Interpolation Algorithm And Speed Optimization Of Multi-axis Synchronous Motion Controller

With the development of modern manufacturing in China,multi-axis synchronous motion control technology has been widely used in industrial robot coupling systems.The interpolation technology embedded in multi-axis linkage interpolation technology is the key to achieve high speed and high precision delivery of CNC machine tools.In recent years,designers have used NURBS as a modeling tool to pursue more realistic and vivid modeling designs,but only support traditional CNC devices that are directly plugged into straight lines and arcs.Due to the low precision,redundant processing files,CNC interactive data can not meet the requirements.The multi-axis control system with synchronous motion control strategy can improve the synchronization control performance of the multi-axis system.Therefore,this paper has important theoretical research significance and engineering practice value.The main contents of this paper are as follows:This paper expounds the current situation of synchronization controller and NURBS interpolation algorithm,and constructs an embedded multi-axis synchronous motion control platform based on SOPC.This paper theoretically deduces the properties of NURBS curve and its parameter calculation method,puts forward the optimization algorithm of NURBS curve interpolation speed based on Taylor's expansion,and makes a detailed theoretical derivation process and simulation test.The experimental results show that the average variance of speed error is reduced by half,and the accuracy of speed control error is increased by an order of magnitude.The traditional trapezoidal and S curve acceleration and deceleration are analyzed in depth.By combining the practical application of multi-axis synchronous motion controller and the characteristics of NURBS curve,a NURBS interpolation algorithm based on parameter self-adjusting S curve acceleration and deceleration is proposed and simulated and verified.Based on the NURBS interpolation algorithm and the acceleration and deceleration control algorithm,a multi-axis synchronous motion control strategy based on time feedback is proposed to avoid the motor speed fluctuations and rigid impact caused by thespeed control of the synchronization algorithm.This paper makes a detailed theoretical derivation and software simulation of the algorithm.Finally,the experimental verification is done on the multi-axis synchronous motion control experimental platform,which proves the correctness and validity of the algorithm mentioned in this paper.