Optimization of Acceleration/Deceleration Planning for Smooth Cornering Path

• Main Authors: HUANG, CHIEN-HSIANG, 黃建翔
• Other Authors: CHEN, SHYH-LEH
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/8vgy2n

碩士 === 國立中正大學 === 機械工程系研究所 === 107 === 　　In this paper, a set of acceleration and deceleration optimization system is designed. The system mainly designs the optimal acceleration and deceleration plan with corner smoothing, asymmetric S-type acceleration and deceleration planning and particle swarm optimization. The best definition is the plan with the highest processing efficiency under the constraints of the machine. 　　The corner smoothing is three kinds of connecting paths for straight line and straight line, straight line and arc, and arc and arc. According to the corner error's tolerance value set by the user, the fifth-order Bezier curve design has geometric, tangent and continuous curvature. Make the transfer of each block continuous feed. Acceleration and deceleration planning adopts S-type acceleration and deceleration to make the processing smooth. The corner smoothing and Acc/Dec planning all use the particle swarm algorithm to search for the best parameters, so as to eliminate the parameters that do not meet the constraints, and output a set of optimal parameters when the termination condition is met. 　　Users only need to design constraints, acceleration and deceleration optimization will complete all concerns for the user, the results will output a set of high-precision, high-efficiency processing parameters for machine processing.