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Point location motion S curve generation method

A technology of curve generation and point movement, which is applied in the direction of instruments, digital control, control/regulation systems, etc., can solve the problems of complex and cumbersome calculation methods, and achieve the effect of simple generation methods and smooth curves

Active Publication Date: 2017-03-08
威科达(东莞)智能控制有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The calculation method of the above-mentioned S-shaped curve is relatively complicated and cumbersome, and it is only needed in specific occasions

Method used

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  • Point location motion S curve generation method
  • Point location motion S curve generation method
  • Point location motion S curve generation method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 2

[0072] first step:

[0073] Set the preset value as the acceleration distance s 1 , deceleration distance s 3 Running distance s and maximum running speed v set ;

[0074] The position-time relationship of the S-curve is fitted into a function of a 5th power polynomial by dimensionless:

[0075] Y=F Y (T)=D 0 +D 1 T+D 2 T 2 +D 3 T 3 +D 4 T 4 +D 5 T 5 (1)

[0076] Differentiate it to obtain the velocity-time function, and differentiate the velocity-time function to obtain the acceleration-time function:

[0077] V=F V (T)=D 1 +2D 2 T+3D 3 T 2 +4D 4 T 3 +5D 5 T 4 (2)

[0078] A=F A (T) = 2D 2 +6D 3 T+12D 4 T 2 +20D 5 T 3 (3)

[0079] It is required to satisfy condition one: when T=0, Y=0, V=0, A=0, and satisfy condition two when T=1, Y=1, V=0, A=0.

[0080] Bring in to get D 0 、D 1 、D 2 、D 3 、D 4 、D 5 , put the calculated coefficients into formula (1), formula (2) and formula (3) to get 3 function equations with known coefficients, such...

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Abstract

The invention belongs to the motion control field and especially discloses a point location motion S curve generation method. The method comprises the following steps of S1, fitting a S curve position-time relation into a 5 power polynomial function through nondimensionalization, and carrying out differential on a position-time function so as to acquire a speed-time function; carrying out differential on the speed-time function so as to acquire an accelerated speed-time function; S2, requiring to satisfy a condition 1 and a condition 2 and acquire 6 function coefficients through the condition 1 and the condition 2; and S3, through a conversion relation between a dimensionless value and a real value, calculating a function of a real value position relative to time and calculating a function of a real value speed relative to the time. In the invention, the S curve generation method is simple, a speed function is a 4 power function and an accelerated speed is a 3 power function, which shows that the curve is smooth and soft; for a set value, accelerated and decelerated distances can be converted into accelerated and decelerated time, and in an occasion which is strict to the accelerated and decelerated distances, accurate accelerated and decelerated distance control is acquired.

Description

technical field [0001] The invention belongs to the field of motion control, in particular to a point motion S-curve generation method. Background technique [0002] Point movement in motion control is the movement of the motor from one position to another. The generation of speed curve is the key point movement. Compared with the trapezoidal curve, the S-shaped curve has the advantages of continuous acceleration, smooth and uniform speed curve, smooth movement, and no impact, and can obtain a more ideal motion control effect. [0003] Traditional PLC realizes point movement by sending pulses to control servo or stepping system, and its speed curve is divided into trapezoidal curve and multi-stage speed curve. [0004] The motion controller controls the servo or stepping system by analog quantity or sending pulses to realize point movement, and its speed curve is divided into a trapezoidal curve and a seven-stage speed S-curve". As mentioned above, the complete process of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/36063
Inventor 王浩吴政宏张小飞张开彪
Owner 威科达(东莞)智能控制有限公司
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