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Dynamic velocity planning method for parametric toolpath with mode-based tracking error control

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Abstract  

This paper proposes a tracking error prediction and control dynamic speed planning method based on the theoretical model of servo control system. Compared to the traditional approach of sacrificing processing efficiency to improve processing accuracy by reducing kinematic constraints, this method achieves a balance between processing efficiency and processing accuracy. Firstly, this study introduces a time-optimised algorithm based on velocity, acceleration and jerk and uses the pseudo-jump method to linearise nonlinear problems. Secondly, based on the commonly used PID servo control system in industry, a kinematic parameter tracking error prediction method that considers axis dynamic performance is proposed. Based on the prediction results, a new feed speed planning and control algorithm based on dynamic characteristics is further proposed, which achieves control of tracking errors. Thirdly, since the proposed feed speed control method based on dynamic characteristics is not a linear constraint, this study proposes a convex relaxation method combined with the pseudo-jerk method to linearize the nonlinear problem, and effectively obtains a feed speed profile that is close to optimal. Finally, through experiments compared with traditional kinematic methods, the results show that the new method has smaller tracking errors and higher processing efficiency.

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Since the data is part of an ongoing study, it cannot be shared to reproduce the results.

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Funding

This work is supported by the National Natural Science Foundation of China (Grant No. 51875312).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Jianxin Xiao & Jun Fang

  2. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Tsinghua University, Beijing, 100084, China

    Bingran Li & Hui Zhang

Authors
  1. Jianxin Xiao
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  2. Jun Fang
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  3. Bingran Li
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  4. Hui Zhang
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Contributions

Jianxin Xiao: conceptualization, methodology, software, validation, formal analysis, investigation, data curation, writing—original draft, writing—review and editing, and visualisation. Jun Fang: conceptualization, resources, writing—review and editing, and visualisation. Bingran Li: writing—review and editing. Hui Zhang: supervision and project administration.

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Correspondence to Jianxin Xiao.

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Xiao, J., Fang, J., Li, B. et al. Dynamic velocity planning method for parametric toolpath with mode-based tracking error control. Int J Adv Manuf Technol 128, 4805–4817 (2023). https://doi.org/10.1007/s00170-023-12247-7

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  • DOI: https://doi.org/10.1007/s00170-023-12247-7

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