This paper presents a reference trajectory (command) generation scheme to robustly avoid residual vibrations that occur due to rapid acceleration of machine axes in high-speed machining and positioning tasks. A robust Finite impulse response (FIR) filter is designed to generate reference motion commands for accurate real-time interpolation of linear toolpaths along point-to-point (P2P) and non-stop contouring trajectories. The designed FIR filter generates reference acceleration profiles with wide attenuation bands in the frequency spectrum to avoid unwanted vibrations. Design and tuning principles for the robust FIR filter are presented, and kinematics of the generated reference trajectories are analyzed. Contour errors that occur during rapid non-stop linear interpolation are estimated from the filter dynamics. A feedrate scheduling method is introduced to analytically confine those interpolation contour errors within user specified tolerances. Effectiveness of the proposed trajectory generation scheme is validated in actual machining tests, and it is benchmarked against the state-of-the-art technique. It is shown that developed FIR-based trajectory generator can robustly avoid unwanted inertial vibrations to produce smoother surfaces without elongating cycle times.

本文提出了一种参考轨迹（命令）生成方案，可有效避免在高速加工和定位任务中由于机床轴的快速加速而产生的残留振动。强大的有限冲激响应（FIR）滤波器旨在生成参考运动命令，以便沿点对点（P2P）和不停轮廓轮廓轨迹对线性刀具路径进行实时精确插补。设计的FIR滤波器会生成参考加速度曲线，并在频谱中具有较宽的衰减带，以避免产生不必要的振动。提出了鲁棒FIR滤波器的设计和调谐原理，并分析了生成的参考轨迹的运动学。快速不间断线性插值过程中发生的轮廓误差可通过滤波器动态估算。引入了进给率调度方法，以将那些插补轮廓误差分析地限制在用户指定的公差范围内。所建议的轨迹生成方案的有效性在实际的机加工测试中得到了验证，并以最新技术为基准。结果表明，开发的基于FIR的轨迹发生器可以稳健地避免不必要的惯性振动，从而在不延长周期时间的情况下产生更平滑的表面。