高速高精度运动控制算法的研究与应用

Research and Application of High Speed and High Precision Motion Control Algorithm

摘要:

为解决裁床运动控制系统在加工不规则轨迹曲线中存在的插补精度低,效率不高的问题,提出了基于改进BP神经网络B样条曲线插补算法的研究与设计。该算法通过加入动量因子改进BP神经网络离线训练B样条曲线,利用负反馈校正输出预测插补点,避免了BP神经网络插补器自身带来的偏差。同时根据加工曲线曲率半径的变化完成对速度的前瞻规划,实现了加工在拐角处的高速过渡。最后在Matlab上进行了算法仿真并在实验平台上进行了测试,实验结果表明本文提出的裁床运动控制算法能够高效高精度的完成材料切割。

Abstract:

In order to solve the problems of low interpolation accuracy and low efficiency in machining irregular track curves of cutting bed motion control system, the research and design of b-spline curve interpolation algorithm based on im-proved BP neural network was proposed.. By adding momentum factor, this algorithm improves BP neural network to train B-Spline curve off-line, and uses negative feedback to correct output and predict interpolation points, thus avoiding the deviation caused by the interpolation of BP neural network. At the same time, according to the change of curvature radius of machining curve, the forward-looking planning of the speed is completed, and the high-speed transition of machining at the corner is realized. Finally, the algorithm is simulated on Matlab and tested on the experimental platform. The experimental results show that the cutting bed motion control algorithm proposed in this paper can complete material cutting with high efficiency and precision.