基于滑动模式速度控制的动态预测料率调度方法
Liuquan Wang1,2, Qiang Liu3,4, Pengpeng Sun5
1School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China.
本研究引入了复杂曲线的新料率调度方法,确保在采样点之间满足动态约束. 该方法使用滑动模式的速度控制来减少动态约束超越,而不会增加加工时间.
科学领域:
- * 机器人和控制系统
- * * 制造业工程 制造业工程
- * 计算机辅助制造 (CAM) 技术
背景情况:
- * 传统的料率调度方法往往无法保证采样点之间的动态约束 (加速,冲动).
- *现有的方法将动态约束转换为速度约束,这对于复杂的曲线来说是不够的.
- * 实际的工具状态对于在加工过程中准确管理动态约束至关重要.
研究的目的:
- * 提出一种新的动态前性料率调度方法.
- * 确保动态约束在整个插值周期中得到满足,而不仅仅是在采样点.
- *为了提高复杂曲线的直接插值的精度和效率.
主要方法:
- * 开发一个动态的前性料率调度算法.
- * 实现滑动模式的速度控制,用于加速和减速.
- *使用制动距离对前方距离的动态估计.
- * 考虑实时轴动态约束的运动命令生成.
主要成果:
- *与现有方法相比,拟议的方法有效地减少了动态约束的超越.
- *加工时间没有显著增加.
- *模拟和实验结果验证了方法的有效性.
- *实时计算分析证实该方法适用于实时应用.
结论:
- * 动态预测方法确保在采样点之间满足动态约束.
- * 滑动模式的速度控制可实现精确的工具状态转换.
- * 该方法为复杂曲线加工中的料率调度提供了强大的解决方案.
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