S-curve acceleration and deceleration planning method for coping with negative value of start/end speed

Abstract

The invention discloses an S-curve acceleration and deceleration planning method for coping with a negative value of the start / end speed. The method solves the problem that in the prior art, when thestart or end speed in machining is negative, the speed and time can only be planned in a subsection manner, so that machining efficiency is influenced. The method can carry out motion planning easilyand quickly under the condition that the start or end speed is negative, and is not affected by acceleration constraints when the speed is close to zero, and thus machining efficiency is improved. The technical scheme is characterized by, when the at least one of the start speed and the end speed is negative, serving the smaller one of the start speed and the end speed as time shaft downward movement distance; and then, calculating displacement S1 under the current start and end speed according to S-curve acceleration and deceleration, and obtaining planned displacement S according to the S1and translational region area.

Description

technical field [0001] The invention relates to the field of motion control of a numerical control system, in particular to an S-curve acceleration and deceleration planning method for dealing with negative values ​​of initial and final speeds. Background technique [0002] Acceleration and deceleration control is the key technology in the field of numerical control system motion control. At present, the more common acceleration and deceleration methods include linear acceleration and deceleration, trigonometric function acceleration and deceleration, exponential acceleration and deceleration, S-curve acceleration and deceleration, etc. The first three acceleration and deceleration methods will have sudden acceleration and deceleration at the beginning and end positions. Vibration and noise caused by sudden changes, in CNC motion control, S-curve acceleration and deceleration is used most. [0003] The conventional S-curve acceleration and deceleration algorithm solves the ...

AI Technical Summary

Problems solved by technology

This method is only applicable to the case where the initial and final speeds are both positive. When the initial and final speeds are negative during processing, the speed and time can only be planned in sections, and when the speed is close to zero, the speed changes due to the continuous constraint of the acceleration. Slow, affecting processing efficiency, so conventional S-curve acceleration and deceleration cannot fully guarantee the use requirements in CNC machining

[0004] To sum up, there is still a lack of effective solutions for how simple and fast the existing technology is to plan the negative value of the beginning and end speeds.

Images