AUTOCAD介面於精密定位平台之運動軌跡規劃

高速加工系統要求進給過程中，速度變化盡可能平穩，即要求系統加減速具有高度的平滑性。本研究先對前後加減速進行了分析，選擇前加減速作為系統的加減速方式，並對這種選擇進行了詳細的分析。在運動控制上之加減速規劃理論，介紹了具有速度與加速度及急跳度限制之加減速規劃。傳統的梯形加減速和指數型加減速演算法在進給過程中存在衝擊，不適於高速進給系統。然後提出了S曲線、三角函數、多項式合成等幾種適用於高速進給的平滑加減速演算法。藉由加減速規劃敘述了機床衝擊和震動對機床造成的危害，且分析了造成機床衝擊和震動的原因。為了能實現三軸同動之運動控制，且做出比傳統插值法更複雜的曲線，故採用參數式曲線插值原理，且搭配數種加減速規劃，結合降低速度波動率的參數曲線插值演算法實現，進而提高機台運動的平穩性與精密度，且分析了造成誤差之原因與速度波動率。本研究使用了PI公司所生產之C-843運動控制卡及M511型之X-Y-Z平台，結合AutoCAD內建之VBA語言撰寫介面，設計出方便使用的人機介面。

關鍵字

運動控；軌跡規劃；曲線插值法； AutoCAD

並列摘要

In high speed machining system, the speed changing is usually requested as smooth as possible. This research compared the characteristic of acc/dec before and after interpolation, then choose acc/dec before interpolation for further analysis. The acc/dec planning theorems provide methods how to plan acceleration and deceleration with constrained velocity, acceleration, and jerk. The impact would exist in some traditional acc/dec methods, such like trapezoid or exponential planning, so those methods aren't feasible to high speed system. The S-curve, trigonometric function, and polynomial planning methods are more smooth and feasible to high speed system. This research not only investigated the disadvantage of impact and vibration, but also analyze the cause of them. For implementing three axes motion control with complicate curves, the paramedic interpolation is adopted in this research. Through combining acceleration planning and interpolation algorithm, which can reducing speed waving, the motion stability and precision are both increased. This research uses C-843 motion control card and M511 X-Y-Z table, which are both produced by Physik Instrument.

並列關鍵字

Motion Control ； Trajectory Plan ； Curve interpolation ； AutoCAD

參考文獻

[3] Peter H. Meckl, “Optimized S-Curve Motion Profiles forMinimum Residual Vibration,” in Proc. ACC, 1998.

[5] D. I. Kim, J. W. Jeon, and S. Kim, “Software acceleration/deceleration methods for industrial robots and CNC machine tools,” Mechatron., vol.4, pp. 37–53, 1994.

[6] K. Erkorkmaz and Y. Altintas, "High Speed CNC System Design: Part I - Jerk LimitedTrajectory Generation and Quintic Spline Interpolation," International Journal of Machine Tools and Manufacture, vol. 41, pp. 1323-1345, 2001.

[7] P.H. Meckl and P.B. Arestides, “Optimized S-Curve Motion Profiles for Minimum Residual Vibration,” Proceeding of American Control Conference, June 1998, pp. 2627-2631.

[8] Peter H.Meckl and W.P.Seering,“Minimizing Residual Vibration for Point-to-Point Motion,” J. of Vib., Acous., Stress and Rel. in Des., vol. 107, Oct. 1985, pp. 378-382.

國際替代計量

AUTOCAD介面於精密定位平台之運動軌跡規劃

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