S-curve acceleration and deceleration control method and device of discrete sampling

A technology of acceleration and deceleration control and discrete sampling, which is applied in the direction of digital control, program control, electrical program control, etc., and can solve problems such as the influence of smooth machining surface finish

Inactive Publication Date: 2015-04-01
ZHEJIANG NORMAL UNIVERSITY
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

This error will have a corresponding impact on the smoothn...

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  • S-curve acceleration and deceleration control method and device of discrete sampling
  • S-curve acceleration and deceleration control method and device of discrete sampling
  • S-curve acceleration and deceleration control method and device of discrete sampling

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Embodiment Construction

[0051] Below in conjunction with accompanying drawing and specific embodiment, present technology and device are further described as follows:

[0052] A high-frequency sampling S-curve acceleration and deceleration control device, its specific implementation process: figure 1 As shown, the motion parameters are written into the field-programmable gate array-based acceleration and deceleration control device through the human-computer interaction interface. After the device completes the acceleration and deceleration calculation and configures the pulse frequency, it generates corresponding pulses to drive the motor. When the output pulse number is equal to When the number of pulses is preset, the controller stops outputting, and the motor completes the movement. At the same time, the device also receives the feedback signal of the encoder to reflect the current speed and actual displacement of the motor.

[0053] The present invention utilizes an adjustable frequency divider...

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Abstract

The invention belongs to the technical field of numerical control machining and particularly relates to an S-curve acceleration and deceleration control method and device of discrete sampling. According to the relation that displacement increment is integral to speed increment and also double integral to acceleration increment in a single sampling period, the S-curve acceleration and deceleration control method of high frequency sampling is achieved through pure hardware. On the basis of a field-programmable gate array motion controller hardware platform, a motion control module including the functions of the sampling period, speed control, counting comparison, pulse generation and the like by utilizing a hardware description language. The judgment methods of all speed changing points of an S curve are analyzed. The acceleration and deceleration states are changed through real-time feedback and comparison on motor positions, speed and acceleration, the value of an acceleration accumulator and the value of a speed accumulator are further changed, and S-curve control over driving pulse frequency is achieved. According to the method and device, the sampling frequency is high, and reconfiguration and reuse can be achieved; the driving pulse frequency is continuous and smooth in change, and the operating efficiency of a motor and the reliability of a numerical control system are improved.

Description

technical field [0001] The invention relates to the technical field of digital control processing of numerical control machine tools, in particular to a discrete sampling S-curve acceleration and deceleration control method and a device thereof. Background technique [0002] In the computer numerical control system (CNC, Computer Numerical Control), in order to avoid the impact, out of step, overtravel and oscillation of each axis, and to ensure the smooth and accurate positioning of the moving parts, acceleration and deceleration control must be carried out so that the feed rate Smooth transition. Commonly used acceleration and deceleration control methods include linear acceleration and deceleration, exponential acceleration and deceleration, and S-curve acceleration and deceleration. Linear acceleration and deceleration and exponential acceleration and deceleration, although the amount of calculation is small and the programming is simple, there is a phenomenon of sudden...

Claims

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Application Information

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IPC IPC(8): G05B19/416
CPCG05B19/4166
Inventor 沈孟锋俞红祥
Owner ZHEJIANG NORMAL UNIVERSITY
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