Abstract: To reduce mechanical impact on machines during transition between NURBS segments, a flexible acceleration and deceleration control method based on curvature properties was presented. A trapezoidal NURBS acceleration and deceleration method was studied which satisfied interpolation error requirements. At the same time, a simplified algorithm met S type deceleration demands was deduced. The simulation experiments included the above two algorithms based on chord error showed that both acceleration and jerk appeared breaks during the curvature greatly changed. These were caused greater impact for machine tools. However, the simulation experiment based on the presented algorithm showed that the relative characteristic parameters were complied with the planning demands of acceleration and deceleration. The presented algorithms were integrated into the open controller developed by ourselves, and the machining experiment showed numerical control machine was run more smoothly with proposed algorithm, and had an excellent real-time performance.

Key words: non-uniform rational B-splines, S-shape acceleration and deceleration, curvature, open architecture controller, machine tools

摘要： 为降低非均匀有理B样条段间转接时对机床的机械冲击,提出了一种基于曲率特性的柔性加减速控制方法。研究了满足插补误差要求的非均匀有理B样条梯形加减速的算法，推导了满足S型加减速要求的简化算法。用两种算法进行的基于弓高误差的非均匀有理B样条仿真加工实验表明，在曲率突变处加速度和加加速度均出现突变，对机床造成较大冲击。而基于曲率变化进行的柔性加减速的仿真试验表明，相关特性参数符合加减速的规划要求。将算法集成至自行开发的开放式控制器中，加工实验表明，该算法使数控机床的速度变化更加平稳,并具有良好的实时性。

关键词: 非均匀有理B样条, S加减速, 曲率, 开放式控制器, 机床