Anchor point speed planning method and device based on FIR filtering

The invention belongs to the related technical field of numerical control machining, and discloses an anchor point speed planning method and device based on FIR filtering, and the method comprises the following steps: (1) carrying out the FIR filtering of which the window is TFIR on a to-be-planned speed; (2) converting the filtered speed and the original speed into a travel domain; (3) when the filtered speed of the same position is greater than the original speed, adjusting the original speed to obtain an anchoring speed, taking the anchoring speed as the filtered speed, and respectively recording the stroke of the filtering speed curve and the stroke of the anchoring speed curve at the same time; and (4) calculating the difference between the stroke of the filtering speed curve and the stroke of the anchoring speed curve, finding out a speed minimum value vmin in a section where the original speed is smaller than the filtered speed, further obtaining a speed insertion period number n, adding n vmin at the