Interpolation

LINEAR INTERPOLATOR/INTERPOLATION
DDA integrator:-Principle of operation,

Linear, Circular and Complete interpolator.
DDA-Digital Differential Analyzer
Digital differential analyser- simple line generation algorithm. (algorithm for digital integration)
Generating any line segment -need intermediate points and for calculating them we have can use a basic
algorithm called DDA.
interpolation of variables over an interval between start and end point.
Interpolation/Interpolator
Interpolation performs two functions
• It generates intermediate coordinates points along a program path
• It computes individual axis velocities to drive the tool along the programmed path at the given feed rate
Interpolation: use incremental representation
Integrator
Summation or accumulator
• Summation-exponential/factor/formula
• Area//mass/volume etc under a known or unknown
function
• It accumulates the input quantity over a defined
time to produce a representative output.
𝑡 𝑘
∫ 𝑉𝑑𝑡 ≅ ∑ 𝑉𝑖∆𝑡
0 𝑖 =0
•Width Δt and height V.

•Area is V Δt.
If we add all these typical rectangles,
starting from t0 and finishing at t
Each time Vk is modified by ΔV

The value of Vkcan in turn be modified by incrementing or decrementing it
by ∆V, which is either 1 or 0.
The micro-increments of the moving point along X axis and Y axis in Δt are
• One pulse increments the integrand register contents representing

one V increment unit (ΔV).
• One command pulse to the adder represents one X increment (Δx)
and causes the addition of the current integrand, V to the
remainder.
• Over a specific time period, the sum of the overflows approaches
the rectangular approximation
By using rectangular integration

Area under the straight line defined by y = mt + b where m = Δ Y/ Δ T
Circular interpolation
In circular interpolation, at a constant tangential velocity, V and

radius R, the axial velocities
DDA integrator
• The displacements of tool along the coordinate axis are calculated using digital integral method
• An integrator is a system whose output signal is the time integral of its input signal
• The total number of overflow pulses generated by the incremental process is equal to the total area to
be solved
• Accumulator capacity is valued as a unit area; each additional one unit area produces an overflow pulse
Stepper motor calculation
The computer produces a sequence of reference pulses for

each axis of motion, each pulse generating a motion of one BLU
pulse count=
For moving the table 5 mm with a feed of 6mm per minute (If
the BLU=0.001)
Pulse count=
The accumulated number of pulses represents position,

The pulse frequency is proportional to the axis velocity
c
(6mm is the feed per minute)

Types of interpolation:
• Linear,
• Circular,
• Helical,
• Parabolic, and cubic.
Area under the Velocity –time curve gives the distance travelled.
The instantaneous values of the quantities are formed by summing the increments throughout the
whole time.
So the distance travelled kth interval of time which is kΔt is represented as (S k)
Where
-- total displacement by summing the displacement at the previous time unit and the distance
increment at the current time unit using equation
The value of x,y and z in next step will figured out after adding a small
increment to the previous values of x,y and z
Circular Interpolation
The interpolator computes the axial velocity components and produces a sequence of reference pulses for each
control axis of motion.
The information required for programming a

circular interpolation includes:
(1) coordinates of the start point and end
point,
(2) radius of the arc or coordinates of the arc
centre, and
(3) direction in which the tool is to proceed
(CW or CCW).
NC controllers
Different actions of NC machine
• Tool position
• Orientation
• Spindle speed
• Tool change
• Coolant
• Fixture clamping etc
Continuous path (contouring) control in NC (x-y plane only)
One of the important aspects of contouring is interpolation.
Continuous path (Contouring) systems generally require

simultaneous control of two or more axes.
Synchronize the motion in X and Y directions to generate a path
Some of these shapes can be defined mathematically by relatively

simple geometric formulas, whereas others cannot be mathematically
defined except by approximation.
Theoretically, linear interpolation can be used to cut all types of tool paths, including straight lines, circles,
arcs, curves, and helical contours, etc.. However, it takes much more data to cut contours other than straight
lines.
Curves that can not be defined mathematically can only be approximated by using linear interpolation
NC and CNC machines
• The program of instructions is the step-by-step set of instructions that tells the machines what
it has to do.
• It reads and interprets the program of instructions and converts them in the mechanical
actions of the machine tool
• Electric inputs to individual motor for respective axis movements
CNC machine → Program→ Control unit→ Motor→ Motion
Conventional machine → eyes, hands, brain, skill

Instructions are feed to the controller Converted
to electrical pulses or signals Sent to the Stepper
motors
• The number of electronic pulses determines
the distance
• A frequency of the pulses determines the
speed
.
Zero and reference points on CNC
Automatic control is to control the overall machine
functions.
• Displacement of slide members
• Angular rotation of circular tables
• Stop/start of the main spindle
• Change the spindle speed
• Reverse spindle
• Change feed rate of slide members
• Rotate tool turret
• Change tool
• Cutting fluid, ON/OFF
• Lock table in position
A linear function for time can be represented by
x=Vt+x0
where
x =final position
x0=initial position
t=time
V= speed
This equation is similar to straight line equation
i
In the digital system, the time is divided into small
increments called cloak cycles Δt (pulses) xi  V  t  x0
j 1
This equation can be written
 xi 1  Vt
Depending on the (+/-) input selected, the P register is incremented or
decremented as the interpolation operation progresses and generates new
interpolated points. The integration process is activated by an iteration clock
with frequency. For each iteration pulse from the iteration clock, the DDA
integrator adds the value of the P register into an accumulator (Q), which is
initially set to zero.
If the displacement at time
Equations can be written as
----3
The following three process are necessary for integration
1. Calculate current velocity by velocity summing at the previous time unit and
the velocity increment at the current time unit using equation
2. Calculate the distance increment at the current time unit using equation ------
3
3. Calculate the total displacement by summing the displacement at the
previous time unit and the distance increment at the current time unit using
equation…. 2
The above integration process is repeated for every constant time interval and
the iteration frequency
Linear Interpolator
In two-axis linear interpolation, the interpolator calculates the speed commands, in pulses per second, for
the X and Y axes in such a way that it maintains the speed ratio between the X and Y axes equal to the
ratio of the required incremental distance (dx / dy).
Vf desired velocity along line of motion

Interpolation

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LINEAR INTERPOLATOR/INTERPOLATION

DDA integrator:-Principle of operation,

•Width Δt and height V.

Each time Vk is modified by ΔV

• One pulse increments the integrand register contents representing

By using rectangular integration

In circular interpolation, at a constant tangential velocity, V and

The computer produces a sequence of reference pulses for

The accumulated number of pulses represents position,

(6mm is the feed per minute)

So the distance travelled kth interval of time which is kΔt is represented as (S k)

The information required for programming a

Continuous path (Contouring) systems generally require

Some of these shapes can be defined mathematically by relatively

Conventional machine → eyes, hands, brain, skill

Vf desired velocity along line of motion

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