ֻ 29 ֻ 2 ௹
2012 ୍ 2 ᄅ
ᇅંაႋႨ
Control Theory & Applications
Vol. 29 No. 2
Feb. 2012
࠹࠹࠹ෘෘෘࠏࠏࠏඔඔඔ༢༢༢ܻܻܻ߁߁߁ൈൈൈࡗࡗࡗቋቋቋႪႪႪ݅݅݅ࠖࠖࠖܿܿܿ߃߃߃
໓໓໓ᅣᅣᅣщщщݼݼݼ: 1000−8152(2012)02−0192−07
ඎ, ᅦ఼
(ᇏݓെႲն࿐(ת) ྐ༏აᇅ۽ӱ࿐ჽ, ת ౝ֛ 266555)
ᅋေ: ࠎႿᇅཟҕඔ߄(CVP)ٚم, ࣮࠹ෘࠏඔ(CNC)༢ܻ߁ൈࡗቋႪ݅ࠖܿ߃ٚم. ๙ݖᄝܿ߃
໙ีᇏႄೆࡆࡆ؇ჿඏ, ൌགྷ֥ܻ݅ࠖ߁۳ࣉ. ႄೆൈࡗ݂၂߄ၹሰ, ࡼࡆࡆ؇ჿඏ֥ൈࡗቋႪ݅ࠖܿ߃໙ี
ሇ߄ູܥקൈࡗ֥၂ϮྟቋႪᇅ໙ี. ၛࣥҕඔؓൈࡗ֥ࢨ֝ඔ(ເࡆࡆ؇)ބᇔ؊ൈູႪ߄э, ѩҐ
Ⴈٳ؍ӈඔ࣍රເࡆࡆ؇, ࡼቋႪᇅ໙ีሇ߄ູ၂Ϯ֥٤ཌྟܿ߃(NLP)໙ีࣉྛࢳ. ᆌؓࡆࡆ؇aࡆ
؇֩ݖӱ҂֩ൔჿඏ, ႄೆჿඏୠݦඔ, ࡼݖӱჿඏሇ߄ູᇔ؊ൈჿඏ, Ֆطཁᇷࡨഒჿඏ࠹ෘ. ܒᄯଢѓބჿ
ඏݦඔ֥Hamiltonianݦඔ, ০Ⴈϴෛٚمࠆ֤ࢳNLP໙ี෮ླ֥ะ؇.
ܱՍ: ݅ࠖܿ߃; ൈࡗቋႪ; ࡆࡆ؇ჿඏ; ٤ཌྟܿ߃; ࠹ෘࠏඔ
ᇏٳোݼ: TP29 ໓ངѓ്:A
Smooth and time-optimal trajectory planning for
computer numerical control systems
LI Shu-rong, ZHANG Qiang
(College of Information and Control Engineering, China University of Petroleum (East China), Qingdao Shandong 266555, China)
Abstract: On the basis of the control vector parameterization (CVP) method, we investigate the numerical approach for
solving the smooth and time-optimal trajectory planning problem of computer numerical control (CNC) systems. The jerk
constraints are considered in the problem to realize the smooth feeding-rate of the trajectory. By using a time normalization
factor, we reformulate the original jerk constrained time-optimal trajectory planning problem as a time-independent optimal
control problem. The third derivative of the path parameter with respect to time, also known as pseudo-jerk, and the terminal
time are taken as optimization variables. The piece-wise constant approximation method is used to approach the pseudo-
jerk, and the optimal control problem is converted into a general nonlinear programming (NLP) problem. Constraint
aggregation functions are introduced to approximate the process constraints (i.e., jerk and acceleration constraints) as final
time constraints, and the computation load of constraints can be reduced significantly. By constructing the Hamiltonian
functions of objective and constraint functions, and employing the adjoint approach, we obtain the gradients which are
required in the process of NLP solution.
Key words: trajectory planning; time-optimal; jerk constraints; nonlinear programming; CNC
1 ႄႄႄ(Introduction)
ۚۚࣚ؇ࡆ۽၂ᆰ൞གྷս࠹ෘࠏඔ༢
(CNC)ᇏታրࢳ֥໙ี. ൳ࡆ۽֗aᆳྛఖaය
ڛ౺ఖ֩ྟି֥ཋᇅ, ֥֗؇aࡆ؇aࡆࡆ
؇҂ିၩэ߄ط൞թᄝಒקჿඏ. ᄝЌᆣࡆ۽
ࣚ؇่֥ࡱ༯, ๙ݖႪ߄֗݅ࠖ, ༢ᄝჿඏᄍ
ྸ֥ٓຶଽؿߨቋնྟି, ൌགྷؓ۽ࡱ֥ۚࡆ۽.
֒భCNC༢֥ࡆ۽۳ࣉٚمᇶေࠎႿ၂ק֥ࡆࡨ
ᇅଆൔ, ೂะྙaཌaSaᆷඔ֩, ၹ۳
ࣉࢲܒܥק, مЌᆣࡆ۽֥ൈࡗቋႪྟ.
ൈࡗቋႪ݅ࠖܿ߃(TOTP)໙ี֥࣮ቋ༵ჷႿ
ᄎᄛࠅࡰ
[1]
ބࠏఖದࠏྀф֥ᇅ
[2]
, ఃଢѓູᄝ
ᆳྛఖྟିᄍྸ֥ٓຶଽ, ܿ߃ቋႪྛ݅ࠖ,
ༀൈࡗቋཬ. ໓ང[3–4]ࠎႿቋႪᇅં, ࡼ
ࠏྀф֥ൈࡗቋႪ݅ࠖܿ߃໙ีіඍູ၂۱ൈࡗቋ
Ⴊᇅ໙ี, ๙ݖࢳቋႪྟсေ่ࡱ֝ᇁ֥ׄ
шᆴ໙ีࠆ֤ቋႪࢳ. ໓ང[2–5]൮ՑҐႨཌྷ૫ٳ
༅֥ٚمࢳࠏྀф֥ൈࡗቋႪ݅ࠖܿ߃໙ี,
ѩࠆ֤ൈࡗቋႪ݅ࠖડቀ֥ቋႪྟ่ࡱ: ൈࡗቋႪ
݅ࠖႋႵobang-bangp֥ჿඏࢲܒ, ࠧᄝၩൈ
, ᇀഒႵ၂۱ݖӱ҂֩ൔჿඏູࠃჿඏ.
ᄝඔࡆ۽თ, ໓ང[6]ᆌؓҕඔ߄ࡆ۽ࣥ,
ࠎႿཌྷ૫ٳ༅مࢳٳᇠࡆ؇ჿඏ༯֥CNC
༢TOTP໙ี. ބཌྷ૫مোර, ໓ང[7]ҐႨ၂ᇕ
චཟෆ෬ෘمൌགྷٳᇠࡆ؇ჿඏ༯֥ൈࡗቋႪ
݅ࠖܿ߃. ࣇࡆ؇ჿඏ, ໓ང[6–7]Ⴊ߄֤֞
֥ࡆ؇Ⴕ҂৵࿃ࢲܒ. ႮႿൌ࠽֗Ⴕ
ྟԥି౺ఖمӁള҂৵࿃֥ࡆ؇/৯, ၹ
൬۠ರ௹: 2011− 05−04; ൬ྩڿ۠ರ௹: 2011−11− 18.
ࠎࣁཛଢ: ݓࡅሱಖ࿐ࠎࣁሧᇹཛଢ(60974039).