Multi-axis motion control method of complex trajectory for high-speed machining

In order to solve high-speed numerical control machining problem of complex surface and trajectory, the control model of multi-axis smooth motion is constructed from the view of process integration control of speed programming, interpolation control, position tracking and so on. The optimization model of velocity programming and acceleration-deceleration control is constructed by using mathematical programming method. A look-ahead speed preprocessing and flexible acceleration-deceleration control algorithm is proposed by simplifying the optimization model, and the optimization effect and real-time performance can be both considered. To overcome the nonlinear influence in high-speed feed system, a new high-speed position tracking algorithm is proposed by introducing feed forward control of acceleration and velocity, condition integral and anti-saturation parts. An embedded numerical control system based on dual-core processor is presented and realized, and the structure can guarantee the six-axis interpolation period requirement of 0.125 ms. The developed high-speed numerical control system has already been successfully applied to five-axis gantry type high-speed machining center. The field data show that the system has good stationarity under high-speed motion and can meet the control requirement of complex trajectory of impeller and so on.