Moving target curve control data construction method

Abstract

The invention discloses a motion target curve control PVT data construction method. The method comprises the following steps: sampling target motion data; obtaining a target motion curve position-time point numerical discrete description needing to be simulated; setting a motion starting and ending position guide section; performing spline interpolation, calculating to obtain a matched position-speed data point pair array, and forming PVT data for motion control by combining a corresponding moment distribution array; reconstructing a complex curvilinear motion trajectory, and controlling the target to move according to the planned trajectory. According to the method, the real-time position tracking precision is greatly improved, and accurate simulation of any form of motion curve can be realized; it is ensured that the simulation motion device smoothly transits from a static state to a target motion state; meanwhile, kinematics parameter information of a motion curve is increased, and the stability of target motion tracking is improved.

Description

technical field [0001] The present invention relates to the technical field of motion control, in particular to a method for constructing motion target curve control data. Background technique [0002] In the real world, motion is continuously distributed in space with time, but on a digital computer, it can only be described by a series of discrete points distributed over time, and the interval between discrete points can be equidistant or unequal. The process of obtaining these discrete points distributed over time is called sampling, and equidistant or unequal intervals correspond to uniform or non-uniform sampling. In the actual application process, for the convenience of analysis, uniform sampling is often used, and the number of sampling per second is called the sampling rate. [0003] There are two ways to obtain the target motion curve: one is a simple periodic curve that can be described by a mathematical expression, and the discrete position points distributed ove...

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Problems solved by technology

[0005] Segmental interpolation uses the same set of coefficients for each PVT point to restore the PV value in the interval, but different intervals correspond to different sets of coefficients, which leads to the fact that if the provided PV data does not match, only Continuous position and velocity can be obtained, but the continuity of acceleration and jerk cannot be guaranteed, which will lead to the vibration caused by the sudden change of acceleration value in the actual operation process, which will seriously affect the control effect

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