Control method of S-shaped curve speed with non-zero initial accelerated speed

Abstract

The invention provides a control method of an S-shaped curve speed with a non-zero initial accelerated speed. The method is decomposed into three levels, wherein a speed planning level is used for carrying out speed changing planning according to given parameters to obtain increased acceleration stopping time, uniform acceleration stopping time, decreased acceleration stopping time and a current increased accelerated speed in a speed changing process; a stepping planning level is used for calculating positions, speeds and accelerated speeds at any moment according to results of the speed planning level; a position planning level is used for calculating next-step movement position, speed and accelerated speed of a current starting point according to calculation results of the speed planning level and the stepping planning level, and guaranteeing that the speed is not greater than a terminal point speed when an object finally moves to a terminal point; and when a planned length of a current section chain is not enough, the current section chain is connected with the next section chain, so that the length of the section chain can be planned to be enough. In each step of speed planning process, a maximum speed predication step is operated and planning is carried out in time in order to reach the terminal point speed; and algorithm can be rapidly realized and hardware requirements and cost are reduced.

Description

technical field [0001] The invention relates to the technical field of numerical control systems, in particular to an S-curve speed control method whose initial acceleration is not zero. Background technique [0002] At present, there are many kinds of motion speed curves used in numerical control systems and industrial robot operations, such as ladder diagram curves, S-shaped speed curves and sinusoidal speed curves. The function of the speed curve is to ensure that there is no vibration or impact when starting, stopping, speed regulation or transition between two curves, so as to improve the accuracy of motion control. Most of the speed planning can plan the corresponding speed curve under the given first and last speed, position, maximum speed, maximum acceleration and maximum jerk, so that the acceleration of the controlled curve trajectory is continuous. [0003] At present, most speed planning algorithms require the acceleration of the starting point to be zero, which...

AI Technical Summary

Problems solved by technology

[0003] At present, most speed planning algorithms require the acceleration of the starting point to be zero, which makes it impossible to adjust the given maximum speed and given end point speed arbitrarily during the motion process once the planning is completed, making it difficult for the algorithm to realize functions such as speed regulation and pause in real time. And in order to achieve automatic operation, switching between speed regulation and pause, it is necessary to redevelop a series of functions and save a large amount of on-site data and status during program operation

This takes a lot of time to test, and it is not easy to find and fix when a field data or status update is wrong

[0004] At present, when calculating the maximum speed of S-curve planning, because the formula is too complicated, it generally needs to be solved by numerical method, which greatly increases the amount of calculation, and needs to use faster chips to complete, increasing hardware costs.

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