Continuous S-curve acceleration and deceleration motion control method and system, and electronic equipment

Abstract

The invention provides a continuous S-curve acceleration and deceleration motion control method and system, and electronic equipment. The continuous S-curve acceleration and deceleration motion control method comprises the steps that operation parameters are initialized, and the operation parameters at least comprise the initial speed, the target speed, the end speed, the target displacement and the next motion instruction type; the next motion instruction type is obtained, wherein the next motion instruction type comprises the conditions that both the initial speed and the end speed are equalto zero, the initial speed is not equal to zero and the end speed is equal to zero, or the target speed is equal to the end speed and is not equal to zero, and when the next motion instruction type is in the condition that both the initial speed and the end speed are equal to zero, planning is conducted according to seventh segments of an S-curve; when the next motion instruction type is in the condition that the initial speed is not equal to zero and the end speed is equal to zero, planning is conducted according to four rear segments of the S curve; and when the next motion instruction typeis in the condition that target speed is equal to the end speed and is not equal to zero, planning is conducted according to four front segments of the S curve or the four rear segments of the S curve. The multiple segments of trajectories of the S curve can be continuously planned, thus the multiple-segment speed is continuous, and the efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of motion system control, in particular to a continuous S-curve acceleration and deceleration motion control method, system and electronic equipment. Background technique [0002] In the motion control system, in order to ensure that the motor does not produce impact, out of step and oscillation when starting and stopping, the pulse or voltage input to the driver must be controlled for acceleration and deceleration. When the motor starts, the pulse frequency or voltage input to the motor driver must gradually increase, and when the motor decelerates to a stop, the pulse frequency or voltage input to the motor driver must gradually decrease. [0003] At present, in order to make the acceleration continuous, the frequently used acceleration and deceleration control method is the S-curve acceleration and deceleration control method. The traditional S-curve planning is for single-point speed planning, and the s...

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Problems solved by technology

[0004] In view of this, the object of the present invention is to provide a continuous S-curve acceleration and deceleration motion control method, system and electronic equipment, to alleviate the traditional S-curve acceleration and deceleration motion control planning for a single point speed, resulting in discontinuity of multi-stage speed, and due to The planned initial and final speeds are both 0, resulting in increased pause time during the movement of the machine, frequent motor speed changes, and technical problems that affect efficiency

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