Control circuit for realizing S curve acceleration and deceleration of motion control system

A motion control system, acceleration and deceleration control technology, applied in the direction of electric speed/acceleration control, etc., can solve the problems of large amount of calculation and influence

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

AI Technical Summary

Problems solved by technology

The amount of calculation is large, which has a great impact on the real-time perform

Method used

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

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Embodiment Construction

[0172] The technical solution is further described below in conjunction with the drawings and specific implementations as follows:

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

[0174] In the process of motion control, a smooth, smooth and uniform S-shaped speed curve requires that the speed-time curve of the motion section is continuous and guideable everywhere; at the same time, the jerk, acceleration and speed change curves of the motion section are required to meet strict integrals. relationship.

[0175] 1) Acceleration curve

[0176] The jerk curve of S-curve acceleration and deceleration is a segmented curve that depends on the movement time. It is assumed that the jerk size is J M , The jerk curve of the acceleration and deceleration process is as figure 1 Shown.

[0177] Assume that the current time t, the end of the acceleration period t 0 , End point of uniform acceleration section t 1 , Decrease end point of acceleration section t 2 , End poi...

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Abstract

Provided is a control circuit for realizing S curve acceleration and deceleration of a motion control system. A CPU bus interface circuit writes the accelerated acceleration, the average speed, the initial speed, the termination speed and instruction displacement parameters into corresponding registers in an instruction parameter register and sends out the working state of the circuit in response to an external request; an initialization circuit reads instruction parameters in the instruction parameter register, calculates the total speed change and reasonably plans the speed change of each section; an accelerated acceleration integral circuit and an acceleration integral circuit execute integral operation and writes the integral operation into corresponding registers in an execution register; a drive pulse inter-pulse calculation circuit reads a speed register and calculates the inter-pulse count value of drive pulses; a pulse generating circuit uses the inter-pulse count value to count a reference clock so as to achieve the required drive pulses; a displacement control circuit counts the output drive pulses, calculates the output displacement and writes the output displacement into a displacement register; and a state transfer and control circuit causes the S curve acceleration and deceleration control circuit to act in an orderly and coordinated mode in response to the reference clock.

Description

Technical field [0001] The technical solution belongs to the field of motion control, and specifically is a control circuit that realizes S-curve acceleration and deceleration of a motion control system. Background technique [0002] Acceleration and deceleration control is a key technology for robots and high-performance CNC systems. Compared with other methods, S-curve acceleration and deceleration control has the advantages of continuous acceleration, smooth and uniform speed curve, smooth motion, and no impact, and can achieve ideal motion control effects. Combining the actual needs of high-performance CNC, robots, etc., nested forward-looking fast algorithms for S-curve acceleration and deceleration, real-time software and other achievements have appeared successively, but its speed planning model, solution algorithm and real-time performance are urgently needed for research in this field. problem. [0003] In contrast, the existing S-curve acceleration and deceleration cont...

Claims

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Application Information

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IPC IPC(8): G05D13/62
Inventor 葛红宇李宏胜张建华王建红樊红梅邵祥兵
Owner NANJING INST OF TECH
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