Position S-type smooth instruction generation method and system and electronic equipment

Abstract

The invention provides a position S-type smooth instruction smooth instruction generation method and system and electronic equipment. The method comprises the steps that operating parameters are initialized; in the acceleration phase,the current speed is calculated in a basic accumulation mode according to the operating parameters; an operation area of the acceleration phase is calculated according to the current speed; in the operating process in the operation area,modified operating parameters in the decelerating phase are calculated,and a deceleration point position and a remaining positionare obtained; when the remaining position is smaller than or equal to the deceleration point position,the deceleration phase is started. In the deceleration phase,operating is conducted according tothe modified operating parameters till the set position is reached. Accordingly,in the acceleration phase,the modified operating parameters are calculated according to the operating speed,and the deceleration point position is calculated in real time according to the modified operating parameters; in the deceleration phase,the modified operating parameters are adopted for operating,after the deceleration time is up,the position instruction is just finished,the last remainder does not need to be compensated,the computation complexity is lowered,the time is shortened,and the method can be suitable for processors with low computing capacity.

Description

technical field [0001] The invention relates to the technical field of motion command smoothing processing, in particular to a method, system and electronic equipment for generating a position S-type smoothing command. Background technique [0002] High-performance motion control systems, especially position positioning control systems, have been widely used. At the same time, the performance requirements of servo drive systems are getting higher and higher. Due to differences in friction and load mechanical inertia, the acceleration of servo systems is not set properly. It will cause system vibration and long positioning time. For this, smoothing of the position command is required. [0003] At present, the command smoothing method of point-to-point position control system mostly adopts S-curve, which is mostly realized by the host computer controller or a dedicated controller, using its high-speed computing unit and high-precision floating-point operations, and through a ...

AI Technical Summary

Problems solved by technology

However, the above process needs to calculate the precise time of each stage, the calculation process is complicated and time-consuming, and it is not suitable for processors with low computing power

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