S-shaped movement curve planning method for reducing residual oscillation of high-speed mechanism

Abstract

The invention discloses an S-shaped movement curve planning method for reducing residual oscillation of a high-speed mechanism. The method comprises the following steps that according to the definition of an S-shaped movement curve, movement is divided into an add-add movement speed section (T1) with jerk G1, a minus-add movement speed section (T2) with jerk G2, a uniform movement section (T3), a minus-add movement speed section (T4) with jerk G3, a minus-minus movement speed section (T5) with jerk G5, and a minus-minus movement speed section (T6) with jerk G5. The damping time T6 for considering the residual oscillation is added, so influence of the residual oscillation is reduced. Influence of dynamics residual oscillation caused by systematic movement of the mechanism on actual movement locating time is considered, and stability of actual movement and maximization of production efficiency are achieved.

Description

technical field [0001] The invention belongs to the technical field of mechanical engineering and mathematics research, in particular to an S-shaped motion curve planning method for reducing residual vibration of a high-speed mechanism. Background technique [0002] In order to improve production efficiency, a large number of high-speed mechanisms have been used in the field of manufacturing. In order to reduce the impact generated during the movement, the rapid start and stop of high-speed mechanisms mainly use S-shaped curves for motion speed planning, and different jerk degrees can be selected. To obtain different shapes of S-shaped motion planning curves, the current S-shaped curve planning method mainly focuses on ensuring the smoothness of the motion curve of the mechanism, and rarely considers the influence of dynamic effects such as inertia, driving capacity, and driving load of the mechanism. , but the increase of the movement speed of the mechanism will inevitably ...

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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide an S-shaped motion curve planning method for reducing residual vibration of high-speed mechanisms, which aims to solve the existing S-shaped curve motion planning method, mainly considering the S-shaped curve of the geometric smoothness of the motion curve The planning method does not fully consider the influence of the dynamic residual vibration caused by the movement of the mechanism system on the actual movement positioning time, resulting in more time spent on the actual movement positioning, and cannot take into account the stability of the actual movement and the maximization of production efficiency The problem

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