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Method for realizing S curve acceleration and deceleration of motion control system

A technology of motion control system and implementation method, applied in the direction of digital control, electrical program control, etc., can solve the problems of large amount of calculation and influence, etc.

Active Publication Date: 2014-04-09
NANJING INST OF TECH
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  • Application Information

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Problems solved by technology

The amount of calculation is large, which has a great impact on the real-time performance of the system, especially the motion control system based on embedded processors.

Method used

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  • Method for realizing S curve acceleration and deceleration of motion control system
  • Method for realizing S curve acceleration and deceleration of motion control system
  • Method for realizing S curve acceleration and deceleration of motion control system

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Embodiment Construction

[0172] Below in conjunction with accompanying drawing and specific embodiment the technical scheme is further described as follows:

[0173] 1. Motion analysis of S-curve acceleration and deceleration process

[0174] In the process of motion control, a stable, smooth, and uniform S-shaped velocity curve requires that the velocity-time curve of the motion segment be continuous and guideable everywhere; at the same time, it is required that the jerk, acceleration, and speed change curves of the motion segment satisfy strict integrals with each other relation.

[0175] 1) Jerk curve

[0176] The jerk curve of S-curve acceleration and deceleration is a segmented curve that depends on the motion time, assuming that the jerk is J M , the jerk curve of the acceleration and deceleration process is as follows figure 1 shown.

[0177] Assume that the current time t, the end point of the jerk segment t 0 , end point of uniform acceleration segment t 1 , End point of deceleration a...

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Abstract

Provided is a method for realizing S curve acceleration and deceleration of a motion control system. (1) The realization condition of S curve acceleration and deceleration is as follows: the basic limiting condition formula of the S curve acceleration and deceleration control process is shown as formula (6): t0=t2-t1=t4-t3=t6-t5, at0=at1=-at4=-at5 and Vt0=Vt2-Vt1=Vt3-Vt4=Vt5-Vt6; and the complete S curve acceleration and deceleration process satisfies formula (7): L / VL>=t0+delta t(1-2)+delta t(3-4)+delta t(5-6), and aM<=aMax. (2) Recursion formulas of S curve acceleration and deceleration are as follows: the initial velocity is set to V0, the current sampling time is k, the corresponding accelerated acceleration is Jk, the acceleration is ak, the velocity of movement is Vk, and the recursion formulas based on the previous time are respectively formula (8): Jk=JM (0<=t<=t0, t5<t<=t6, 0<=k<=nt0, nt5<k<=nt6), Jk=0 (t0<t<=t1, t2<t<=t3, t4<t<=t5, nt0<k<=nt1, nt2<k<=nt3, nt4<k<=nt5) and Jk=-JM (t1<t<=t2, t3<t<=t4, nt1<k<=nt2, nt3<k<=nt4), formula (9): a0=0 and ak=a(k-1)+Jk*delta t, and formula (10): V0=0 and Vk=V(k-1)+ak*delta t.

Description

technical field [0001] The technical proposal belongs to the field of motion control, and is specifically a method for realizing S-curve acceleration and deceleration of a motion control system. Background technique [0002] Acceleration and deceleration control is the key technology of robots, high-performance CNC systems, etc. Compared with other methods, the S-curve acceleration and deceleration control has the advantages of continuous acceleration, smooth and uniform speed curve, smooth motion, and no impact, and can obtain an ideal motion control effect. Combined with the actual needs of high-performance numerical control, robots, etc., there have been achievements such as nested forward-looking fast algorithms for S-curve acceleration and deceleration, real-time software, etc., but its speed planning model, solution algorithm, and real-time performance are urgent research in this field question. [0003] Relatively speaking, the existing S-curve acceleration and dece...

Claims

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Application Information

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IPC IPC(8): G05B19/416
Inventor 张建华李宏胜葛红宇王建红樊红梅邵祥兵
Owner NANJING INST OF TECH
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