A trajectory transition method based on plcopen specification

Abstract

The invention discloses a trajectory transition method based on the PLCopen specification, which is applied in the field of motion control and adopts circular interpolation to realize the trajectory transition; specifically, it includes the following steps, S1: obtaining the current command and the current command from the command buffer of the motion controller The curve type of the next command constitutes the combination of curve types between adjacent trajectories, and the adjacent trajectories are connected by transition arcs; S2: According to the combination of curve types, establish a constraint equation about the transition arc parameters; S3: Solve Constraint equations to obtain the parameters of the transition arc; S4: use the S-curve method to plan the trajectory of the transition arc, and then map to each independent axis of the Cartesian coordinate system to realize circular interpolation between adjacent trajectories. The present invention adopts circular interpolation to realize trajectory transition, the transition curve contour accuracy is controllable, the curvature is continuous, the interpolation speed transition is smooth, and at the same time, it strictly complies with the PLCopen specification, has excellent versatility, and has a wide range of applications.

Description

technical field [0001] The invention belongs to a motion trajectory transition method, in particular to a trajectory transition method based on PLCopen specification. Background technique [0002] With the development of the general motion control industry, more and more attention has been paid to normative requirements, and various standards have become increasingly enriched and improved. Among them, IEC61131-3 has become an international standard for standardized programming languages ​​for industrial control systems, and the applicable market fields continue to expand. Products that adopt or apply this programming language standard have also become the mainstream trend in the field of industrial control. [0003] PLCopen is an international organization dedicated to the standardization of programming languages. On the basis of IEC standards, five standards for customization of motion control functions have been added, which further promotes the development of programmable...

AI Technical Summary

Problems solved by technology

This standard specifies 5 ways of trajectory transition: TMNone, TMStartVelocity, TMConstantVelocity, TMCornerVelocity, and TMCornerDeviation; at present, these 5 transition methods can be fully supported, especially TMCornerDeviation, there are very few manufacturers, and the product maturity is lacking

[0004] Moreover, the research on trajectory transition is mostly reflected in special planes. For example, the Chinese patent "A Method for Fast Arc Interpolation of Variable Speed ​​Curves Encapsulated into PLCopen Commands", the authorized announcement number is CN103454979B, is only carried out from the perspective of arc interpolation. The discussion does not reflect the content of the trajectory transition; the Chinese patent "Real-time Smooth Transition Interpolation Method for Small Line Segments in High-speed and High-precision CNC Machining", the authorized announcement number is CN103699056B, uses cubic B-spline curves to realize the transition of the maximum error constraint of the trajectory, However, this patent only discusses the transition between straight lines and straight lines. At the same time, the approximate calculation of control points using circular arcs will cause speed deviation during interpolation, and the middle trajectory of the spline cannot be predicted intuitively.

"A Method of Speed ​​Smooth Transition Based on NURBS Curve Interpolation" Chinese patent application, the application publication number is CN107291047A, uses NURBS curve to fit the specified contour, but this does not meet the specification of PLCopen trajectory transition

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