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Dynamic look-ahead feedrate scheduling method based on sliding mode velocity control.

Liuquan Wang1,2, Qiang Liu3,4, Pengpeng Sun5

  • 1School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China.

Scientific Reports
|July 4, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces a new feedrate scheduling method for complex curves, ensuring dynamic constraints are met between sampling points. The approach uses sliding mode velocity control to reduce dynamic constraint overshoot without increasing machining time.

Keywords:
Dynamic look-aheadFeedrate schedulingSliding mode controlTracking error

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Area of Science:

  • * Robotics and Control Systems
  • * Manufacturing Engineering
  • * Computer-Aided Manufacturing (CAM)

Background:

  • * Traditional feedrate scheduling methods often fail to guarantee dynamic constraints (acceleration, jerk) between sampling points.
  • * Existing approaches convert dynamic constraints to velocity constraints, which is insufficient for complex curves.
  • * The actual tool state is crucial for accurately managing dynamic constraints during machining.

Purpose of the Study:

  • * To propose a novel dynamic look-ahead feedrate scheduling method.
  • * To ensure dynamic constraints are satisfied throughout the entire interpolation cycle, not just at sampling points.
  • * To improve the precision and efficiency of direct interpolation for complex curves.

Main Methods:

  • * Development of a dynamic look-ahead feedrate scheduling algorithm.
  • * Implementation of sliding mode velocity control for acceleration and deceleration.
  • * Dynamic estimation of look-ahead distance using braking distance.
  • * Generation of motion commands considering real-time axis dynamic constraints.

Main Results:

  • * The proposed method effectively reduces overshoot of dynamic constraints compared to existing methods.
  • * Machining time is not significantly increased.
  • * Simulation and experimental results validate the effectiveness of the approach.
  • * Real-time computation analysis confirms the method's suitability for real-time applications.

Conclusions:

  • * The dynamic look-ahead method ensures dynamic constraints are satisfied between sampling points.
  • * Sliding mode velocity control enables precise tool state transition.
  • * The method offers a robust solution for feedrate scheduling in complex curve machining.