Motion control emergency stop method

A motion control, motion axis technology, applied in the direction of program control, computer control, general control system, etc., can solve the problem of motion axis jitter, impact and so on

Active Publication Date: 2021-01-26
CHINA HEFEI TAIHE OPTOELECTRONICS TECH
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Problems solved by technology

[0003] The purpose of the present invention is to propose a motion control emergency stop method in order to solve the problem that

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Embodiment Construction

[0018] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0019] see Figure 1-2 As shown, a motion control emergency stop method is applied to the trajectory planning of the fast, short distance and smooth stop process of the motion axis in the fields of industrial robots and automation.

[0020] Including keeping the speed and acceleration of the motion axis at the moment of emergency stop at the beginning of the emergency stop planning; within the set extremely short time, plan the kinematic parameters according to the quartic spline to ensure the continuous speed and accelerat...

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Abstract

The invention discloses a motion control emergency stop method which has mathematical analyzability and can ensure the real-time performance of calculation. The method comprises the following steps: acquiring the speed and acceleration of a current motion axis; within preset time, according to quartic spline curve planning, calculating the advancing distance of the motion axis within the stop time; analyzing the relationship between the distance and the time of the stop process according to two conditions of whether the initial acceleration is 0 and whether the initial acceleration and the initial speed are the same; and track planning parameters with continuous acceleration and speed and zero acceleration during stopping are obtained. By means of the method, it can be guaranteed that themotion shaft stably stops and is consistent in motion direction within the specified time; due to the fact that the same time is adopted, the method can guarantee multi-axis synchronization during multi-axis movement, and coordination of the stopping process is kept; and the method can be applied to the industrial control fields of industrial robots, automation and the like, and quick, short-distance and stable stopping of the motion shaft is guaranteed.

Description

technical field [0001] The invention relates to the technical field of industrial motion control, in particular to a motion control emergency stop method. Background technique [0002] The control of the motion axis has a large number of applications in the field of automation. At present, it is generally controlled by PLC or motion controller. In some special moments, it is necessary to stop urgently. If brakes are used, the PLC output is cut off, or the strong power is cut off, it will cause vibration and impact of the motion axis. It is very important to plan the trajectory of the motion axis during the stop process in a very short time, so that the motion axis can stop quickly and smoothly in a short distance, so that the motion axis does not shake and does not cause impact damage to machinery and motors. Significance. Contents of the invention [0003] The purpose of the present invention is to propose a motion control emergency stop method in order to solve the pro...

Claims

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Application Information

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IPC IPC(8): G05B19/048
CPCG05B19/048
Inventor 尤昕胡序一石江涛贾仁耀
Owner CHINA HEFEI TAIHE OPTOELECTRONICS TECH
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