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Method and apparatus for generating a command of S shaped smoothing

A production method and production device technology, applied in non-electric variable control, speed/acceleration control, instruments, etc., can solve problems such as use inelasticity, achieve smooth operation, improve acceleration and deceleration characteristics, and improve processing accuracy.

Inactive Publication Date: 2005-11-02
DELTA ELECTRONICS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, there is another kind of S-shaped curve ratio, and the appropriate output level can be selected according to the use requirements, but the use is less flexible.

Method used

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  • Method and apparatus for generating a command of S shaped smoothing
  • Method and apparatus for generating a command of S shaped smoothing
  • Method and apparatus for generating a command of S shaped smoothing

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Experimental program
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Embodiment Construction

[0020] According to the principle of the present invention, the S-type smooth command generation method mainly adopts a symmetrical structure, and uses the speed or position reference point to determine whether the area to be entered is reached, so that the speed and acceleration curves are symmetrical along the center. is continuous.

[0021] According to this principle, the present invention discloses a method for generating a speed S-shaped smoothing command and a method for generating a position S-shaped smoothing command. How to generate the velocity S-shape smoothing command and the position S-shape smoothing command will be described respectively below.

[0022] Please refer to figure 1 It is the main flow chart of the method for generating the speed S-shaped smoothing command disclosed by the present invention.

[0023] In order to illustrate the structure of the command generation device, define the time setting and command reference point, such as figure 2 shown....

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Abstract

The invention discloses a generation method and its device for S-shaped smoothing command. Wherein, the generation method for S-shaped smoothing command is that according to basic cumulant of computed acceleration or deceleration on set time, record used acceleration or backgeared basic cumulants and by this detect speed command whether come to its reference point; after the command achieves its reference point, according to speed command state to compute acceleration and by the speed difference of this speed command and this acceleration to generate a speed S-shaped smoothing command, which supplies smoothing process with movement command to generate continuous speed and position command. According to this invention, it can not only improve acceleration and deceleration character of motor, but also make the running of mechanic structure more smooth; and for position control mode, it can improve servo position track characteristic and decrease system steady error.

Description

technical field [0001] The invention relates to a method for generating an S-type smooth command, in particular to a method for generating an S-type smooth command applied to a servo module, such as a servo driver and a motor, and a device thereof. Background technique [0002] The servo motor, or servo module, in the process of motion control, due to the rapid change of the input command, produces an excessive jerk (acceleration differential), which in turn excites the vibration and noise of the mechanical structure. This phenomenon is due to the servo module Caused by excessive instantaneous current. Vibration will not only affect the machining accuracy of the workpiece, but also shorten the service life of the servo module when operating in this environment for a long time. [0003] The S-type smooth command planning mainly hopes that the motor can provide smooth processing for the motion command during the operation process to meet the physical characteristics of the op...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D13/00
Inventor 郑宗信
Owner DELTA ELECTRONICS INC