Skip to main content
SpringerLink
Log in

Speed Planning Algorithm Based on Improved S-Type Acceleration and Deceleration Model

  • Published:
Journal of Shanghai Jiaotong University (Science) Aims and scope Submit manuscript

Abstract

The acceleration saltation of the traditional S-type acceleration model in the speed planning of the NURBS curve will result in the vibration and flexible impact of the machine tool. It will affect the surface quality of the components. The high speed smooth S-type acceleration and deceleration model deals with flexible impact, but the calculation is tedious. Aimed at the above problems, the traditional S-type acceleration and deceleration model is improved to make the jerk change linearly at a certain slope to reduce the flexible impact. Before the speed planning, it is needed to find the arc length and curvature of each point on the NURBS curve with a tiny step, and to determine the speed sensitivity point on the curve accordingly. According to the speed sensitive point, the NURBS curve is segmented. The attribute parameters of each section are determined by adaptive speed planning. Then, the speed planning can be performed on the NURBS curve according to the speed characteristics classification. The simulation results show that the algorithm can effectively reduce the flexible impact, improve the machining precision and efficiency, and simplify the classification of speed characteristics.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. TSAI M C, CHENG M Y, LIN K F, et al. On acceleration/deceleration before interpolation for CNC motion control [C]//IEEE International Conference on Mechatronics. Taipei, China: IEEE, 2005: 382–387.

    Google Scholar 

  2. LI D, WU J W, WAN J F, et al. The implementation and experimental research on an S-curve acceleration and deceleration control algorithm with the characteristics of end-point and target speed modification on the fly [J]. The International Journal of Advanced Manufacturing Technology, 2017, 91: 1145–1169.

    Article  Google Scholar 

  3. WANG Y S, YANG D S, LIU Y Z, et al. Velocity planning and parameter calculating in NURBS interpolation [J]. Computer Integrated Manufacturing Systems, 2014, 20(8): 1896–1902 (in Chinese).

    Google Scholar 

  4. SHI C, ZHAO T, YE P Q, et al. Study on S-shape curve acceleration and deceleration control on NC system [J]. China Mechanical Engineering, 2007, 18(12): 1421–1425 (in Chinese).

    Google Scholar 

  5. ZHENG K J, CHENG L. Adaptive S-curve acceleration/deceleration control method [C]//7th World Congress on Intelligent Control and Automation. Chongqing, China: IEEE, 2008: 2752–2756.

    Google Scholar 

  6. LUO F Y, YOU Y P, YIN J. Research on the algorithm of NURBS curve bidirectional optimization interpolation with S-type acceleration and deceleration control [J]. Journal of Mechanical Engineering, 2012, 48(5): 147–156 (in Chinese).

    Article  Google Scholar 

  7. SUN Y E, LIN H. Effective non-uniform rational B-spline interpolator based on look-ahead algorithm [J]. Computer Integrated Manufacturing Systems, 2009, 15(10): 2029–2033 (in Chinese).

    Google Scholar 

  8. XU S L, XU Z B, GU T L, et al. Look-ahead interpolation algorithm of NURBS curve based on interference pretreatment [J]. Computer Integrated Manufacturing Systems, 2015, 21(5): 1229–1236 (in Chinese).

    Google Scholar 

  9. FENG Q, WANG L. FPGA-based acceleration and deceleration control for CNC machine tools [C]//International Conference on Mechatronic Sciences, Electric Engineering and Computer. Shenyang, China: IEEE, 2013: 210–214.

    Google Scholar 

  10. DU D S, LIU Y D, GUO X G, et al. An accurate adaptive NURBS curve interpolator with real-time flexible acceleration/deceleration control [J]. Robotics and Computer-Integrated Manufacturing, 2010, 26(4): 273–281.

    Article  Google Scholar 

  11. LI J G, ZHANG T H, LI Z X, et al. A completed adaptive NURBS curve interpolator algorithm [J]. China Mechanical Engineering, 2008, 19(9): 1095–1098 (in Chinese).

    Google Scholar 

  12. ZHAO G Y, ZHAO Y G, ZHAO Q Z. Acceleration & deceleration approach based on continuous jerk in CNC motion [J]. Computer Integrated Manufacturing Systems, 2011, 17(2): 316–320 (in Chinese).

    Google Scholar 

  13. GUO X G, LI C X. A new flexible acceleration and deceleration algorithm [J]. Journal of Shanghai Jiao Tong University, 2003, 37(2): 205–207 (in Chinese).

    Google Scholar 

  14. SONG Q Y, GUO B F, LI J, et al. Flexible acceleration and deceleration control algorithm for servo press [J]. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44(6): 269–273 (in Chinese).

    Google Scholar 

  15. LIU H J. Research of NURBS interpolation algorithm and acceleration-deceleration control for five-axis machining [D]. Nanjing, China: Nanjing University of Aeronautics and Astronautics, 2017 (in Chinese).

    Google Scholar 

  16. LIU Q, LIU H, ZHOU S K, et al. Look-ahead fee-drate planning for continuous multi-type curve segments [J]. Computer Integrated Manufacturing Systems, 2015, 21(9): 2369–2377 (in Chinese).

    MathSciNet  Google Scholar 

  17. NIEN H W, YAU H T, SU H C, et al. On acceleration/deceleration hybrid interpolation for multiblocks of NURBS curves [C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Xi’an, China: IEEE, 2008: 910–915.

    Google Scholar 

  18. TSAI M S, NIEN H W, YAU H T. Development of integrated acceleration/deceleration look-ahead interpolation technique for multi-blocks NURBS curves [J]. The International Journal of Advanced Manufacturing Technology, 2011, 56: 601–618.

    Article  Google Scholar 

  19. HUANG H M. An adjustable look-ahead acceleration/deceleration hybrid interpolation technique with variable maximum feedrate [J]. The International Journal of Advanced Manufacturing Technology, 2018, 95: 1521–1538.

    Article  Google Scholar 

  20. PENG J Q. Research on look-ahead interpolation technology of non-uniform rational B-splines [D]. Xuzhou, China: China University of Mining and Technology, 2017 (in Chinese).

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. College of Mechanical and Electronic Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Huimiao Luo  (罗晖淼), Dongbiao Zhao  (赵东标) & Wenqiang Fu  (付文强)

Authors
  1. Huimiao Luo  (罗晖淼)
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Dongbiao Zhao  (赵东标)
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Wenqiang Fu  (付文强)
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Dongbiao Zhao  (赵东标).

Additional information

Foundation item: the National Key Basic Research Program of China (973 Program) (No. 2014CB046501)

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Luo, H., Zhao, D. & Fu, W. Speed Planning Algorithm Based on Improved S-Type Acceleration and Deceleration Model. J. Shanghai Jiaotong Univ. (Sci.) 26, 786–793 (2021). https://doi.org/10.1007/s12204-021-2322-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12204-021-2322-4

Key words

CLC number

Search

Navigation