Position S type instruction generation method

A technology of instruction and implementation method, applied in the field of position S-type instruction generation, to achieve the effects of avoiding shock and vibration, stable operation, and flexible parameter setting

Active Publication Date: 2009-07-08
东元总合科技(杭州)有限公司
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  • Abstract
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  • Application Information

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On the other hand, the mechanical characteristics of the motor, the mechanical characteristics of the

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  • Position S type instruction generation method

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Embodiment Construction

[0030] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

[0031] Such as figure 1 As shown, a typical S-curve includes three processes of S-curve acceleration, constant speed and deceleration. Among them, the acceleration process includes the jerk section (T1), the uniform acceleration section (T2) and the deceleration section (T3). Deceleration and deceleration section (T7), the whole process is divided into seven sections. In the figure, SCT is the smoothing time constant, SCAT is the acceleration time constant, Vmax is the set maximum operating speed, L is the displacement command value, and Amax is the maximum acceleration allowed by the system.

[0032] From time 0, the acceleration of the system increases linearly from zero. At the end of T1, the acceleration reaches a constant value, and the s...

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Abstract

The invention provides a position S-type instruction realization method capable of being completed by a driver or a host computer. The method comprises the following steps: judging whether an S curve has constant acceleration running state; judging whether the S curve has uniform speed running state; and adopting different modes to calculate the process displacement and perform positioning according to the fact that whether the S curve has the constant acceleration running state or the uniform speed running state. The position S-type instruction realization method can avoid mutation of the speed, the acceleration and the complementary acceleration during running so as to make a system stably operated and parameters flexibly set and be capable of guaranteeing precise positioning of the system within the set time range and that no overshooting or insufficient stroke exists. Moreover, because the system corrects the acceleration in different processes, the acceleration is continuously changed and then the speed and a position instruction obtained by acceleration calculation are also continuously changed, the generated instruction can effectively avoid system impact and vibration.

Description

technical field [0001] The invention relates to motion command smoothing processing technology, in particular, relates to a position S-type command generation method. Background technique [0002] High-performance motion control systems, especially position positioning control systems, have been widely used. At the same time, the performance requirements of servo drive systems are getting higher and higher. Due to differences in friction and load mechanical inertia, the acceleration of servo systems is not set properly. It will cause the system to vibrate and take a long time to locate the position. For this, smoothing of the position command is required. [0003] At present, the command smoothing method of point-to-point position control system mostly adopts S-curve, which is mostly realized by the host computer controller or a dedicated controller, using its high-speed computing unit and high-precision floating-point operations, and through a large number of mathematical ...

Claims

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Application Information

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IPC IPC(8): G05B19/19
Inventor 邹积浩张连忠
Owner 东元总合科技(杭州)有限公司
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