A segment feedrate profile fitting method for parametric interpolation

Abstract

There are many researches in scheduling an optimal feedrate profile under various constraints by numerical calculation. A large number of discrete feedrate data points are obtained. They are inconvenient for the parametric interpolator. Therefore, these discrete feedrate data points need to be fitted by parameter curves. Different from the regular curve fitting, the inappropriate feedrate fitting method can generate larger acceleration and jerk that seriously affect the machining accuracy and stability, although the feedrate satisfies the error requirements. In order to generate a suitable feedrate profile, a segment feedrate profile fitting method using B-spline is proposed in this article. The discrete feedrate data points are segmented in the jerk discontinuous points. In each segment, the feedrate profile is fitted by the linear least squares method. These fitted feedrate profiles are combined to generate a unified feedrate profile. The unified fitted feedrate profile and the tool path trajectory are used in the controller to command the axis. In this article, the process of parametric interpolation is separated into the arc-length calculation process and the curve parameter calculation process. Using parallel computation, the two processes are calculated simultaneously in the controller, and the computational efficiency is improved. Both simulation and experiment are carried out to verify that the fitted feedrate profile satisfies the error requirements, and the novel interpolation can be applied to the controller appropriately.