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Algorithm for smooth s-curve Feedrate Profiling Generation

Chinese Journal of Mechanical Engineering 2011年第2期24卷 237-247页

作者： CHEN Youdong WEI Hongxing sUN Kai LIU Miao WANG Tianmiao school of Mechanical Engineering and Automation Beihang University Beijing 100191 China

The algorithms for feedrate profile generation,such as linear and s-curve profiles,have been widely used in machinery controllers,and these algorithms can greatly improve the smoothness of ***,most of the algorithms lead to the discontinuous acceleration/deceleration and jerk,or high jerk levels,which is very harmful to machine tool or robot in most occasions. This paper presents a smooth s-curve feedrate profiling generation algorithm that produces continuous feedrate,acceleration,and jerk *** jerk is obtained by imposing limits on the first and second time derivatives of acceleration,resulting in trapezoidal jerk profiles along the tool *** discretization of smooth s-curve feedrate is realized with a novel approach that improves the efficiency without calculating the deceleration point in each sampled *** ensure that the interpolation time is a multiple of the value of sampled time,the feedrate,acceleration,jerk,and jerk derivative are ***,to improve the efficiency,the interpolation steps of all regions are computed before *** to the distance of trajectory,the smooth s-curve acceleration and decelerations are divided into three blocks：normal block,short block type-Ⅰ,and short block type-Ⅱ.Finally feedrate discretization of short block type-Ⅰand type-Ⅱis obtained with considering the *** proposed generation algorithm is tested in machining a part on a five axis milling machine,which is controlled with the CNC system for newly developed high-speed machine *** test result shows that the smooth s-curve approach has the smoother feedrate,acceleration,deceleration,and jerk profiles than *** proposed algorithm ensures the automated machinery motion smoothness,and improves the quality and efficiency of the automated machinery motion planning.

关键词： s-curve acceleration/deceleration feedrate control computer numerical control(CNC)

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