Software acceleration/deceleration (SA/D) and interpolation algorithms for control of machine axes of motion in CNC systems are proposed. A typical hardware system used to accelerate and decelerate an axis of motion is mathematically analyzed. Discrete-time state equations are derived for the SA/D algorithm. In practical CNC systems, synchronous control of multiple axes of motion is easily obtained from the proposed algorithm. Path error analysis is carried out for the case where the exponential acceleration/deceleration algorithm is applied to a circular interpolator. A motion control system based on a floating point digital signal processor TMS 32030 is developed in order to implement the proposed algorithm. The developed system is shown to be available for flexible control of multiple axes and nonlinear motion composed of a combination of lines and circles which CNC manufacturing systems require. Experimental results demonstrate the practical use of the developed algorithm and the motion control system.
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