【摘要】 为解决轨迹位置与运动综合控制的难题、研究运动方法实现轨迹的机理,采用泛函分析方法研究轨迹运动复杂的时空关系。设定时间为参数的轨迹泛函就是关于位移的特殊运动方程,其微分方程泛函结构为几何参数泛函与几何参数对时间的导数的组合,将轨迹泛函分为时间参数和空间参数的映射关系,分别研究轨迹的空间和时间关系、简化时间与空间关系、扩展几何参数映射空间。几何泛函由轨道函数确定,其计算可以离线完成。定义几何参数对时间求导的中间变量为参考时间,选择工艺参数为参考时间,以便根据工艺进程控制加工进度。运动规律是几何关系与时间关系的复合,控制运动规律就可以准确实现轨迹的几何性质。提出轨迹控制新方法:控制运动规律实现轨迹,用参考时间控制运动进程。经过试验和仿真,证明该方法能实现几何与运动的综合控制,减少计算次数,提高轨迹精度,增加路径规划对环境的适应能力,是机床轨迹控制的好方法。更多还原

【Abstract】 In order to solve the problem of synthetic control for trajectory position and motion and study the mechanism of motive method to fulfill locus, functional analysis is used to study the complicated relation of space time. The geometric locus displacement function is a special motion equation only consisting of displacement, if time is chosen as parameter. Its differential equation is composed of geometric parameter transformation and derivation to time. This function structure makes it enable that space factor and time factor are treated separately. Locus norm function can be divided map relation into space parameter and time parameter. It can be used to sim- plify relation of space and expand the space of geometric space. The geometric parameter transformation is determined by or- bital function,it can be calculated off line. The intervening variable of geometric parameter derivation may be selected as reference time. Choosing processing parameter as reference time, the machining progress can be controlled by manufactur- ing process. Motional regularity consists of geometric relation and time relation. Therefore, the geometric properties can be accurately carried out by controlling motion regularity. A new method for trajectory control is presented, which uses motion law takinfg the place of position parameters to control, and uses self defined time to substitute real time to control proceeding. It is proved that it is a good way to control geometry and motion comprehensively, to reduce computation times and to increase the ability of environmental adaptation for path planning.更多还原