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Speed ​​control algorithm and pulse control algorithm

A technology of speed control and pulse control, which is applied in the direction of program control, computer control, general control system, etc., can solve the problems of inability to adjust in real time, achieve smooth trajectory and improve control accuracy

Active Publication Date: 2018-01-02
成都乐创自动化技术股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to solve the prior art to output line by line, adopt fixed FPGA hardware to output, and can not adjust the existing technical deficiencies in real time, and provide novel speed control algorithm and novel pulse control algorithm. , the motion curve is not pre-determined, but can be adjusted at any time. Based on the control method between the speed preview of the micro-line segment and the output by line segment, the speed can be adjusted at any time to adapt to various deformation trajectory occasions

Method used

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  • Speed ​​control algorithm and pulse control algorithm
  • Speed ​​control algorithm and pulse control algorithm
  • Speed ​​control algorithm and pulse control algorithm

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Experimental program
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Embodiment 1

[0035] The new speed control algorithm, in the trajectory processing, includes the steps of analyzing the speed parameters set by the user on the host computer; In the processing process between the speed look-ahead step of the micro-segment and the step of outputting line-by-segment, when processing each micro-segment, control the speed by cycle, change the current speed in real time, solve the existing technology to output line-by-segment, and adopt a fixed Using FPGA hardware for output, the lack of real-time adjustment is not possible, and a new speed control algorithm and a new pulse control algorithm are provided. In the processing, the motion curve is not predetermined, but can be adjusted at any time. Based on In the control mode between the speed preview of the micro-segment and the output by line segment, the speed can be adjusted at any time to adapt to various deformation trajectory occasions.

Embodiment 2

[0037] This embodiment is further optimized on the basis of the above-mentioned embodiments. Further, in order to better realize the present invention, the specific steps when processing each micro-line segment are as follows: set the starting point speed and The terminal speed is based on the terminal speed as the reference value. During the movement on this micro-line segment, the current speed is adjusted in real time through the recalculated amount of the remaining distance of the micro-line segment, so that the current speed finally reaches the end point and is the same as the reference value; In periodic control, equal-period control is adopted, and the connection speed between micro-line segments is also calculated by the speed look-ahead. In each specific micro-line segment, the speed is controlled periodically, and the speed can be changed in real time, that is, the motion curve is not predetermined. But the speed can be adjusted at any time, which is more in line with...

Embodiment 3

[0039] This embodiment is further optimized on the basis of Embodiment 1. Further, in order to better realize the present invention, in the processing using sub-period control speed, equal-period control speed is adopted, and the micro-line segment processing adopts 1 ms cycle Control; control based on isoperiod is more general, more flexible, and suitable for more complex control fields.

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Abstract

The invention discloses a novel speed control algorithm and a novel pulse control algorithm. The track processing comprises the steps of resolving a speed parameter set by a user on an upper computer, dividing a track into micro-line segment, performing speed prediction based on the micro-line segments and outputting the micro-line segments one by one. In the processing procedure between the speed prediction based on the micro-line segments and the one-by-one micro-line segment output, periodic speed control is adopted to change current speed in real time when each micro-line segment is processed. The shortcoming that FPGA hardware is fixedly utilized to perform one-by-one line segment output and real-time adjustment cannot be performed in the prior art is solved. According to the novel speed control algorithm and the novel pulse control algorithm, a motion curve is not predetermined and speed can be adjusted at any time during processing, and the speed can be adjusted at any time to adapt to various deformation track occasions in the control mode for the processing procedure between the speed prediction based on the micro-line segments and the one-by-one micro-line segment output.

Description

technical field [0001] The invention relates to the technical field of automatic control, specifically, a new speed control algorithm and a new pulse control algorithm. Background technique [0002] In the existing trajectory movement, in the trajectory processing, the speed parameters set by the user are included in the analysis step of the host computer; the trajectory is divided into micro-segments; In the processing of the micro-segment-based speed look-ahead step and line-segment output step, after the micro-segment-based speed look-ahead to line-segment output, the FPGA hardware is used for fixed output, and real-time adjustment cannot be performed. [0003] Such as figure 1 As shown in , the trajectory is composed of three line segments. In the previous algorithm, the velocity look-ahead was performed first, the purpose of which is: [0004] (1) Calculate the speed at point B and point C according to the initial speed at point A, the end speed at point C, the limite...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/042
CPCG05B19/042
Inventor 邹爽
Owner 成都乐创自动化技术股份有限公司
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