S-curve acceleration and deceleration planning method under arbitrary displacement velocity based on trapezoidal solution

Abstract

The invention discloses an S-curve acceleration and deceleration planning method based on trapezoidal solution at any displacement speed, which solves the problem in the prior art that the conventional S-curve method can only plan speed and time in sections and affect processing efficiency, and can Ensure that the numerical control system can carry out acceleration and deceleration planning at any displacement and speed, and the speed is not affected by the zero point; the technical solution is: first obtain the motion displacement, initial speed and final speed, and select the planning method according to different motion forms: The initial velocity, final velocity, and displacement are all positive, and the conventional S-curve acceleration and deceleration method is used for velocity planning; at least one of the initial velocity and the final velocity is negative, and the displacement is positive or negative, and the trapezoidal solution method is used, that is, the symmetry of the S-curve is used Construct a right-angled trapezoid in the speed-time curve graph; the displacement is negative, the initial velocity and the final velocity are both negative or positive, and the conventional S-curve acceleration and deceleration algorithm or trapezoidal solution method is used for speed planning. After the planning is completed, the speed and displacement are taken opposite.

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 changes slowly and affects the processing efficiency, so the conventional S-curve acceleration and deceleration cannot fully guarantee the use requirements in NC machining

[0004] To sum up, there is still no effective solution for how to ensure the speed planning of the CNC system under any circumstances and quickly pass the zero point in the existing technology

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