华中科技大学学报（自然科学版）2025，Vol.53Issue(12)：34-41,8.DOI:10.13245/j.hust.251205
基于卡尔曼滤波的刀轴指令平滑方法
Tool orientation instruction smoothing method based on Kalman filtering
摘要
Abstract
Aiming at the problem of decreased machining quality of parts caused by non-smooth tool orientation instructions in G-code for complex surface machining,a tool orientation instruction smoothing method based on Kalman filter(KF)was proposed.First,a partitioned Gaussian filter was adopted as the observation in the KF,and the tool orientation instructions were preliminarily smoothed.Then,a cubic Bezier curve fitting method was adopted as the prediction in the KF,and the observation was corrected and secondary smoothed,thereby achieving filtering and smoothing of the tool orientation instructions within the error constraints in the master-slave collaborative space.Finally,based on particle swarm theory,the filtering parameters were optimized to improve the efficiency and accuracy of parameter design.Experiment results show that this method can reduce the maximum fitting curvature of the tool orientation instructions by 87.7%,the peak acceleration of the rotating axis by 87.6%,and the peak jerk by 86.9%,and effectively control errors.关键词
数控加工/刀轴指令平滑/卡尔曼滤波/误差约束/滤波参数优化Key words
CNC machining/tool orientation instruction smoothing/Kalman filtering/error constraint/optimization of filtering parameters分类
机械制造引用本文复制引用
YANG Jianzhong,MENG Yicheng,GAO Song,WANG Chao..基于卡尔曼滤波的刀轴指令平滑方法[J].华中科技大学学报（自然科学版）,2025,53(12):34-41,8.基金项目
武汉市高档数控系统产业创新联合实验室资助项目(2024010902040450) （2024010902040450）
国家重点研发计划资助项目(2022YFF0605200) （2022YFF0605200）
武汉市科技计划资助项目(2023010402040013). （2023010402040013）
