S-shaped acceleration and deceleration control method for changing speed and position of object on line

A technology of acceleration and deceleration control and target speed, applied in digital control, program control, electrical program control, etc., can solve problems such as complex algorithms, vibration and noise, and discontinuous acceleration curves

CN106168790AActive Publication Date: 2016-11-30SOUTH CHINA UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2016-11-30

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Abstract

The present invention provides an S-shaped acceleration and deceleration control method for changing speed and position of an object on line. The method comprises the acceleration phase speed planning, the deceleration phase speed planning, the constant speed phase speed planning, the real speed reduction point predication, the maximum speed processing, the surplus distance compensation, the online object speed changing algorithm and the online object position changing algorithm. An acceleration and deceleration discretization speed planning method is employed and the user input parameters are combined to calculate the operation time of a seven-phase speed planning phase. It is determined whether the maximum acceleration and the maximum speed can reach the criterion or not, the integration problem of a sampling period Ts according to the acceleration / deceleration acceleration, the acceleration / deceleration speed and the final position L after discretization is considered, and the real reachable acceleration / deceleration acceleration, the acceleration / deceleration speed and the feed rate are corrected. The S-shaped acceleration and deceleration control method for changing speed and position of the object on line greatly simplifies an original calculation formula and saves lots of operation time of a computer, and the surplus distance employs a one-time compensation method in the speed reduction process.
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Description

technical field

[0001] The invention belongs to the field of motion control, in particular to a method for realizing an S-shaped curve acceleration and deceleration control method of a motion control system. Background technique

[0002] Motion control is the key technology for the realization of the CNC system. A good acceleration and deceleration control method can effectively avoid the phenomenon of shock, out of step or vibration in the motion process of the CNC equipment. High-speed and high-precision machining is an important development direction of CNC machining. It not only requires the CNC machine tool to respond quickly and reach the specified speed in a short time; it also requires the movement of the machining process to be as stable as possible and the impact is small. Therefore, on the basis of ensuring the smooth motion of the machine tool, how to realize the optimal acceleration and deceleration control law with the goal of the shortest processing transition...

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Embodiment Construction

[0270] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0271] Such as figure 1 Shown is a schematic diagram of the speed planning of the S-curve acceleration and deceleration control method. The process of the S-shaped acceleration and deceleration control method proposed by the present invention can be divided into acceleration zone I, constant velocity zone II and deceleration zone III. Acceleration zone Ⅰ includes acceleration and acceleration section ①, uniform acceleratio...