S curve acceleration and deceleration planning method based on trapezoid solution and under random displacement speed

Abstract

The invention discloses an S curve acceleration and deceleration planning method based on a trapezoid solution and under a random displacement speed; the method solves the problems that a normal S curve method can only plan speed and time by sections and is low in processing efficiency, thus ensuring a digital control system to make acceleration and deceleration planning under a random displacement and speed without being affected by the zero value. The method comprises the following steps: firstly obtaining a motion displacement, an initial speed and an end speed, selecting a planning methodaccording to different motion forms: if the initial speed, the end speed and the displacement are respectively positive, a normal S curve acceleration and deceleration method is employed to making speed planning; if at least one of the initial speed and the end speed is negative, the displacement is positive or negative, a trapezoid solution method is employed, i.e., the S curve symmetry is used to build a right angle trapezoid in a speed time curve graph; if the displacement is negative, the initial speed and the end speed are all negative or positive, the normal S curve acceleration and deceleration method or the trapezoid solution method are employed for speed planning, and planned speed and displacement are negated.

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 at any displacement speed based on trapezoidal solution. 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 time of...

AI Technical Summary

Problems solved by technology

This method is only applicable when the initial and final speeds and displacements are both positive. When the displacement and initial and final speeds are negative in the machining of the CNC system, the speed and time can only be planned in sections, and when the speed is close to zero Because of the continuous constraint of acceleration, the speed chan

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