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首页> 外文期刊>IFAC PapersOnLine >Bézier Curve Based Trajectory Generation and Nonlinear Friction Compensation for Feed Drive Contouring Control * * This study is partly sponsored by the Japan Society for the Promotion of Science (JSPS)
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Bézier Curve Based Trajectory Generation and Nonlinear Friction Compensation for Feed Drive Contouring Control * * This study is partly sponsored by the Japan Society for the Promotion of Science (JSPS)

机译：进给驱动轮廓控制的基于贝塞尔曲线的轨迹生成和非线性摩擦补偿 * * 这项研究部分由日本日本学会赞助科学促进会（JSPS）

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Generation of motion trajectories is a crucial task in feed drive control for efficient manufacturing and energy saving. They have to be smooth enough to be traversable without violating systems constraints. Literary, a number of methods, such as spline parametric trajectories have been suggested for smooth trajectories generation. However, there are still many challenges left, for example, in order to smoothly track a spline parameterized trajectory the reference velocity as well as position have to be optimally planned, such that low-velocity should be used at the start and the end of the motion, as well as in all areas with high curvature. Additionally, mechanical systems experience friction forces which vary nonlinearly with velocities. Therefore, on implementing a smooth velocity profile, an appropriate friction compensator has to be considered to cancel out the effect of friction forces. In this study methods for generating smooth motion trajectories using quintic Bézier curves and smooth velocity profiles based on the altered bang-bang approach are proposed. A contouring controller with a feed forward friction compensator is applied in order to smoothly track the designed trajectory by canceling out the effect of friction forces. The performance of the proposed method was experimentally evaluated by comparing it with a conventional approach. Results have shown that the tracking performance can be greatly increased by reducing the average contour error by about 48 % without violating systems constraints.
机译：运动轨迹的生成是进给驱动控制中至关重要的任务，以实现高效制造和节能。它们必须足够平滑才能在不违反系统约束的情况下可遍历。在文学上，已经提出了许多方法，例如样条曲线参数轨迹，以产生平滑的轨迹。但是，仍然存在许多挑战，例如，为了平滑地跟踪样条曲线参数化的轨迹，必须对参考速度和位置进行最佳规划，以便在加工开始和结束时使用低速运动。运动以及所有曲率高的区域。另外，机械系统承受的摩擦力随速度呈非线性变化。因此，在实现平滑的速度曲线时，必须考虑使用适当的摩擦补偿器以抵消摩擦力的影响。在这项研究中，提出了一种基于五次Bézier曲线和基于变化的Bang-bang方法的平滑速度轮廓生成平滑运动轨迹的方法。应用了带有前馈摩擦补偿器的轮廓控制器，以便通过消除摩擦力的影响来平滑地跟踪设计轨迹。通过与常规方法进行比较，对实验方法的性能进行了实验评估。结果表明，通过在不违反系统约束的情况下将平均轮廓误差降低约48％，可以大大提高跟踪性能。

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