Asymmetric Variable Acceleration Planning Method Based on Time Domain Optimal Distribution of Primary Frequency Energy

A technology of optimal distribution and variable acceleration, applied in design optimization/simulation, image data processing, special data processing applications, etc.

Active Publication Date: 2016-01-20
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0007] The present invention proposes an asymmetric variable acceleration planning method based on the optimal distribution of main frequency energy in the time domain, which solves the problem of motion planning of high-speed and high-acceleration mechanisms that have nonlinear effects such as large flexible deformation and precise positioning requirements, and can achieve high-acceleration Precise positioning and smooth position / force switching under extreme conditions

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  • Asymmetric Variable Acceleration Planning Method Based on Time Domain Optimal Distribution of Primary Frequency Energy
  • Asymmetric Variable Acceleration Planning Method Based on Time Domain Optimal Distribution of Primary Frequency Energy
  • Asymmetric Variable Acceleration Planning Method Based on Time Domain Optimal Distribution of Primary Frequency Energy

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Embodiment example

[0092] The pendulum-type welding head mechanism of the high-speed die-bonding machine needs to move from the crystal-taking position to the die-bonding position at high speed, and must ensure the positioning accuracy of ±1μm, requiring the shortest positioning time. Optimized according to the symmetrical S-shaped acceleration curve, the shortest positioning time obtained is 23.33ms (the driving time is 17.90ms, the maximum residual amplitude is 2.14μm, and the inertial energy decay time is 5.43ms). Through the asymmetric variable acceleration planning proposed in this project, further optimization is carried out. The optimization process is shown in Table 1. Under the same positioning accuracy of ±1μm, the positioning time is 16.36ms (the driving time is 12.90ms, and the maximum residual amplitude is 1.03μm. The decay time of inertial energy is 3.46ms), which is 30% shorter than before (the decay time of inertial energy is reduced by 36%).

[0093] Table 1 Optimization process...

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Abstract

The present invention relates to the technical field of mechanical engineering and mathematics research, in particular to an asymmetric variable acceleration planning method based on the optimal distribution of main frequency energy in the time domain, including nonlinear finite element models containing kinematic freedom and parameterized motion functions as boundary conditions Solve the positioning process; judge whether the amplitude of the execution end after the drive stops meets the positioning accuracy, if not, continue to solve, if it is satisfied, the vibration energy decay time; judge whether the target response time is the minimum value, if it is the minimum value, determine the setting The motion parameter is the optimal parameter, if it is not the minimum value, calculate the motion parameter gradient and step size, and reset the motion parameters to solve. Through the above method, the present invention solves the problem of motion planning of high-speed and high-acceleration mechanisms that have nonlinear effects such as large flexible deformation and precise positioning requirements, and can realize precise positioning and position / force smooth switching under high acceleration conditions, and is also applicable to traditional A solution to the actuator motion planning problem.

Description

technical field [0001] The invention relates to the technical field of mechanical engineering and mathematics research, in particular to an asymmetric variable acceleration motion planning method based on the optimal time domain distribution of main frequency energy. Background technique [0002] A mechanism with a motion acceleration of more than 10g is considered a "soft body", and its dynamic characteristics are quite different from general rigid body mechanisms. The above-mentioned high-acceleration actuators have a great influence of inertial energy, and the residual vibration is very large under high-acceleration conditions such as high-speed start-stop, which causes the elastic vibration energy of the mechanism to need a long decay time to meet the needs of high-precision positioning. In order to ensure the precise positioning requirements of high-speed and high-acceleration actuators, the common solution is to design a smooth acceleration motion planning curve to red...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
CPCG06F30/17G06F30/00G06F30/23G06F2111/04G06T17/10
Inventor 陈新白有盾杨志军高健杨海东王梦陈新度
Owner GUANGDONG UNIV OF TECH
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