Convex optimisation method for time-optimal feedrate planning with complex constraints

Time-optimal feedrate planning theory has been widely applied in high-speed machining to improve machining efficiencies with a specified trajectory accuracy by fully exploiting the capabilities of high-speed computer numerical control machine tools. Reasonable and effective constraints conforming to practical situations are necessary conditions for obtaining optimal planning results. In this article, complex constraints, such as the motor torque constraint, the contour error constraint, the friction error constraint, the instruction velocity constraint and the smooth velocity constraint, are investigated in depth. Moreover, an efficient convex optimisation method is developed to address the time-optimal feedrate planning problem with these complex constraints. The experimental results from two feedrate planning tests and the computational efficiency for a test trajectory demonstrate the validity, stability and high efficiency of the proposed approach.