Method and system for planning trigonometric function expression curve with continuous jerk and chip mounter

Abstract

The invention relates to the technical field of chip mounter control, and particularly discloses a trigonometric function expression curve planning method and system with continuous jerk and a chip mounter, and the method comprises the following steps: dividing curve planning into an acceleration section, a constant speed section and a deceleration section, and dividing the acceleration section and the deceleration section into a jerk section, a uniform acceleration section and a deceleration section respectively; motion parameters of curve planning are set and initialized; defining the average acceleration ratio of the deceleration section to the acceleration section as a softening factor, and defining the ratio of the maximum acceleration to the average acceleration in the deceleration section or the acceleration section as an acceleration coefficient; according to the motion parameter, the softening factor and the acceleration coefficient, calculating a curve, and planning a time node of each stage; and planning the state of each stage according to the time node updating curve. In combination with the characteristic that the second derivative of the trigonometric function is continuous, the S curve planning with continuous jerk is designed, the motion impact is effectively reduced, the in-place stabilization time is ensured, and the operation is simple.

Description

Technical field [0001] The present invention involves the field of control technology, and specifically involves a triangular function curve planning method and system and patch machine with continuous speed and continuous speed. Background technique [0002] At present, the positioning control of sports institutions in the field of mechanical processing and manufacturing is the key to ensuring production accuracy. In the application scenarios of position control, such as the positioning of the motor, the robot motion trajectory planning, etc., the point -to -point positioning of the movement of the motion institution is generally to achieve accurate positioning through the combination of position curve planning and closed -loop control. T -type and S -shaped curve planning. The T -shaped curve planning calculation is simple, but the acceleration is not continuous, which can easily cause a large impact vibration. When controlling position control, it will cause obvious response j...

AI Technical Summary

Problems solved by technology

The T-curve planning calculation is simple, but the acceleration is discontinuous, which is likely to cause large shock vibrations, and it will cause obvious response jitter when performing position control; the ordinary third-order position S-curve planning jerk is discontinuous, and in precise positioning and stabilization time It is not practical for applications with high requirements. Although higher-order S-shaped curve planning can obtain a softer curve, the calculation of the entire planning is complicated.

[0003] For example, in the patent CN201580079779.3, the third-order position curve planning algorithm is adopted, and the jerk switches back and forth in the entire acceleration segment, which brings a certain impact in practical applications, resulting in poor performance of the actual stabilization time.

Patent CN201710587160.4 utilizes the characteristics of continuous trigonometric functions and continuous derivatives to design trigonometric function curve planning. Although the jerk can be guaranteed to be continuous, the design process is complicated, too many judgments need to be made, and the code implementation and operation efficiency are low. The method lack of flexibility

[0004] Therefore, the existing technology lacks a curve planning method that can reduce the vibration in place, thereby improving positioning accuracy and stabilization time, and has simple calculations.

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