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.
CN104008250BActive Publication Date: 2016-01-20GUANGDONG UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
GUANGDONG UNIV OF TECH
Publication Date
2016-01-20

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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.
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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...

Claims

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