Motion curve discrete dynamic planning method

A technology of dynamic programming and motion curves, applied in the direction of instruments, adaptive control, control/adjustment systems, etc., can solve the problem of low precision and achieve the effect of improving precision and efficiency

Active Publication Date: 2018-03-27
BEIJING INST OF SPECIALIZED MACHINERY
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is: how to design a discrete dyn

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  • Motion curve discrete dynamic planning method
  • Motion curve discrete dynamic planning method
  • Motion curve discrete dynamic planning method

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Embodiment Construction

[0039] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0040] The invention designs a discrete dynamic motion curve planning method to realize the trapezoidal acceleration and deceleration motion of the object. The trapezoidal acceleration and deceleration curve includes 3 stages: acceleration section, constant speed section, and deceleration section, such as figure 1 shown. The goal of the curve programming method is to solve the acceleration curve equation a(t), when the maximum velocity v m , the maximum acceleration a c , the maximum deceleration a d Under the constraints of , make the object move from the current position s (velocity v) to the end position s e , and the velocity is 0 when reaching the end position.

[0041] The continuous mathematical model of ob...

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Abstract

The invention relates to a motion curve discrete dynamic planning method, which relates to the technical field of motion control. The motion curve discrete dynamic planning method is based on a discrete mathematical model of object motion, adopts a dynamic forwarding algorithm, calculates a speed value satisfying maximum deceleration of a subsequent position distance at first according to currentmotion information (position, speed), then calculates acceleration forwardly in an inverse mode, planning a curve by utilizing accelerated motion, decelerated motion and constant velocity motion, realizes trapezoidal accelerated and decelerated motion of an object, can ensure that a number of planned routes is an integral multiple of a discrete period and a speed is zero when a position destination is reached, and can plan the curve in real time according to varied target positions, so as to improve the motion control precision and efficiency.

Description

technical field [0001] The invention relates to the technical field of motion control, in particular to a discrete dynamic programming method for motion curves. Background technique [0002] In the modern motion control system, in order to reduce the speed mutation, pursue higher control precision and better control performance, the acceleration and deceleration curve planning algorithm has been widely used. The acceleration and deceleration trapezoidal curve algorithm includes three stages: acceleration section, constant speed section, and deceleration section. The speed will not change suddenly, and it is a widely used curve planning method. [0003] At present, most curve planning methods are continuous curve planning algorithms based on time points. The advantage is that it only needs to be calculated once, the calculation speed is fast, and the efficiency is high. The parameter of deceleration; 2. The computer control system is a discrete control system. The actual tra...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张慧勇韦克康巫伟男
Owner BEIJING INST OF SPECIALIZED MACHINERY
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