基于微段插补模型的数控刀具运动优化控制

针对直线段与圆弧连接处的过渡,采用微小线段插补进行处理;通过前瞻分析的方法,控制直线段与圆弧段过渡处的进给速度提前减速,有效地减少了直线与圆弧过渡处的加工误差,建立混合S型双向加减速曲线模型,实现了圆弧段拐角处速度的控制.为了更好地优化数控刀具的加工时间,改进S型加速曲线原来加速缓慢耗时的前半部分,建立非零启动S型曲线加减速模型,从而减少启动时间,这种改进极大地优化刀具在走圆弧时的时间及平稳性.     

一种新型四阶S型轨迹规划算法的研究与应用北大核心CSCD

提出了一种四阶S型运动轨迹规划的新方法,根据给定参数计算得到最大速度三阶导数作用时间,最大加加速度作用时间和最大加速度作用的时间,通过循环计算的方式得到加速阶段所运动的距离与速度,以加速阶段所达到的速度作为最大速度计算得到最大速度作用的时间.此时,由浮点型转整型数据所产生的误差也可以在其最大速度的匀速阶段得到补偿,最后,减速阶段的数据由S曲线加减速控制中速度曲线的对称性得到.该算法在基于倍福PLC的三动子运料平台中进行了验证,实验表明,提出的S型运动轨迹规划算法在不用过多保存曲线数据的情况下也能获得平滑的速度和加速度,有效地提高了系统的柔性,同时简化了算法的实现,大大地节省了PLC的资源.     

一种新型四阶S型轨迹规划算法的研究与应用

提出了一种四阶S型运动轨迹规划的新方法,根据给定参数计算得到最大速度三阶导数作用时间,最大加加速度作用时间和最大加速度作用的时间,通过循环计算的方式得到加速阶段所运动的距离与速度,以加速阶段所达到的速度作为最大速度计算得到最大速度作用的时间.此时,由浮点型转整型数据所产生的误差也可以在其最大速度的匀速阶段得到补偿,最后,减速阶段的数据由S曲线加减速控制中速度曲线的对称性得到.该算法在基于倍福PLC的三动子运料平台中进行了验证,实验表明,提出的S型运动轨迹规划算法在不用过多保存曲线数据的情况下也能获得平滑的速度和加速度,有效地提高了系统的柔性,同时简化了算法的实现,大大地节省了PLC的资源.     

一种Jerk平滑的非对称正弦轨迹规划设计方法

为了减小运动控制中三角函数类型轨迹规划在减速段产生的振动和冲击,文章提出了使减速段Jerk平滑过渡的非对称正弦轨迹规划的系统的设计方法.首先,根据S曲线的闭合形式非对称设计方法,将其在正弦算法中实现;然后,针对正弦加加速度在减速段存在突变的问题进行优化,并提出不同目标行程下确定运动参数的方法;最后,通过频域分析和仿真实...     

CNC系统路径遍历的时间最优控制算法

针对计算机数控(CNC)系统给定路径的遍历问题,给出了一种加减速控制算法,使CNC系统的路径遍历时间最小.由于CNC系统的优化变量(加速度)为线性的存在于时间最优指标和约束条件中,且沿坐标方向加速度有界.因此通常这类时间最小路径遍历问题具有Bang-bang的控制结构,即任意时刻至少有一个坐标方向存在最大加/减速度.针对一类参数化路径,推导了沿坐标方向加速度与曲线局部特性间的关系.保证系统在Bang-bang控制情况下,实现路径精确遍历.1/4和1/2圆弧最短时间遍历问题的仿真结果,验证算法的有效性.     

数控插补中基于运动曲线的局部优化和基于前瞻控制的整体优化

数控加工在机械制造领域具有举足轻重的作用,如何在满足加工精度的前提下提高加工速度是数控加工的一个关键问题.据数学机械化方法,将插补问题分解为局部优化和整体优化两部分,其中局部优化是在线段连接处通过采用二次曲线(抛物线)和三次曲线族过渡的方法,提高线段连接处的通过速度,使得局部通过速度最优;同时根据加工误差确定线段连接处的插补时间,并以插补时间为参数对线段连接处的插补参数统一进行调整,提高了数控软件的智能性.在局郎优化的基础上进一步进行整体优化,即采用基于直线加减速和S型加减速控制方式的前瞻处理算法,对加工路径进行有效预测,避免了因突然加减速造成机床振动,从一定程度上保证整体加工速度的提高,采用符号与数值混合算法,算法简单,保证了计算精度和速度,满足实时加工的要求.算法在蓝天数控系统上进行了实际加工验证,结果表明该算法达到了预期效果,验证了算法的有效性.与当前已有算法相比,根据机床加工参数不同,加工速度提高了50%-170%.     

数控加工刀具运动的优化控制

数控加工的精准性与高速性主要体现在加工路径的插补与加工过程中刀具的速度控制.首先针对数控加工过程中常见的折线轨迹进行分析,提出了折线加工转角处的速度平滑过渡方案,保证加工精度的同时提高加工效率.进一步,得出了转角处的最大加工速度与加工误差关系.针对圆弧类曲线插补问题,在折线模型的基础上拓展了内接和外切两种插补方案.计算结果表明,采用折线平滑过渡时,外切插补方案可以保证更高的精度.     

解信赖域子问题的隐式分段折线算法

在Hessian矩阵正定的前提下,建立了一种最优曲线的微分方程模型.针对此微分方程模型,构造了一条隐式分段折线,从而提出了一种求解信赖域子问题的隐式分段折线算法,并且分析和证明了隐式分段折线路径的合理性.数值结果表明新算法是有效且可行的.     

一类广义迭代学习控制系统的状态跟踪算法

利用迭代学习控制方法,研究了一类广义系统的状态跟踪问题.针对广义系统的分解形式,提出了一种新的迭代学习控制算法,该算法由部分D型算法和部分P型算法混合而成.给出了新算法的收敛条件,并从理论上对新算法进行了完整的收敛性分析.数值仿真结果说明了所提出的广义系统状态跟踪的迭代学习控制算法的有效性.     

基于动态BP网络误差修正的广义预测控制

针对建模误差对非线性系统预测控制鲁棒性的影响 ,提出了一种基于动态 BP网络的广义预测控制算法 .该算法运用动态 BP网络对模型预测误差进行在线补偿 ,以提高预测精度 .仿真结果证明了本文提出的广义预测控制算法对于非线性系统是有效的     

Long-step primal-dual target-following algorithms for linear programming

In this paper we propose a long-step target-following methodology for linear programming. This is a general framework, that enables us to analyze various long-step primal-dual algorithms in the literature in a short and uniform way. Among these are long-step central and weighted path-following methods and algorithms to compute a central point or a weighted center. Moreover, we use it to analyze a method with the property that starting from an initial noncentral point, generates iterates that simultaneously get closer to optimality and closer to centrality.This work is completed with the support of a research grant from SHELL.The first author is supported by the Dutch Organization for Scientific Research (NWO), grant 611-304-028.The fourth author is supported by the Swiss National Foundation for Scientific Research, grant 12-34002.92.     

Trefftz,collocation, and other boundary methods—A comparison

In this article we survey the Trefftz method (TM), the collocation method (CM), and the collocation Trefftz method (CTM). We also review the coupling techniques for the interzonal conditions, which include the indirect Trefftz method, the original Trefftz method, the penalty plus hybrid Trefftz method, and the direct Trefftz method. Other boundary methods are also briefly described. Key issues in these algorithms, including the error analysis, are addressed. New numerical results are reported. Comparisons among TMs and other numerical methods are made. It is concluded that the CTM is the simplest algorithm and provides the most accurate solution with the best numerical stability. © 2006 Wiley Periodicals, Inc. Numer Methods Partial Differential Eq, 2007     

Volume preserving RK methods for linear systems

1. IntroductionIn recent yearss there has been a great interest in constructing numerical integrationschemes for ODEs in such a way that some qualitative geometrical properties of the solutionof the ODEs are exactly preserved. R.th[ll and Feng Kang[2'31 has proposed symplectic algorithms for Hamiltollian systems, and since then st ruct ure s- preserving me t ho ds fordynamical systems have been systematically developed[4--7]. The symplectic algorithms forHamiltonian systems, the volume-pre…     

求解离散不适定问题的正则化GMERR方法

迭代极小残差方法是求解大型线性方程组的常用方法, 通常用残差范数控制迭代过程.但对于不适定问题, 即使残差范数下降, 误差范数未必下降. 对大型离散不适定问题,组合广义最小误差(GMERR)方法和截断奇异值分解(TSVD)正则化方法, 并利用广义交叉校验准则(GCV)确定正则化参数,提出了求解大型不适定问题的正则化GMERR方法.数值结果表明, 正则化GMERR方法优于正则化GMRES方法.     

A note on the biasing of Newton's direction

This note deals with the geometric interpretation of the Levenberg-Marquardt search direction when the augmented Hessian is not positive definite.     

Diagonalized multiplier methods and quasi-Newton methods for constrained optimization

Two approaches to quasi-Newton methods for constrained optimization problems inR ⁿ are presented. These approaches are based on a class of Lagrange multiplier approximation formulas used by the author in his previous work on Newton's method for constrained problems. The first approach is set in the framework of a diagonalized multiplier method. From this point of view, a new update rule for the Lagrange multipliers which depends on the particular quasi-Newton method employed is given. This update rule, in contrast to most other update rules, does not require exact minimization of the intermediate unconstrained problem. In fact, the optimal convergence rate is attained in the extreme case when only one step of a quasi-Newton method is taken on this intermediate problem. The second approach transforms the constrained optimization problem into an unconstrained problem of the same dimension.The author would like to thank J. Moré and M. J. D. Powell for comments related to the material in Section 13. He also thanks J. Nocedal for the computer results in Tables 1–3 and M. Wright for the results in Table 4, which were obtained via one of her general programs. Discussions with M. R. Hestenes and A. Miele regarding their contributions to this area were very helpful. Many individuals, including J. E. Dennis, made useful general comments at various stages of this paper. Finally, the author is particularly thankful to R. Byrd, M. Heath, and R. McCord for reading the paper in detail and suggesting many improvements.This work was supported by the Energy Research and Development Administration, Contract No. E-(40-1)-5046, and was performed in part while the author was visiting the Department of Operations Research, Stanford University, Stanford, California.     

投入产出技术在计划平衡中的理论与应用

在用投入产出技术作计划平衡时，目前一般采用最终产品法、总产品法及国民收入法等．本文从理论上研究了这些方法的可行性问题，并在此基础上提出一个较理想的综合法．最后附有实例并说明综合法的现实意义．     

s个几乎相等的素数的k次方和(Ⅰ)

假定pθ‖k,当p=2,2|k时，γ=θ 2；其它情况时，γ=θ 1。而R＝П(p-1)|kp^γ。本文在GRH（广义Riemann假设下），证明了当s=2^k 1,1≤k≤11时，任何足够大的整N≡s(modR)都可以表示为s个几乎相等的素数的k次方程。     

Stabilization of algebraic multilevel iteration methods; additive methods

There exist two main versions of preconditioners of algebraic multilevel type, the additive and the multiplicative methods. They correspond to preconditioners in block diagonal and block matrix factorized form, respectively. Both can be defined and analysed as recursive two-by-two block methods. Although the analytical framework for such methods is simple, for many finite element approximations it still permits the derivation of the strongest results, such as optimal, or nearly optimal, rate of convergence and optimal, or nearly optimal order of computational complexity, when proper recursive global orderings of node points have been used or when they are applied for hierarchical basis function finite element methods for elliptic self-adjoint equations and stabilized in a certain way. This holds for general elliptic problems of second order, independent of the regularity of the problem, including independence of discontinuities of coefficients between elements and of anisotropy. Important ingredients in the methods are a proper balance of the size of the coarse mesh to the finest mesh and a proper solver on the coarse mesh. This paper presents in a survey form the basic results of such methods and considers in particular additive methods. This method has excellent parallelization properties. This revised version was published online in June 2006 with corrections to the Cover Date.     

一种求解鞍点问题的广义对称超松弛迭代法

本文研究了鞍点问题的迭代算法.利用新的待定参数加速迭代格式并结合SSOR分裂的方法,获得了有两个参数的广义对称超松弛迭代法及其收敛性条件.数值例子表明选择适当的参数值可以提高算法的收敛效率,推广和改进了SOR-like迭代法.