Research On Glass Cutting Trajectory Optimal Planning And Its Control Real-time Performance

Glass preprocessing equipment is the main mechatronics product for secondaryprocessing of glass which can complete glass cutting, edge grinding, drilling,polishing and etc. Glass cutting is the main procedure of glass preprocessing.Off-lineprogramming and online tracking of glass cutting trajectory, which isresearch objectof the thesis,greatly affect the efficiency, precision and quality ofglass cutting.In orderto improve the machining efficiency, minimum time method was used to doofflinetrajectory planning. Then,analysis on thereal-time performance of controlnetwork was carried out to ensure precision ofonline trajectory tracking.This paper which is supported by an enterprise technology research project hascompleted optimal planning of glass cuttingtrajectory on the basis of NURBSinterpolation theory and genetic algorithmoptimization method. Simultaneously,real-timeperformance of the motion control system was analyzed as well as therelevant test.The main research work ofthis paper are as follows:(1) Curveinterpolation method research on glass cutting trajectoryThroughinvestigation on the global interpolation and local interpolation methodof NURBS, combined with the characteristics of glass cutting,curve interpolationmethod of glass cutting trajectorywasdesigned.Then, the program corresponding tothe two kinds of interpolation algorithm was designed inMATLAB language. Theprogram was tested and the test result showed that the program runsstably and is ableto work efficiently.(2) Optimal planning research on the glass cuttingtrajectoryMinimum time method was adopted for glass cutting trajectory planning in thispaper.Through theoretical analysis and derivation, the relational expression betweencontrol vertex positions and motion time in paragraphs trajectorywas acquired. Then,optimization mathematical model wasestablishedand the problem wassolvedbymethod of genetic algorithm. Simultaneously, simulation on a certain type of glasswas done to verify the accuracy of the planning method. The result showed that theplanning method is feasible. (3) Real-time analysis of glass cutting trajectorycontrolFirst of all, the networked motion control system was constructed for glasspreprocessing equipment on CAN bus.Time-delay performance of glass cuttingcontrol system was analyzedfromfollowing aspects: generation and composition ofnetwork time-delay,influencing factors of network time-delay, influence of networktime-delay to glass cutting trajectory control;Then, the control network real-timeperformance was analyzedby adopting RMA method;Finally,the network testplatform was built and relative tests were completed. The test result showed that thereal-time performance of glass cuttingcontrolnetwork meets the requirement.