• Title/Summary/Keyword: Deceleration point

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A study on acceleration / deceleration control and circular interpolation using PLC position control unit (PLC 위치결정 UNIT에 의한 가감속 제어 및 원호보간에 관한 연구)

  • Kim, S.W.;Kim, J.S.;Yoo, J.S.;Ann, J.B.
    • Proceedings of the KIEE Conference
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    • 1993.07a
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    • pp.391-394
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    • 1993
  • The acceleration/deceleration control method and interpolated operating are essential to the servo motor control system. In a few years ago, a floating point DSP chip was used for the purpose of processing a lot of calculated amount. But in this paper, we proposed new acceleration/deceleration control method and circular interpolation algorithm without another floating point DSP chip. The validity of proposed algorithms are verified through computer simulation and experimental result.

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A Development of Design Method for Deceleration Transition Curve Based on Vehicle Driving Characteristics (차량 주행특성을 고려한 감속 완화곡선 설계방법 개발)

  • Lee, Jeom-Ho
    • International Journal of Highway Engineering
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    • v.10 no.3
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    • pp.97-107
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    • 2008
  • I study for design criteria and research about Interchange diverging area of express highway and freeway, the most recent, at interchange diversion of express highway and freeway, design criteria and researches are focus on safety guarantee a point of view movement dynamics of vehicle and road geometric as to transition section, deceleration section, curve radius, nose section, outflow angle etc, that is, design criteria and research of Interchange diverging area have not consider a point of view movement dynamics of vehicle and road geometric and driver, so that I will be focus characteristic of runing speed on trasion curve. and I will consider vehicle running speed characteristics and study problem of Interchange diverging area design criteria. For this study, First, analysis meaning about theory of now design criteria, Second, look at vehicle running speed and traffic accident characteristics of Interchange diverging area, Third, propose new deceleration transition curve design method get along vehicle running speed characteristics of Interchange diverging area. new deceleration transition curve design method put out new outcoums, that is, I definite cause to safety new deceleration transition curve design method better than pressently, used design criteria of Interchange diverging area, especially, deceleration transition curve design criteria produced good result in the running speed 50km/h, 40km/h, that is inertia better than inertia of present used design criteria. and deceleration transition curve is extended better than present transition curve criteria, so that new deceleration transition curve design method safety is good better than the past method safety.

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Velocity profile generation methods for industrial robots and CNC machine tools

  • Kim, Dong-Il;Song, Jin-Il;Kim, Sungkwun
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10b
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    • pp.306-311
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    • 1992
  • We propose software algorithms which provide the characteristics of acceleration/deceleration essential to high dynamic performance at the transient state where industrial robots or CNC machine tools start and stop. The path error, which is one of the most significant factors in performance evaluation of industrial robots and CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analysis shows that the path error depends on the acceleration/deceleration routine and the servo control system. In experiments, the entire control algorithm including the proposed acceleration/deceleration algorithms is executed on the motion control system with a floating point digital signal processor(DSP) TMS320C30 as a CPU. The experimental results demonstrate that the proposed algorithms are very effective in controlling axes of motion of industrial robots or CNC machine tools with the desired characteristics.

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SOFTWARE LINEAR AND EZPONENTIAL ACELERATION/DECELERTION METHODS FOR INDUSTRIAL ROBOTS AND CNC MACHINE TOOLS

  • Kim, Dong-Il;Song, Jin-Il;Lim, Yong-Gtu;Kim, Sungkwun
    • 제어로봇시스템학회:학술대회논문집
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    • 1991.10b
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    • pp.1904-1909
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    • 1991
  • Software linear and exponential acceleration/deceleration algorithms for control of machine axes of motion in industrial robots and CNC machine tools are proposed. Typical hardware systems used to accelerate and decelerate axes of motion are mathematically analyzed. Discrete-time state equations are derived from the mathematical analyses for the development of software acceleration/deceleration algorithms. Synchronous control method of multiple axes of motion in industrial robots and CNC machine tools is shown to be easily obtained on the basis of the proposed acceleration/deceleration algorithms. The path error analyses are carried out for the case where the software linear and exponential acceleration/deceleration algorithms are applied to a circular interpolator. A motion control system based on a floating point digital signal processor (DSP) TMS 320C30 is developed in order to implement the proposed algorithms. Experimental results demonstrate that the developed algorithms and the motion control system are available for control of multiple axes and nonlinear motion composed of a combination of lines and circles which industrial robots and CNC machine tools require.

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A study on the Tool Path Generation of High-Speed Machining by the Distortion of Original Tool Path (지령 경로의 왜곡에 의한 고속가공 경로의 생성에 관한 연구)

  • 이철수;이제필
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.7 no.5
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    • pp.15-28
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    • 1998
  • Recently may investigations have been studied on the high-speed machining by using machine tools. A CNC machine tool makes some tool path errors caused by software acceleration/deceleration. The faster a cutting feedrate is, the bigger the tool path errors are. Some known methods reduce these kinds of errors, but they make the total cutting time increased. This paper presents a feed-forward algorithm that can be generated by distorting the original tool path, and reduces the tool path errors and the total cutting time. The algorithm to generate a new tool path is represented as following; 1)calculating each distance of software acceleration/deceleration between two adjacent blocks, 2) estimating the distorted distance which is the adjacent-ratio-constant(k1, k2) multiply the distance of software acceleration/deceleration, 3) generating a 3-degree Bezier curve approximating the distorted tool path, 4) symmetrically transforming the Bezier curve about the intersection point between two blocks, and 5) connecting the transformed Bezier curve with the original tool path. The algorithm is applied to FANUC 0M. The study is to promote the high-precision machining and to reduce the total cutting time.

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Real-time Line Interpolation of a 2.3D Circular Arc based on the Acceleration and Deceleration of a Servo Motor (서보 모터의 가감속을 고려한 2.3차원 원호의 실시간 직선 보간)

  • Lee, Je-Phill;Lee, Cheol-Soo
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2001.04a
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    • pp.399-404
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    • 2001
  • In CNC machining, a 3D(3-dimension) linear segment and a 2D(2-dimension) circular arc are general forms given by CAD/CAM system. Generally, the 2D circular arc machining is processed using dividing into some linear segments. A 3D circular arc also don't exist in the standard form of NC data. This paper present a algorithm and method for real-time machining of a circular arc(not only the 2D one, but also the 3D one). The 3D circular arc machining is based on the 2D circular arc machining. It only needs making a new coordinate system, converting given 3D points(a start point, a end point, and a center point of a 3D circular arc) into points of the new coordinate system, and processing a inverse transformation about a interpolated point. The proposed algorithm was implemented and simulated on PC system. It was confirmed to give a gcod result.

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The Implement of 2-Step Motion Control Loop and Look Ahead Algorithm for a High Speed Machining (고속가공을 위한 2단계 모션 제어 루프와 선독 알고리즘의 구현)

  • 이철수;이제필
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.9 no.6
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    • pp.71-81
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    • 2000
  • This paper describers a look ahead algorithm of PC-NC(personal computer numerical control). The algorithm is based on acceleration/deceleration before interpolation which doesn\`t include a command error and determines a feedrate value at the end point of each block(or start point of each block). The algorithm is represented as following; 1) calculating two maximum arrival feedrates(F$_1$,F$_2$) by an acceleration value, a command feedrate, and the distance of a NC block, 2) getting a tangent feedrate (F$_3$) of the adjacent blocks, 3) choosing a minimum value among these three feedrates, and 4) setting the value to a feedrate of a start point of the next block(or a end point of the previous block). The proposed look ahead algorithm was implemented and tested by using a commercial TROS(real time operation system) on the MS-Windows NT 4.0 in a PC platform. For interfacing to a machine, a counter board, a DAC board and a DIO board were used. The result of the algorithm increased a machining precision and a machining speed in many short blocks.

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Development of the Design Program of the Brake System for the Tractor-Semitrailer Vehicle (Tractor-Semitrailer 차량의 브레이크 시스템 설계 프로그램 개발)

  • 서명원;권성진;박윤기;양승환;박병철
    • Transactions of the Korean Society of Automotive Engineers
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    • v.9 no.3
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    • pp.108-120
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    • 2001
  • In this paper, the braking performance considering the dynamic weight is analyzed about the tractor-semitrailer vehicle. The basic brake performance, the parking brake performance, the emergency brake performance and the locking point deceleration etc. are to be calculated for the brake system design of the tractor-semitrailer vehicle. This braking performance is related to traffic regulations and braking characteristics according to the vehicle deceleration, the tire-road friction coefficient and specifications of the air brake system. The design program for the braking performance based on various design variables of the vehicle and the air brake system is developed integrating the analysis functions. This design program is developed by an object oriented programming method that is windows based. GUI (Graphic User Interface) function and the convenience of operating are greatly considered.

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A study of control system on Permanent Magnet Linear Synchronous Motor with Z-axis operation structure (Z축 운전구조를 갖는 선형 영구자석형 동기 전동기 운전제어에 관한 연구)

  • Lee C.H.;Choi C.;Park H.W.;Kim C.U.
    • Proceedings of the KIPE Conference
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    • 2003.07b
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    • pp.654-658
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    • 2003
  • In this study a control system with variable gain schedule using real speed and moving direction is proposed to control a Permanent Magnet Linear Synchronous Motor (PMLSM) with Z-axis operation structure. The implementation of the controller is designed on the DSP TMS320C32 board. PMLSM is operated by using 4-point absolute positions profile with each velocity, acceleration and deceleration. The direction of the initial angle action for starting is set from the lower limit point to the upper limit point on PMLSM operation stroke. The effectiveness of a control system with variable gain schedule is demonstrated by some experimental results.

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Optimization of Disc Braking Force pattern from the viewpoint of Braking Energy (제동에너지 관점에서의 최적 디스크 제동력 패턴 설정)

  • Kim, Young-Guk;Park, Chan-Kyoung;Kim, Ki-Hwan;Kim, Seog-Won
    • Proceedings of the KSR Conference
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    • 2006.11b
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    • pp.294-299
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    • 2006
  • Korean high speed train(HSR-350x) has adopted a combined electrical and mechanical(friction) braking system. Brake blending control unit(BBCU) controls each brake system to fulfill the required brake performances such as braking distance, deceleration and jerk. When the disc brake is applied in the high speed region, the wear of pad is increased rapidly. In this paper, we discuss the optimized patterns of the disc brake force from the view point of braking energy.

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