中圖分類號(hào)：TP13 文獻(xiàn)標(biāo)志碼：A DOI: 10.16157/j.issn.0258-7998.234117
中文引用格式： 謝翰君，王林，王欽若. 基于動(dòng)力學(xué)的自適應(yīng)多段回溯前推實(shí)時(shí)速度規(guī)劃算法開發(fā)[J]. 電子技術(shù)應(yīng)用，2023，49(12)：120-126.
英文引用格式： Xie Hanjun，Wang Lin，Wang Qinruo. Development of a dynamics-based adaptive multi-segment look-ahead real-time velocity planning algorithm[J]. Application of Electronic Technique，2023，49(12)：120-126.

Development of a dynamics-based adaptive multi-segment look-ahead real-time velocity planning algorithm

Abstract： A real-time velocity planning algorithm is proposed to improve the processing accuracy and efficiency of small line segments. The algorithm consists of two parts: a dynamics-based preliminary planning algorithm is proposed to optimize the actual acceleration of short line segments and improve the smoothness of motion, addressing the jitter problem of rigid-flexible coupling and heavy-load platforms in numerical control (NC) motion; a dynamics-based adaptive multi-segment look-ahead velocity planning algorithm is proposed to enhance processing efficiency for small straight lines/arcs, addressing the inefficiency issue of the single-segment look-ahead algorithm. The algorithm was tested on a PC-based real-time controller and a gantry dual-drive XY laser cutting platform and was compared with the adaptive feed-rate algorithm and single-segment look-ahead algorithm. The results show that the proposed algorithm improves both processing quality and efficiency. Additionally, the algorithm is simple and effective, and thus suitable for high real-time application environments.

Key words : CNC system；velocity planning；dynamics；look-ahead algorithm；gantry dual-drive