S-shaped velocity curve look-ahead planning method and device, storage medium and computing equipment
A speed curve and planning technology, applied in the computer field, can solve problems such as affecting real-time performance and large amount of calculation of speed curve, and achieve the effect of not affecting real-time performance, smooth speed curve, and smooth motion
Pending Publication Date: 2022-02-11
苏州谋迅智能科技有限公司
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Problems solved by technology
[0006] The purpose of the present invention is to provide a forward-looking planning method for S-shaped speed curves, which is used to solve the problems that the existing planning C^2 continuous speed curves has a large amount of calculation and affects real-time performance
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[0058] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.
[0059] Unless expressly stated otherwise, throughout the specification and claims, the term "comprise" or variations thereof such as "includes" or "includes" and the like will be understood to include the stated elements or constituents, and not Other elements or other components are not excluded.
[0060] The S-shaped speed curve planning of the present invention is a planning for determining the motion trajectory of several segments (k=1, 2,...,n). Set the maximum speed V allowed by the system max , the maximum acceleration A max , maximum jerk J max , maximum jerk S max , allowable maximum bow height error ε, interpolation period T 0 . The goal of planning is to carry out speed-forward planning on these trajec...
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The invention discloses an S-shaped speed curve prospective planning method and device, which are used for solving the problem of large calculated amount for planning a C2 continuous speed curve. The method comprises the following steps: scanning a motion track to establish an S-shaped curve, and storing the S-shaped curve in a linked list; marking nodes which cannot be subjected to independent S-shaped planning in the nodes in the first state of the linked list as a second state; storing the speed deviation value of each node in the second state in the linked list in a deviation list; combining the nodes in the deviation table, and inserting the combined nodes which cannot be subjected to independent S-shaped planning into the deviation table again so as to execute adjacent node combination again until the deviation table is empty; performing time-optimal speed planning on the nodes in the linked list; splitting a node which does not meet a preset motion constraint in the linked list into two nodes, and performing S-shaped planning; carrying out endpoint speed reduction on the nodes which cannot be subjected to S-shaped planning after splitting; and splitting the nodes slowed down by the end points, and repeatedly executing the steps until all the nodes in the linked list meet the preset motion constraint.
Description
technical field [0001] The invention belongs to the technical field of computers, and in particular relates to a method and device for forward-looking planning of an S-shaped velocity curve, a storage medium and a computing device. Background technique [0002] The feed speed of CNC machine tools is closely related to machining accuracy, productivity and surface roughness of workpieces. The more popular acceleration and deceleration control is S-shaped acceleration and deceleration control. Compared with trapezoidal acceleration and deceleration and exponential acceleration and deceleration control, S-shaped acceleration and deceleration control has the advantages of smooth and uniform speed curve, smooth movement, and no impact. [0003] Velocity curve generally refers to the corresponding curve f=V(t) under the coordinate system with time t as the horizontal axis and velocity V as the vertical axis, and its first derivative is acceleration (Acc)f'=A(t), The second derivat...
Claims
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IPC IPC(8): G05B19/416
CPCG05B19/416G05B2219/34119
Inventor 郭先强何长安彭伟
Owner 苏州谋迅智能科技有限公司