEDFROMAND,ANDBESTOREDSIMILARLY,CANBEAAFUANDACALCULATEDFROMANDANDBESTOREDINTHETECHNIQUESELECTINGPOLYNOMIALDFUDNFUNCTIONS,THEVELOCITYEQUATIONWHICHHASTHEACCELERATIONANDDECELERATIONCHARACTERISTICSREPRESENTEDBYANDRESPECTIVELYISCALCULATEDBYAPPROPRIATEPOLYNOMIALAFFUNCTIONSTHECOEFFICIENTSOFTHEPOLYNOMIALFUNCTIONMAYVARYACCORDINGTOGIVENCONDITIONSBUTTHERATIOBETWEENTHEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEINTHEACCELERATIONINTERVALISFIXEDFORAGIVENACCELERATIONINTERVALTANATSTHATIS,ASINFIG9SIMILARLY,THERATIOBETWEENEACH1212ANNSPOSITIONINCREMENTINTHEDECELERATIONINTERVALISFIXEDFORAGIVENDECELORATIONINTERVALTDNDTSTHEREFORE,AVELOCITYPROFILEWHICHHASTHEACCELERATIONCHARACTERISTICANDAFUTHEDECELERATIONCHARACTERISTICASIN19CANBEGENERATEDASTHEFOLLOWINGSDFUIFORANACCELERATIONINTERVALTANATSANDADECELERATIONINTERVALTDNDTS,THECORRESPONDINGCOEFFICIENTSAND12AANARERETRIEVED12DDNIIFORMOVINGADISTANCES,THEVELOCITYAFTERTHEACCELERATIONVMISDETERMINEDASWHERE100ATAAMASTSFFDVTCDCDDTMTNVT23242526IIITHENTHEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEISCALCULATEDASIF0NIF0NSINCETHECOEFFICIENTSANDCANBE12AAN12DDNCALCULATEDANDBESTOREDINADVANCEACCORDINGTOTHEACCELERATIONANDDECELERATIONINTERVALS,FILEVELOCITYPROFILEWHICHHASARBITRARYACCELERATIONANDDECELERATIONCHARACTERISTICSISABLETOBEEFFICIENTLYCALCULATEDFORAGIVENDISTANCEINDIGITALCONVOLUTIONTECHNIQUESASIN14ANDFIG7,THESHAPEOFAVELOCITYPROFILEISDETERMINEDBYTHEVALUESOFAIFORI1,2,MWHEREMDETERMINESTHEACCELERATIONANDDECELERATIONINTERVALSWHICHARESAMENANDMTHISMEANSTHATTHEVALUESOFAIDETERMINETHEABOVECOEFFICIENTSANDWHERE12A12DDNNANDTHEREFORE,THECOEFFICIENTSINVELOCITYPROFILESGENERATEDBYDIGITALCONVOLUTIONTECHNIQUESCANNOTBEMADETOBEINDEPENDENTFROMTHECOEFFICIENTSTHEDECELERATIONCHARACTERISTICSAREDETERMINEDFROMTHE12ANACCELERATIONCHARACTERISTICSINVELOCITYPROFILESBYDIGITALCONVOLUTIONTECHNIQUESANDSOMEUSEFULVELOCITYPROFILESFORCNCMACHINETOOLSCANNOTBEGENERATEDBYDIGITALCONVOLUTIONTECHNIQUESINTHEPROPOSEDTECHNIQUES,SINCETHECOEFFICIENTSCAN12DDNBESELECTEDINDEPENDENTLYFROMTHECOEFFICIENTS,THEDECELERATION12AANCHARACTERISTICSCANBEMADETOBEINDEPENDENTFROMTHEACCELERATIONCHARACTERISTICSIVGENERATIONOFSOMEVELOCITYPROFILESWHILEANUMBEROFVELOCITYPROFILESCANBEGENERATEDBYTHEDIGITALCONVOLUTIONTECHNIQUES26,SOMEVELOCITYPROFILESCANNOTBEGENERATEDBYTHEMVELOCITYPROFILESMSAAAKSDVTKPN1AKMSASDADVTKNP2728FIG9THEPOSITIONINCREMENTDURINGEACHSAMPLINGTIMEINTHEACCELERATIONINTERVALOFAVELOCITYPROFILEWHICHCANNOTBEGENERATEDBYTHEDIGITALCONVOLUTIONTECHNIQUESAREILLUSTRATEDINFIG10WHERETHEACCELERATIONCHARACTERISTICISREPRESENTEDBYANDTHE/2SINMUFVDECELERATIONCHARACTERISTICSISREPRESENTEDBYLET/231DFUUSCONSIDERONESINGLEAXISLINEARMOTIONCONTROLSYSTEMOFWHICHTHEMAXIMUMVELOCITY,THESAMPLINGTIME,THEDECELERATIONINTERVAL,ANDTHECOUPLINGRATIOAREVMAX3000RPM,TS2MSEC,TD40TS80MSEC,ANDP10TUMS/INRESPECTIVELYGIVENLINEARDISTANCESL105INANDL21INWHICHCORRESPONDTOROTATIONALDISTANCESS11,8000ANDS23,6000RESPECTIVELY,VELOCITYPROFILESHAVINGTHEDESIREDCHARACTERISTICSOFACCELERATIONANDDECELERATIONFORTA40TS80MSECANDTA50TS100MSECCANBECONSTRUCTEDBYTHEPROPOSEDTECHNIQUEASINFIG10WHERETHEAREAOFEACHBARREPRESENTSISTHEVALUEOFTHEPOSITIONINCREMENTPDURINGEACHSAMPLINGTIMEVCONCLUSIONAGENERALIZEDAPPROACHFORTHEACCELERATIONANDDECELERATIONOFCNCMACHINETOOLSHASBEENPROPOSEDGIVENAMACHININGTASKINACNCSYSTEM,THEAPPROPRIATEACCELERATIONCHARACTERISTIC,THEDECELERATIONCHARACTERISTIC,THEACCELERATIONINTERVAL,ANDTHEDECELERATIONINTERVALCANBEDETERMINEDACCORDINGTOTHEACCELERATIONCHARACTERISTIC,THEDECELERATIONCHARACTERISTIC,THEACCELERATIONINTERVAL,ANDTHEDECELERATIONINTERVAL,SOMECOEFFICIENTSARECALCULATEDANDARESTOREDBYUSINGTHESECOEFFICIENTS,ADESIREDVELOCITYPROFILEFORMOVINGAGIVENDISTANCEISCALCULATEDTHUS,ANARBITRARYVELOCITYPROFILEWHICHCANNOTBEGENERATEDBYDIGITALCONVOLUTIONTECHNIQUESCANBEGENERATEDEFFICIENTLYBYTHEPROPOSEDTECHNIQUEFIG10AAVELOCITYPROFILEFORL105IN40,AND40ANDFIG10BAVELOCITYPROFILEFORL21IN40,AND40ANDFIG10CAVELOCITYPROFILEFORL105IN50,AND40ANDFIG10DAVELOCITYPROFILEFORL21IN50,AND40ANDREFERENCES1KSFU,RCGONZALEZ,ANDCSGLEE,ROBOTICSCONTROL,SENSING,VISIONANDINTELLIGENCE,MCGRAWHILL,19872DIKIM,JWJEON,ANDSKIM,“SOFTWAREACCELERATION/DECELERATIONMETHODSFORINDUSTRIALROBOTSANDCNCMACHINETOOLS,“MECHATRONICS,VOL4,NO1,PP3753,19943DSKHALSA,“HIGHPERFORMANCEMOTIONCONTROLTRAJECTORYCOMMANDSBASEDONTHECONVOLUTIONINTEGRALANDDIGITALFILTERING“PROCEEDINGSOFINTELLIGENTMOTION,PP5461,OCT19904UNITEDSTATESPATENT,PATENTNUMBER4,555,758,NOV26,19855MASORYOANDKOREAY,“REFERENCEWORDCIRCULARINTERPOLATORSFORCNCSYSTEMS,“TRANSOFASME,JENGIND,VOL104,PP400405,19826KORENY,COMPUTERCONTROLOFMANUFACTURING,SYSTEMS,MCGRAWHILLINC1988CNC数控加工加减速平稳变化的方法JACWOOKJCONSUNGKYUNKWAN大学控制和仪器控制工程系300CHUNCHUNDONG、JANGANGU、SUWON市,韩国摘要为了使CNC机床有效率地完成预定的数控加工任务，人们提出了许多数控机床加减速的方法。因为机床要在限定时间完成任务,而这些方法并不能准确的计算。然而，这些早先的技术不能够形成某些加减速度特性的速度分布图，尽管他们能形成很多种加减速度特性的速度分布图。这篇文章提出了一个早先的技术并不能做到的形成速度分布图的一般方法，这些。根据需要达到的加减速特性，计算出各个系数并存储，对CNC系统设定一个移动距离，一个加速度时间和一个减速度时间，运用这些系数就可以形成所需求的加减速特性的速度分布图。下面将详细说明用这个技术形成典型的速度分布图的方法。一、引言生产复杂零件的精确度要求和提高生产力的要求改进了CNC系统，使得CNC机床运作的快速