Trigonometric function curve planning method and system for continuous jerk, and chip placement machine

Abstract

The present invention relates to the field of chip placement machine control technology, and specifically discloses a trigonometric function curve planning method and system with continuous jerk, and a chip placement machine. The method includes the following steps: dividing the curve planning into an acceleration section, a uniform speed section, and a deceleration section, and the acceleration section and the deceleration section are respectively divided into a jerk section, a uniform acceleration section, and a deceleration section; setting and initializing the motion parameters of the curve planning; defining the average acceleration ratio of the deceleration section to the acceleration section as a softening factor, and defining the maximum acceleration in the deceleration section or the acceleration section to the average acceleration ratio as an acceleration coefficient; calculating the time nodes of each stage of the curve planning according to the motion parameters, the softening factor, and the acceleration coefficient; and updating the state of each stage of the curve planning according to the time nodes. In combination with the continuous characteristics of the second-order derivative of the trigonometric function, an S-curve planning with continuous jerk is designed, which effectively reduces the motion impact, ensures the stable time in place, and is simple to operate.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to a trigonometric function curve planning method and system for continuous jerk, and a chip placement machine. Background Art

[0002] At present, in the field of mechanical processing and manufacturing, the positioning control of motion mechanisms is the key to ensuring production accuracy. In the application scenarios of position control, such as motor positioning, robot motion trajectory planning, etc., the point-to-point positioning motion control of motion mechanisms generally achieves precise positioning through a combination of position curve planning and closed-loop control. Common curve planning includes T-type and S-type curve planning. The T-type curve planning calculation is simple, but the acceleration is discontinuous, which can easily cause large impact vibrations, and cause obvious response jitter when performing position control; the ordinary third-order position S-type curve planning has discontinuous acceleration, which is not practical in applications with high requirements for precision positioning and stabilization time. Although higher-order S-type curve planning can obtain a smoother curve, the entire planning calculation is complex.

[0003] For example, patent CN201580079779.3 uses a third-order position curve planning algorithm, and its jerk switches back and forth throughout the acceleration segment, which brings certain impacts in practical applications, resulting in poor performance of the actual stabilization time. Patent CN201710587160.4 uses the characteristics of continuous trigonometric functions and continuous derivatives to design trigonometric function curve planning. Although it can ensure the continuity of jerk, its design process is complicated, too many judgments are required, the code implementation and operation efficiency are low, and the method lacks flexibility.

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

[0005] The purpose of the present invention is to overcome the problems existing in the prior art. The present invention proposes a trigonometric function curve planning method and system with continuous acceleration, and a placement machine. Combining the characteristics of the continuity of the second-order derivative of the trigonometric function, an S-curve planning with continuous acceleration is designed to effectively reduce the motion impact, ensure the stabilization time in place, and the operation is simple.

[0006] In order to achieve the above object, the present invention provides a first aspect of a trigonometric function curve planning method with continuous acceleration, comprising the following steps:

[0007] The curve planning is divided into acceleration section, uniform speed section and deceleration section. The acceleration section and deceleration section are respectively divided into acceleration section, uniform acceleration section and deceleration section.

[0008] Set and initialize the motion parameters of curve planning;

[0009] Define the average acceleration ratio of the deceleration section to the acceleration section as the softening factor And 0< ≤1, the ratio of the maximum acceleration to the average acceleration in the deceleration or acceleration section is defined as the acceleration coefficient And 1< ≤2;

[0010] According to the motion parameters, softening factor and acceleration coefficient Calculate the time nodes of each stage of curve planning;

[0011] Update the curve according to the time nodes to plan the status of each stage.

[0012] A second aspect of the present invention provides a trigonometric function curve planning system with continuous acceleration, comprising:

[0013] A division module is used to divide the curve planning into an acceleration section, a uniform speed section and a deceleration section. The acceleration section and the deceleration section are respectively divided into a jerk section, a uniform acceleration section and a deceleration section;

[0014] Initialization module, used to set and initialize the motion parameters of curve planning;

[0015] Definition module, used to define the average acceleration ratio of the deceleration section and the acceleration section as the softening factor And 0< ≤1, the ratio of the maximum acceleration to the average acceleration in the deceleration or acceleration section is defined as the acceleration coefficient And 1< ≤2;

[0016] Time node calculation module, used to calculate the time node according to the motion parameters and softening factors. and acceleration coefficient Calculate the time nodes of each stage of curve planning;

[0017] The update module is used to update the curve according to the time node to plan the status of each stage.

[0018] A third aspect of the present invention provides a chip mounter, comprising

[0019] A memory storing a program;

[0020] A processor, configured to execute the program in the memory to implement the steps of the above-mentioned trigonometric function curve planning method for continuous acceleration;

[0021] A driver is used to respond to the curve planning process to achieve actual motion control of the placement machine.

[0022] Through the above technical solution, based on trigonometric function operations, the formula is simple and the calculation steps are few. After setting the target position, only the average acceleration, speed, softening factor and acceleration coefficient need to be set to achieve fast position curve planning, which can ensure that the jerk, acceleration, speed and displacement are continuous, and the jerk and acceleration are both 0 when the starting point and the target point are reached. Through the setting of the strategy, it can meet the compatibility of 7-segment, 5-segment and even 3-segment curve planning and design. By introducing a softening factor to support the asymmetry of the acceleration and deceleration segments, the motion impact can be further reduced, the stabilization time in place can be guaranteed, and the impact can be reduced; by introducing the acceleration coefficient, the maximum acceleration under the condition of average acceleration can be adjusted to ensure that the hardware drive capability meets the requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of the trigonometric function curve planning method with continuous acceleration of the present invention;

[0024] Figure 2 The real-time location of Example 1 of the present invention The curve of

[0025] Figure 3 The real-time speed of Example 1 of the present invention is curve;

[0026] Figure 4 The real-time acceleration of Example 1 of the present invention curve;

[0027] Figure 5 is the real-time acceleration of Example 1 of the present invention curve;

[0028] Figure 6 The real-time location of Example 2 of the present invention The curve of

[0029] Figure 7 The real-time speed of Example 2 of the present invention is curve;

[0030] Figure 8 The real-time acceleration of Example 2 of the present invention curve;

[0031] Fig. 9 The real-time acceleration of Example 2 of the present invention is curve;

[0032] Fig.10 The real-time location of Example 3 of the present invention The curve of

[0033] Fig.11 The real-time speed of Example 3 of the present invention is curve;

[0034] Fig.12 The real-time acceleration of Example 3 of the present invention curve;

[0035] Fig.13 The real-time acceleration of Example 3 of the present invention is curve;

[0036] Fig.14 The real-time location of Example 4 of the present invention The curve of

[0037] Fig.15 The real-time speed of Example 4 of the present invention is curve;

[0038] Fig.16 The real-time acceleration of Example 4 of the present invention curve;

[0039] Fig.17 The real-time acceleration of Example 4 of the present invention is curve. DETAILED DESCRIPTION

[0040] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0041] The first aspect of the present invention provides a trigonometric function curve planning method with continuous acceleration, such as Figure 1 As shown, including:

[0042] The curve planning is divided into acceleration section, uniform speed section and deceleration section. The acceleration section and deceleration section are respectively divided into acceleration section, uniform acceleration section and deceleration section.

[0043] The curve planning is divided into 7 segments. The asymmetric trigonometric function 7-segment S-shaped curve planning method with continuous acceleration adopts segmentation to achieve multi-segment curve planning with continuous acceleration and asymmetric point-to-point motion of the speed curve.

[0044] Set and initialize the motion parameters of curve planning;

[0045] Specifically include: Motion parameter setting: Setting the starting position , Target location , moving distance , Maximum speed , Maximum speed value , average acceleration , average acceleration value The time nodes of each stage of curve planning are as follows: Acceleration stage - , uniform speed segment - , deceleration section - , the acceleration segment of the acceleration segment - , uniform acceleration segment of the acceleration segment - , the deceleration section of the acceleration section - , the acceleration section of the deceleration section - , uniform acceleration section of deceleration section - , deceleration section of the deceleration section - ; When the set displacement is small, the acceleration and deceleration process distance is greater than or equal to the set displacement, and there is no uniform speed stage. = ; The parameters in the curve planning calculation process are set as follows: At the current moment , the time interval is , real-time location , Real-time movement distance , real-time speed , real-time acceleration , real-time jerk ;

[0046] Initialize the motion parameters according to formula (1): (1)

[0047] in, For the current moment, for Real-time speed at all times, for Real-time acceleration at all times, for Real-time movement distance at all times. >0 means moving in positive direction, <0, it moves in the opposite direction.

[0048] Define the average acceleration ratio of the deceleration section to the acceleration section as the softening factor And 0< ≤1, the ratio of the maximum acceleration to the average acceleration in the deceleration or acceleration section is defined as the acceleration coefficient And 1< ≤2;

[0049] According to the motion parameters, softening factor and acceleration coefficient Calculating the time nodes of each stage of curve planning includes the following steps:

[0050] S1, according to motion parameters and softening factors Calculate the running time and distance of the acceleration section, uniform speed section and deceleration section respectively;

[0051] Calculate the acceleration time to maximum speed and deceleration time And the corresponding accelerated motion distance , deceleration movement distance , the formula is as follows:

[0052] , (2)

[0053] and + = (1+ ) / ; Determine whether there is a uniform speed segment and calculate the uniform speed segment time and distance :

[0054] I) When + , then there is a uniform speed segment, the formula is as follows:

[0055] (3)

[0056] II) When + , then there is no uniform speed segment, the formula is as follows:

[0057] = 0, = 0 (4)

[0058] and , recalculate the acceleration time to get the maximum speed and deceleration time And the corresponding accelerated motion distance , deceleration movement distance , the formula is as follows:

[0059] (5)

[0060] S2, calculate according to the running time and distance of the acceleration section, uniform speed section and deceleration section respectively , and ;

[0061] According to formula (2)(3) (there is a uniform speed segment) or (4)(5) (there is no uniform speed segment), the acceleration, uniform speed and deceleration times have been calculated, so the three time nodes can be obtained first:

[0062] = , = + , + ( 6 )

[0063] S3. According to and the acceleration coefficient of the acceleration section calculate and ,according to and the acceleration coefficient of the deceleration section calculate and :

[0064] In order to ensure the acceleration is continuous and average, the ratio of the maximum acceleration to the average acceleration is introduced. ,this The purpose of the value is to prevent the maximum acceleration corresponding to the set average acceleration from being too large ( ), if the hardware driver capability is insufficient, preferably, Generally, it can be set between 1.5 and 2, and the entire acceleration section can be designed as follows:

[0065] ( 7 )

[0066] By integrating the acceleration, we can calculate ( ) is:

[0067] : ,

[0068] : ,

[0069] : .

[0070] In order to ensure the continuity and accuracy of location planning, it is necessary to ensure ( = + + ) when the acceleration reaches the maximum speed ,have

[0071] , ( 8 )

[0072] Actual settings After the value is obtained, according to formula (8), we can solve and and The relationship between

[0073] , (9)

[0074] Generally, the acceleration phase and deceleration phase are set to be symmetrical , we can get:

[0075] = , ( 10 )

[0076] Finally, the time node of the acceleration phase can be calculated and :

[0077] , ( 11 )

[0078] The deceleration phase is also divided into three time nodes, corresponding to the calculation method of the acceleration phase, which are:

[0079] , ( 12 )

[0080] Time node of deceleration stage and for

[0081] ( 13 )

[0082] The summary of each time period is:

[0083] ( 14 ) .

[0084] The value of each time node of the curve planning is calculated by formula (14). If there is a uniform speed segment and the acceleration coefficient is set <2, the curve planning is a normal 7-segment curve planning, including the acceleration segment of the acceleration segment, the uniform acceleration segment of the acceleration segment, the deceleration segment of the acceleration segment, the uniform speed segment, the acceleration segment of the deceleration segment, the uniform acceleration segment of the deceleration segment, and the deceleration segment of the deceleration segment. If you set =2, then = , = , there is no uniform acceleration segment, then the entire curve planning becomes a 5-segment type, including the acceleration segment of the acceleration segment, the deceleration segment of the acceleration segment, the uniform speed segment, the acceleration segment of the deceleration segment, and the deceleration segment of the deceleration segment. If the set movement distance is less than the sum of the acceleration and deceleration distances, there is no uniform speed segment, then = If you set the softening factor <1, the curve planning is an asymmetric curve for acceleration and deceleration; if set =1, the curve is planned as a symmetrical curve of acceleration and deceleration. It can be used as a value for a specific implementation. When the two are not equal, formula (9) must be satisfied. Value and deceleration section Values ​​can be equal or unequal, and the above discussion assumes they are equal.

[0085] Update the curve according to the time node to plan the status of each stage;

[0086] time from Start with is the time interval, accumulated to , the real-time acceleration of the entire curve planning process , real-time acceleration , real-time speed The update formula is as follows:

[0087] Paragraph 1 : , (15)

[0088] Paragraph 2 : , (16)

[0089] Paragraph 3 : , (17)

[0090] Paragraph 4 : , (18)

[0091] Paragraph 5 : , (19)

[0092] Paragraph 6 : , (20)

[0093] Paragraph 7 :

[0094] (twenty one);

[0095] Real-time motion distance during the entire curve planning process and real-time location Updated to: (twenty two).

[0096] The curve planning state is updated according to formulas (14)-(22), and the process ends here.

[0097] The curve planning of position control can affect the positioning accuracy and stabilization time, ensure the continuity of acceleration, and reduce the acceleration value of the deceleration segment to reduce the vibration in place, thereby improving the positioning accuracy and stabilization time performance. The method of the present invention ensures that the jerk continuity, acceleration continuity, speed and displacement of the curve planning meet the set value requirements of the curve planning through the segmented trigonometric function relationship design; through the softening factor of the deceleration segment , realize the asymmetric curve planning of acceleration and deceleration curves, where: The speed curve is asymmetric. , which can realize the special case of curve planning with speed symmetry; by setting the acceleration coefficient , to avoid the maximum acceleration exceeding the physical limit in order to ensure the average acceleration value, where When , the curve planning is a 7-segment curve planning. When , a special case of 5-segment curve planning without uniform acceleration stage can be realized; the acceleration and deceleration distance is calculated by formula (2) and compared with the target distance to determine whether there is a uniform speed segment. If there is a uniform speed segment, the various time nodes of the 7-segment curve planning are calculated according to formulas (1)(3)(14); if there is no uniform speed segment, the various time nodes of the 7-segment curve planning are calculated according to formulas (4)(5)(14); the jerk, acceleration, velocity and position states are updated according to the time nodes by formulas (15)(16)(17)(18)(19)(20)(21)(22).

[0098] A second aspect of the present invention provides a trigonometric function curve planning system with continuous acceleration, based on the above trigonometric function curve planning method with continuous acceleration, comprising:

[0099] A division module is used to divide the curve planning into an acceleration section, a uniform speed section and a deceleration section. The acceleration section and the deceleration section are respectively divided into a jerk section, a uniform acceleration section and a deceleration section;

[0100] Initialization module, used to set and initialize the motion parameters of curve planning;

[0101] Definition module, used to define the average acceleration ratio of the deceleration section and the acceleration section as the softening factor And 0< ≤1, the ratio of the maximum acceleration to the average acceleration in the deceleration or acceleration section is defined as the acceleration coefficient And 1< ≤2;

[0102] A time node calculation module is used to calculate the time nodes of each stage of the curve planning according to the motion parameters, the softening factor β and the acceleration coefficient k;

[0103] The update module is used to update the curve according to the time node to plan the status of each stage.

[0104] Furthermore, the initialization module is used to set and initialize the motion parameters of the curve planning, specifically: setting the starting position , Target location , moving distance , Maximum speed , Maximum speed value , average acceleration , average acceleration value The time nodes of each stage of curve planning are as follows: Acceleration stage - , uniform speed segment - , deceleration section - , the acceleration segment of the acceleration segment -, uniform acceleration section of the acceleration section - , the deceleration section of the acceleration section - , the acceleration section of the deceleration section - , uniform acceleration section of deceleration section - , deceleration section of the deceleration section - ; When the set displacement is small, the acceleration and deceleration process distance is greater than or equal to the set displacement, and there is no uniform speed stage. = ; The parameters in the curve planning calculation process are set as follows: At the current moment , the time interval is , real-time location , Real-time movement distance , real-time speed , real-time acceleration , real-time jerk ;

[0105] Initialize motion parameters: ,

[0106] in, For the current moment, for Real-time speed at all times, for Real-time acceleration at all times, for Real-time movement distance at all times. >0 means moving in positive direction, <0, it moves in the opposite direction.

[0107] Furthermore, the time node calculation module is used to calculate the time node according to the motion parameters, the softening factor β and the acceleration coefficient The time nodes of each stage of calculation curve planning include:

[0108] The first calculation unit is used to calculate the motion parameters and the softening factor Calculate the running time and distance of the acceleration section, uniform speed section and deceleration section respectively: Calculate the acceleration time of the maximum speed and deceleration time And the corresponding accelerated motion distance , deceleration movement distance , the formula is as follows:

[0109] , + = (1+ ) / ; Determine whether there is a uniform speed segment and calculate the uniform speed segment time and distance :

[0110] when + , then there is a uniform speed segment, the formula is as follows:

[0111] ;

[0112] when + , then there is no uniform speed segment, the formula is as follows: = 0, = 0, then the relationship between acceleration and deceleration distance satisfies , recalculate the acceleration time to get the maximum speed and deceleration time And the corresponding accelerated motion distance , deceleration movement distance , the formula is as follows:

[0113] ;

[0114] The second calculation unit is used to calculate the running time and distance of the acceleration section, the uniform speed section and the deceleration section respectively. , and The calculation formula is as follows:

[0115] = , = + , = + ;

[0116] The third computing unit is used to and the acceleration coefficient of the acceleration section calculate and ,according to and the acceleration coefficient of the deceleration section calculate and , the calculation formula is as follows:

[0117] .

[0118] Furthermore, the updating module is used to update the status of each stage of the curve planning according to the time node:

[0119] time from Start with is the time interval, accumulated to , the real-time acceleration of the entire curve planning process , real-time acceleration , real-time speed The update formula is as follows:

[0120] Paragraph 1 : ,

[0121] Paragraph 2 : ,

[0122] Paragraph 3 : ,

[0123] Paragraph 4 : ,

[0124] Paragraph 5 : ,

[0125] Paragraph 6 : ,

[0126] Paragraph 7 : .

[0127] Real-time motion distance during the entire curve planning process and real-time location Updated to: .

[0128] The third aspect of the present invention provides a chip placement machine, based on the above-mentioned continuous acceleration trigonometric function curve planning method, comprising:

[0129] A memory storing a program;

[0130] A processor, configured to execute the program in the memory to implement the steps of the above-mentioned trigonometric function curve planning method for continuous acceleration;

[0131] A driver is used to respond to the curve planning process to achieve actual motion control of the placement machine.

[0132] In summary, the technical solution of the present invention is based on trigonometric function operations, with simple formulas and few calculation steps. After setting the target position, only the average acceleration, velocity, softening factor and acceleration coefficient need to be set to realize fast position curve planning, which can ensure that the jerk, acceleration, velocity and displacement are continuous, and the jerk and acceleration are both 0 at the starting point and when reaching the target point. Through the setting of the strategy, it can meet the compatibility of 7-segment and 5-segment. By introducing the softening factor to support the asymmetry of the acceleration and deceleration segments, the motion impact can be further reduced, the stabilization time in place can be guaranteed, and the impact can be reduced; by introducing the acceleration coefficient, the maximum acceleration under the condition of average acceleration can be adjusted to ensure that the hardware driving capability meets the requirements.

[0133] Embodiment 1:

[0134] Initialize the curve planning parameters and assume the starting position , target location , set the maximum speed value to , average acceleration value , initialize the motion parameters according to formula (1)

[0135] .

[0136] Softening Factor =1, acceleration coefficient =1.5, that is, the 7-segment curve is a symmetrical curve, and the maximum acceleration is 1.5 times the average acceleration. According to the formula, the acceleration time, deceleration time, acceleration distance and deceleration distance can be calculated as follows:

[0137] .

[0138] because + According to formula (3), the uniform running distance and time are

[0139] .

[0140] Then follow =1.5, according to formula (6)-(14) we get

[0141] .

[0142] time from Start with is the time interval, accumulated to The entire curve planning process updates the real-time acceleration according to formulas (15)-(22). , real-time acceleration , real-time speed and real-time location The final curve planning result of Example 1 is as follows Figure 2-5 As shown, the program is run and driven by the placement machine.

[0143] Example 1 implements symmetrical 7-segment curve planning. Figure 2 The real-time location of Example 1 The curve is planned to reach the final position 0.5m, Figure 3 The real-time speed of Example 1 Curve, speed continuous maximum reach , and the acceleration and deceleration stages are symmetrical; Figure 4 is the real-time acceleration of Example 1 curve, the acceleration is continuous and the maximum acceleration is is 1.5 times the average acceleration, Figure 5 is the real-time acceleration of Example 1 The curve has a continuous jerk and a final value of 0, which can effectively reduce the jitter of the placement machine motion control (all decimals are retained to a maximum of 4 digits).

[0144] Embodiment 2:

[0145] The same initialization parameters are set as in real-time example 1, assuming that the starting position , target location , set the maximum speed value to , average acceleration value , initialize the motion parameters according to formula (1)

[0146] .

[0147] Softening Factor =0.75, acceleration coefficient =1.5, that is, the 7-segment curve is an asymmetric curve, the average acceleration of the deceleration segment is 0.75 times that of the acceleration segment, and the maximum acceleration is 1.5 times the average acceleration. According to the formula, the acceleration time, deceleration time, acceleration distance and deceleration distance can be calculated as follows:

[0148] .

[0149] because + According to formula (3), the uniform running distance and time are

[0150] .

[0151] Then follow =1.5, according to formula (6)-(14) we get

[0152] .

[0153] time from Start with is the time interval, accumulated to The entire curve planning process updates the real-time acceleration according to formulas (15)-(22). , real-time acceleration , real-time speed and real-time distance The final curve planning result of Example 2 is as follows: Figure 6-9 As shown, the program is run and driven by the placement machine.

[0154] Example 2 implements asymmetric 7-segment curve planning. Figure 6 The real-time location of Example 2 The curve is planned to reach the final position 0.5m, Figure 7 The real-time speed of Example 2 Curve, speed continuous maximum reach , and the deceleration section and the acceleration section are asymmetric; Figure 8 The real-time acceleration of Example 2 curve, the acceleration of the acceleration section is continuous and the maximum acceleration is The average acceleration =1.5 times, the maximum acceleration value of the deceleration stage is only the acceleration stage =0.75 times; Fig. 9 The real-time acceleration of Example 2 The curve has a continuous acceleration and a final value of 0, which can effectively reduce the jitter of the placement machine motion control.

[0155] Embodiment 3:

[0156] The same initialization parameters are set as in Examples 1 and 2. Assume that the starting position , target location , set the maximum speed value to , average acceleration value , initialize the motion parameters according to formula (1)

[0157] .

[0158] Softening Factor =0.75, acceleration coefficient =2, at this time, the curve planning can be considered that there is no uniform acceleration of the 5-segment curve is an asymmetric curve, the average acceleration of the deceleration segment is 0.75 times the acceleration segment, and the maximum acceleration is 2 times the average acceleration. According to the formula, the acceleration time, deceleration time, acceleration distance and deceleration distance can be calculated as follows:

[0159] .

[0160] because + According to formula (3), the uniform running distance and time are

[0161] .

[0162] Then follow =2, according to formula (6)-(14) we get

[0163] .

[0164] time from Start with is the time interval, accumulated to The entire curve planning process updates the real-time acceleration according to formulas (15)-(22). , real-time acceleration , real-time speed and real-time distance The curve planning result of the final embodiment 3 is as follows Figure 10-13 As shown, the program is run and driven by the placement machine.

[0165] Example 3 implements asymmetric 5-segment curve planning. Fig.10The real-time location of Example 3 The curve is planned to reach the final position 0.5m, Fig.11 The real-time speed of Example 3 Curve, speed continuous maximum reaches 3 , and the deceleration section and the acceleration section are asymmetric; Fig.12 The real-time acceleration curve of Example 3, the acceleration of the acceleration section is continuous and the maximum acceleration is 60 The average acceleration =2 times, the maximum acceleration value of the deceleration stage is only the acceleration stage =0.75 times, and there is no uniform acceleration segment; Fig.13 The real-time acceleration of Example 3 The curve has a continuous acceleration and a final value of 0, which can effectively reduce the jitter of the placement machine motion control.

[0166] Embodiment 4:

[0167] Set the initialization parameters, assuming the starting position , target location , set the maximum speed value to , average acceleration value , initialize the motion parameters according to formula (1)

[0168] .

[0169] Softening Factor =0.75, acceleration coefficient = 2, the average acceleration of the deceleration section is 0.75 times the acceleration section, and the maximum acceleration is 2 times the average acceleration. According to the formula, the acceleration distance and deceleration distance required according to the set speed and acceleration can be calculated as follows:

[0170] .

[0171] because + Therefore, there is no uniform speed segment. Then, the acceleration / deceleration distance, acceleration / deceleration time and the maximum speed that can actually be reached need to be calculated according to formula (5).

[0172] .

[0173] Then, according to k=2, we can get

[0174] .

[0175] time from Start with is the time interval, accumulated to The entire curve planning process updates the real-time acceleration according to formulas (15)-(22). , real-time acceleration , real-time speed and real-time distance The curve planning result of the final embodiment 4 is as follows Figure 14-17 As shown, the program is run and driven by the placement machine.

[0176] Embodiment 4 realizes asymmetric curve planning without uniform speed section and uniform acceleration section. Fig.14 The real-time location of Example 4 The curve is planned to reach the final position , Fig.15 The real-time speed of Example 4 Curve, speed continuous maximum reach , there is no uniform speed segment and it is asymmetric; Fig.16 The real-time acceleration of Example 4 The acceleration of the acceleration section is continuous and the maximum acceleration is 60 The average acceleration =2 times, the maximum acceleration value of the deceleration stage is only the acceleration stage =0.75 times, and there is no uniform acceleration segment; Fig.17 The real-time acceleration of Example 4 The curve has a continuous acceleration and a final value of 0, which can effectively reduce the jitter of the placement machine motion control.

[0177] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various specific technical features in any suitable manner. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

Claims

1. A trigonometric function curve planning method with continuous acceleration, characterized in that: The following steps are involved: The curve planning is divided into acceleration section, uniform speed section and deceleration section. The acceleration section and deceleration section are respectively divided into acceleration section, uniform acceleration section and deceleration section. Set and initialize the motion parameters of curve planning; The average acceleration ratio of the deceleration segment to the acceleration segment is defined as the softening factor β and 0<β≤1. The ratio of the maximum acceleration to the average acceleration in the deceleration segment or acceleration segment is defined as the acceleration coefficient k and 1 <k≤2; Calculate the time nodes of each stage of curve planning according to motion parameters, softening factor β and acceleration coefficient k; According to the time node update curve planning of each stage status, specifically: Time t starts from T0, with dt as the time interval, and accumulates to 7. The real-time acceleration j of the entire curve planning process t , real-time acceleration a t , real-time speed v t The update formula is as follows: The first segment T0 <t≤T1: Second segment T1 <t≤T2: Section 3 T2 <t≤T3: Section 4 T3 <t≤T4: Section 5 T4 <t≤T5: Section 6 T5 <t≤T6: Section 7 T6 <t≤T7:

2. The method for planning a trigonometric curve with continuous acceleration according to claim 1, characterized in that: The motion parameters for setting and initializing the curve planning include: Set the starting position P s 、Target position P e , moving distance S, maximum speed V m , the average acceleration A and the time nodes of each stage of curve planning are as follows: acceleration section T0-T3, uniform speed section T3-T4, deceleration section T4-T7, jerk section T0-T1 of acceleration section, uniform acceleration section T1-T2 of acceleration section, deceleration section T2-T3 of acceleration section, jerk section T4-T5 of deceleration section, uniform acceleration section T5-T6 of deceleration section, deceleration section T6-T7 of deceleration section; Initialize motion parameters: Among them, t is the current time, v t is the real-time speed at time t, a t is the real-time acceleration at time t, s t is the real-time movement distance at time t.

3. The method for planning a trigonometric curve with continuous acceleration according to claim 2, characterized in that: The time nodes of each stage of the curve planning are calculated according to the motion parameters, the softening factor β and the acceleration coefficient k, including: According to the motion parameters and the softening factor β, the running time and distance of the acceleration section, the uniform speed section and the deceleration section are calculated respectively; Calculate T3, T4 and T5 according to the running time and distance of the acceleration section, uniform speed section and deceleration section respectively; T1 and T2 are calculated based on T3 and the acceleration coefficient k of the acceleration section, and T5 and T6 are calculated based on T7 and the acceleration coefficient k of the deceleration section.

4. The method for planning a trigonometric curve with continuous acceleration according to claim 3, characterized in that: The specific calculation of the running time and distance of the acceleration segment, the uniform speed segment and the deceleration segment according to the motion parameters and the softening factor β is: Calculate the acceleration time T to the maximum speed acc and deceleration time T dec And the corresponding accelerated motion distance S acc , deceleration movement distance S dec , the formula is as follows: And S acc +S dec =(1+β)S acc / β; Determine whether there is a uniform speed segment and calculate the uniform speed segment time T avg and distance S avg : When abs(S)≥abs(S acc +S dec ), then there is a uniform speed segment, the formula is as follows: When abs(S) <abs(S acc +S dec ), then there is no uniform speed segment, the formula is as follows: S avg =0, T avg = 0, and Recalculate the acceleration time T to get the maximum speed acc and deceleration time T dec And the corresponding accelerated motion distance S acc , deceleration movement distance S dec , the formula is as follows:

5. The method for planning a trigonometric curve with continuous acceleration according to claim 4, characterized in that: The calculation formulas for calculating T3, T4 and T7 according to the running time and distance of the acceleration segment, the uniform speed segment and the deceleration segment are as follows: T3=T acc ,T4=T acc +T avg ,T7=T4+T dec 。 6. The method for planning a trigonometric function curve with continuous acceleration according to claim 5, characterized in that: The calculation formulas for calculating T1 and T2 based on T3 and the acceleration coefficient k of the acceleration section, and calculating T5 and T6 based on T7 and the acceleration coefficient k of the deceleration section are as follows:

7. The method for planning a trigonometric curve with continuous acceleration according to any one of claims 2 to 6, characterized in that: Real-time motion distance s during the entire curve planning process t and real-time location P t Updated to:

8. The method for planning a trigonometric curve with continuous acceleration according to claim 7, characterized in that: When there is a uniform speed segment, if k<2, the curve planning is 7-segment, including the jerk segment of the acceleration segment, the uniform acceleration segment of the acceleration segment, the deceleration segment of the acceleration segment, the uniform speed segment, the jerk segment of the deceleration segment, the uniform acceleration segment of the deceleration segment, and the deceleration segment of the deceleration segment; if k=2, the curve planning is 5-segment, including the jerk segment of the acceleration segment, the deceleration segment of the acceleration segment, the uniform speed segment, the jerk segment of the deceleration segment, and the deceleration segment of the deceleration segment.

9. The method for planning a trigonometric curve with continuous acceleration according to claim 7, characterized in that: When β<1, the curve is planned as an asymmetric curve of acceleration and deceleration; when β=1, the curve is planned as a symmetric curve of acceleration and deceleration.

10. A trigonometric function curve planning system with continuous acceleration, characterized in that: It includes a division module, which is used to divide the curve planning into an acceleration section, a uniform speed section and a deceleration section, and the acceleration section and the deceleration section are respectively divided into a jerk section, a uniform acceleration section and a deceleration section; Initialization module, used to set and initialize the motion parameters of curve planning; Definition module, used to define the average acceleration ratio of the deceleration segment to the acceleration segment as the softening factor β and 0<β≤1, and define the maximum acceleration to the average acceleration ratio in the deceleration segment or acceleration segment as the acceleration coefficient k and 1 <k≤2; A time node calculation module is used to calculate the time nodes of each stage of the curve planning according to the motion parameters, the softening factor β and the acceleration coefficient k; The update module is used to update the curve according to the time node to plan the status of each stage, specifically: Time t starts from T0, with dt as the time interval, and accumulates to 7. The real-time acceleration j of the entire curve planning process t , real-time acceleration a t , real-time speed v t The update formula is as follows: The first segment T0 <t≤T1: Second segment T1 <t≤T2: Section 3 T2 <t≤T3: Section 4 T3 <t≤T4: Section 5 T4 <t≤T5: The sixth section T5<t≤T6: Section 7 T6 <t≤T7:

11. The trigonometric function curve planning system with continuous acceleration according to claim 10, characterized in that: The initialization module is used to set and initialize the motion parameters of the curve planning. Specifically, the starting position P is set. s 、Target position P e , moving distance S, maximum speed V m , the average acceleration A and the time nodes of each stage of curve planning are as follows: acceleration section T0-T3, uniform speed section T3-T4, deceleration section T4-T7, jerk section T0-T1 of acceleration section, uniform acceleration section T1-T2 of acceleration section, deceleration section T2-T3 of acceleration section, jerk section T4-T5 of deceleration section, uniform acceleration section T5-T6 of deceleration section, deceleration section T6-T7 of deceleration section; Initialize motion parameters: Among them, t is the current time, v t is the real-time speed at time t, a t is the real-time acceleration at time t, s t is the real-time movement distance at time t.

12. The jerk-continuous trigonometric function curve planning system according to claim 11, characterized in that: The time node calculation module is used to calculate the time nodes of each stage of the curve planning according to the motion parameters, the softening factor p and the acceleration coefficient k, including: A first calculation unit is used to calculate the running time and distance of the acceleration segment, the uniform speed segment and the deceleration segment respectively according to the motion parameters and the softening factor β; The second calculation unit is used to calculate T3, T4 and T7 according to the running time and distance of the acceleration section, the uniform speed section and the deceleration section respectively; The third calculation unit is used to calculate T1 and T2 according to T3 and the acceleration coefficient k of the acceleration section, and calculate T5 and T6 according to T7 and the acceleration coefficient k of the deceleration section.

13. The trigonometric function curve planning system with continuous acceleration according to claim 12, characterized in that: The first calculation unit is used to calculate the running time and distance of the acceleration segment, the uniform speed segment and the deceleration segment respectively according to the motion parameters and the softening factor β: Calculate the acceleration time T to the maximum speed acc and deceleration time T dec And the corresponding accelerated motion distance S acc , deceleration movement distance S dec , the formula is as follows: And S acc +S dec =(1+β)S acc / β; Determine whether there is a uniform speed segment and calculate the uniform speed segment time T avg and distance S avg : When abs(S)≥abs(S acc +S dec ), then there is a uniform speed segment, the formula is as follows: When abs(S) <abs(S acc +S dec ), then there is no uniform speed segment, the formula is as follows: S avg =0, T avg = 0, and Recalculate the acceleration time T to get the maximum speed acc and deceleration time T dec And the corresponding accelerated motion distance S acc , deceleration movement distance S dec , the formula is as follows: The second calculation unit is used to calculate T3, T4 and T7 according to the running time and distance of the acceleration segment, the uniform speed segment and the deceleration segment respectively according to the following calculation formula: T3=T acc ,T4=T acc +T avg ,T7=T4+T dec ; The third calculation unit is used to calculate T1 and T2 according to T3 and the acceleration coefficient k of the acceleration section, and calculate T5 and T6 according to T7 and the acceleration coefficient k of the deceleration section. The calculation formula is as follows:

14. The jerk-continuous trigonometric function curve planning system according to any one of claims 11 to 13, characterized in that: The update module, the real-time movement distance s during the entire curve planning process t and real-time location P t Updated to:

15. A chip mounter, characterized in that: include A memory storing a program; A processor, configured to execute the program in the memory to implement the steps of the method according to any one of claims 1 to 9; A driver is used to respond to the curve planning process to achieve actual motion control of the placement machine.

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