Method for controlling position and speed on the basis of high-order S motion trajectory

A motion trajectory and speed control technology, applied in digital control, electrical program control, etc., can solve problems such as poor portability

Active Publication Date: 2015-12-23
HARBIN INST OF TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of poor portability of position and speed control methods using traditional t

Method used

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  • Method for controlling position and speed on the basis of high-order S motion trajectory
  • Method for controlling position and speed on the basis of high-order S motion trajectory
  • Method for controlling position and speed on the basis of high-order S motion trajectory

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Embodiment Construction

[0040] combine figure 1 and figure 2 Describe this embodiment, the position and speed control method based on the high-order S-shaped motion track described in this embodiment, the high-order S-shaped motion track of this embodiment is a 4th-order S-curve, and the position and speed of the 4-order S-curve (position- Derivative), acceleration (second derivative of position), first derivative of acceleration (third derivative of position) and second derivative of acceleration (fourth derivative of position) are respectively and

[0041] The 4th order S-curve has 2 4 = 16 segmentation points, assuming that the time value corresponding to the kth segmentation point is T[k], the values ​​of each stage curve at the kth segmentation point are S[k], V[k], A[ k], J[k] and D[k], k=0,1,2,,15;

[0042] The method comprises the steps of:

[0043] Step 1: According to the second order derivative of acceleration Find D[k]:

[0044] D[0]=D m ;

[0045] D[1]=0;

[0046] Accordin...

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Abstract

The present invention provides a method for controlling position and speed on the basis of high-order S motion trajectory belonging to the field of precision motion control, and the method is used to solve the problem that a method for controlling position and speed by utilizing a traditional trajectory planning algorithm has the poor portability. The controlling method includes the steps as follows: 1. calculating out the value S<N>(k) of a Nth-order S curve in each segment point according to a limit value Sm<N>of the Nth-order S curve; 2. calculating out the time value T(k) corresponding to the kth segment point and the value S<n>(k) of the nth-order S curve in the kth segment point; 3. sampling the S curve having the confirmed T(k) and S<n>(k) so as to acquire the planned Nth-order S motion trajectory; 4. and controlling position and speed by utilizing the sampling value of position and the sampling value of first derivate of position according to the planned Nth-order S motion trajectory. The method is used for controlling position and speed of a motion mechanism.

Description

technical field [0001] The invention belongs to the field of precision motion control. Background technique [0002] In precision motion control systems such as precision CNC machining systems, robot systems, and precision workbench systems, in order to avoid impacts, out-of-step, overtravel, and oscillations on each axis, to ensure that each movement is accurate under high acceleration and high speed conditions The stable positioning of the mechanism often requires acceleration and deceleration control. There are two commonly used methods, one is the trapezoidal acceleration trajectory, and the other is the S-shaped trajectory. Trapezoidal acceleration trajectory has a small amount of calculation and is easy to implement, but because the acceleration trajectory is not smooth and there are sudden changes, it is easy to arouse system oscillation and cause impact on the system, so it is rarely used in actual engineering. The S-shaped trajectory can ensure the continuous chang...

Claims

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19
Inventor 陈兴林宋法质王一光董岳刘杨陈震宇张常江万勇利刘洋何良辰
Owner HARBIN INST OF TECH
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