Open Access
2014 Minimum Time Trajectory Optimization of CNC Machining with Tracking Error Constraints
Qiang Zhang, Shurong Li, Jianxin Guo
Abstr. Appl. Anal. 2014(SI71): 1-15 (2014). DOI: 10.1155/2014/835098


An off-line optimization approach of high precision minimum time feedrate for CNC machining is proposed. Besides the ordinary considered velocity, acceleration, and jerk constraints, dynamic performance constraint of each servo drive is also considered in this optimization problem to improve the tracking precision along the optimized feedrate trajectory. Tracking error is applied to indicate the servo dynamic performance of each axis. By using variable substitution, the tracking error constrained minimum time trajectory planning problem is formulated as a nonlinear path constrained optimal control problem. Bang-bang constraints structure of the optimal trajectory is proved in this paper; then a novel constraint handling method is proposed to realize a convex optimization based solution of the nonlinear constrained optimal control problem. A simple ellipse feedrate planning test is presented to demonstrate the effectiveness of the approach. Then the practicability and robustness of the trajectory generated by the proposed approach are demonstrated by a butterfly contour machining example.


Download Citation

Qiang Zhang. Shurong Li. Jianxin Guo. "Minimum Time Trajectory Optimization of CNC Machining with Tracking Error Constraints." Abstr. Appl. Anal. 2014 (SI71) 1 - 15, 2014.


Published: 2014
First available in Project Euclid: 6 October 2014

zbMATH: 07023161
MathSciNet: MR3246360
Digital Object Identifier: 10.1155/2014/835098

Rights: Copyright © 2014 Hindawi

Vol.2014 • No. SI71 • 2014
Back to Top