Method and device for motion control, motion mechanism control system and motion mechanism

Abstract

The application provides a motion control method and device, a motion mechanism control system and a motion mechanism, and is applied to a motion mechanism. The motion control method comprises the following steps: determining an initial first speed function and an initial displacement function based on a pre-constructed initial acceleration function. The initial acceleration function is an even function, takes a maximum value at a midpoint of an interval of the function interval, has monotonicity in a range from an endpoint of the function interval to the midpoint of the interval, and is smoothly derivable. The final acceleration function, the final first speed function and the final displacement function are determined based on a preset initial speed, a preset final speed and a preset displacement. The motion of the motion mechanism is controlled according to the final acceleration function, the final first speed function and the final displacement function. The technical scheme of the application can optimize the impact generated in the motion process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, and in particular to a motion control method and device, a motion mechanism control system and a motion mechanism. BACKGROUND

[0002] At present, in the motion control of a motor, in order to ensure the continuity of speed and acceleration, a motion control algorithm is usually used for motion planning of acceleration and deceleration, for example, a DoubleS algorithm is used for motion planning, and a high-order polynomial motion function is constructed for planning. Common motion control can be divided into three stages (i.e. acceleration segment, constant speed segment and deceleration segment), five stages (i.e. jerk acceleration segment, deceleration acceleration segment, constant speed segment, acceleration deceleration segment and deceleration deceleration segment) or seven stages (i.e. jerk acceleration segment, acceleration segment, deceleration acceleration segment, constant speed segment, acceleration deceleration segment, deceleration segment and deceleration deceleration segment) for control.

[0003] However, in the acceleration and deceleration control, for example, five-stage acceleration and deceleration control, since the jerk is continuous and non-differentiable, and the acceleration has an inflection point, the motor produces impact in the transition of acceleration, constant speed and deceleration. SUMMARY

[0004] Therefore, the embodiments of the present application provide a motion control method and device, a motion mechanism control system and a motion mechanism to solve the problem of impact caused by non-smooth acceleration in motion control.

[0005] In a first aspect, the embodiments of the present application provide a motion control method applied to a motion mechanism, which comprises: determining an initial first speed function and an initial displacement function based on a pre-constructed initial acceleration function, the initial acceleration function being an even function, taking the maximum value at the midpoint of the interval of the function interval, the initial acceleration function having monotonicity in the range from the endpoint to the midpoint of the function interval, and the curve of the initial acceleration function being smooth and differentiable; determining a final acceleration function, a final first speed function and a final displacement function based on a preset initial speed, a final speed and a displacement; and controlling the motion of the motion mechanism according to the final acceleration function, the final first speed function and the final displacement function.

[0006] In some embodiments of the present application, the method further comprises determining an initial acceleration function based on a pre-constructed acceleration differential function, wherein the acceleration differential function is a linear function, an intercept of the acceleration differential function is determined by a product of the total acceleration / deceleration time and a slope of the acceleration differential function, and the initial acceleration function is a quadratic function; and determining the final acceleration function, the final first velocity function and the final displacement function based on the preset initial velocity, the preset final velocity and the preset displacement, comprises: determining the total acceleration / deceleration time and the slope based on the preset initial velocity, the preset final velocity and the preset displacement; and determining the final acceleration function, the final first velocity function and the final displacement function based on the determined total acceleration / deceleration time and the slope.

[0007] In some embodiments of the present application, the determination of the total acceleration / deceleration time and the slope based on the preset initial velocity, the preset final velocity and the preset displacement comprises: constructing a second velocity function according to the initial first velocity function, wherein a first area enclosed by a first velocity curve of the initial first velocity function and a time axis is equal to a second area enclosed by a second velocity curve of the second velocity function and the time axis; determining the total acceleration / deceleration time based on the second velocity function, the initial velocity, the final velocity and the displacement; and determining the slope by substituting the total acceleration / deceleration time into the initial first velocity function.

[0008] In some embodiments of the present application, the second velocity function is a uniformly accelerated / decelerated velocity function, and the second velocity function is a linear function.

[0009] In some embodiments of the present application, the intercept of the acceleration differential function is a product of a negative total acceleration / deceleration time, a slope of the linear function and one-half.

[0010] In some embodiments of the present application, the determination of the initial acceleration function based on the pre-constructed acceleration differential function comprises: integrating the acceleration differential function to determine the initial acceleration function, wherein the determination of the initial first velocity function and the initial displacement function based on the pre-constructed initial acceleration function comprises: integrating the initial acceleration function to determine the initial first velocity function, wherein the initial first velocity function is a cubic function; and integrating the initial first velocity function to determine the initial displacement function, wherein the initial displacement function is a quartic function.

[0011] In some embodiments of the present application, the determination of the final acceleration function, the final first velocity function and the final displacement function based on the determined total acceleration / deceleration time and the slope comprises: substituting the total acceleration / deceleration time and the slope into the initial acceleration function, the initial first velocity function and the initial displacement function to determine the final acceleration function, the final first velocity function and the final displacement function.

[0012] In some embodiments of the present application, the method further comprises: constructing an initial acceleration function, wherein the initial acceleration function is a trigonometric function determined by a product of a sine function and a maximum value influence coefficient, wherein the sine function is determined by a total acceleration / deceleration time, and wherein the final acceleration function, the final first speed function and the final displacement function are determined based on the preset initial speed, the final speed and the displacement, comprising: determining the total acceleration / deceleration time and the maximum value influence coefficient based on the preset initial speed, the final speed and the displacement; and determining the final acceleration function, the final first speed function and the final displacement function based on the total acceleration / deceleration time and the maximum value influence coefficient.

[0013] In some embodiments of the present application, the total acceleration / deceleration time and the maximum value influence coefficient are determined based on the preset initial speed, the final speed and the displacement, comprising: constructing a third speed function according to the initial first speed function, wherein a first area enclosed by a first speed curve of the initial first speed function and a time axis is equal to a third area enclosed by a third speed curve of the third speed function and the time axis, and the third speed function is a uniform acceleration / deceleration speed function; determining the total acceleration / deceleration time based on the third speed function, the initial speed, the final speed and the displacement; and determining the maximum value influence coefficient by substituting the total acceleration / deceleration time into the initial first speed function.

[0014] In some embodiments of the present application, the maximum value influence coefficient is a product of a circular constant, one-half, the final speed and a reciprocal of the total acceleration / deceleration time.

[0015] In some embodiments of the present application, the final acceleration function, the final first speed function and the final displacement function are determined based on the total acceleration / deceleration time and the maximum value influence coefficient, comprising: substituting the total acceleration / deceleration time and the maximum value influence coefficient into the initial acceleration function, the initial first speed function and the initial displacement function to determine the final acceleration function, the final first speed function and the final displacement function.

[0016] In a second aspect, embodiments of the present application provide a motion control device, comprising: a first determining module configured to determine an initial first speed function and an initial displacement function based on a pre-constructed initial acceleration function, wherein the initial acceleration function is an even function, takes a maximum value at a midpoint of a function interval, has monotonicity in a range from an endpoint of the function interval to the midpoint, and has a smooth and derivable curve; a second determining module configured to determine a final acceleration function, a final first speed function and a final displacement function based on a preset initial speed, a final speed and a displacement; and a control module configured to control a motion of a motion mechanism according to the final acceleration function, the final first speed function and the final displacement function.

[0017] In a third aspect, embodiments of the present application provide a motion mechanism control system, comprising: a processor; a memory for storing processor-executable instructions, wherein the processor is configured to execute the motion control method of the first aspect.

[0018] In a fourth aspect, embodiments of the present application provide a motion mechanism, comprising the motion mechanism control system of the third aspect.

[0019] In a fifth aspect, embodiments of the present application provide a computer readable storage medium, the storage medium storing a computer program, the computer program being configured to execute the motion control method of the first aspect.

[0020] Embodiments of the present application provide a motion control method and device, a motion mechanism control system and a motion mechanism. By constructing an acceleration function as an even function, and setting the acceleration function to take a maximum value at the midpoint of the interval of the function interval, and the acceleration function having monotonicity in the range from the two endpoints (i.e. the left endpoint and the right endpoint) to the midpoint of the function interval, the function curve is smooth and derivable, so that the impact generated in the motion process is optimized. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 FIG. 1 is a flow diagram of a motion control method according to an example embodiment of the present application.

[0022] Figure 2a FIG. 2 is a diagram of a function curve of an acceleration process according to an example embodiment of the present application.

[0023] Figure 2b FIG. 3 is a diagram of a function curve of a deceleration process according to an example embodiment of the present application.

[0024] Figure 3 FIG. 4 is a flow diagram of a motion control method according to another example embodiment of the present application.

[0025] Figure 4a FIG. 5 is a diagram of a linear function and a cubic function and a time axis according to an example embodiment of the present application.

[0026] Figure 4b FIG. 6 is a diagram of a linear function and a cubic function and a time axis according to another example embodiment of the present application.

[0027] Figure 5 FIG. 7 is a flow diagram of a motion control method according to yet another example embodiment of the present application.

[0028] Figure 6a FIG. 8 is a diagram of a function curve of an acceleration process according to another example embodiment of the present application.

[0029] Figure 6b is a schematic diagram of a function curve of a deceleration process provided by another exemplary embodiment of the present application.

[0030] Figure 7 is a flowchart of a method of motion control provided by another exemplary embodiment of the present application.

[0031] Figure 8 is a structural diagram of an apparatus of motion control provided by another exemplary embodiment of the present application.

[0032] Figure 9 is a structural diagram of a motion mechanism control system provided by another exemplary embodiment of the present application.

[0033] Figure 10 is a structural diagram of a motion mechanism provided by another exemplary embodiment of the present application. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0035] Figure 1 is a flowchart of a method of motion control provided by another exemplary embodiment of the present application. Figure 1 The method is executed by a computing device, for example, a controller of a motion mechanism, where the motion mechanism can be a mechanical arm, a gimbal, etc. As shown in Figure 1 , the method of motion control includes the following contents.

[0036] 110: determining an initial first speed function and an initial displacement function based on a pre-constructed initial acceleration function.

[0037] In an embodiment, the initial acceleration function is an even function, takes the extreme value at the midpoint of the function interval, has monotonicity in the range from the endpoint of the function interval to the midpoint, and the function curve of the initial acceleration function is smooth and derivable.

[0038] Specifically, the initial acceleration function can be an even function. The function curve of the initial acceleration function has symmetry within the function interval. The initial acceleration function can take the extreme value at the midpoint of the function interval. The initial acceleration function has monotonicity in the range from the left endpoint of the function interval to the midpoint, and in the range from the right endpoint of the function interval to the midpoint. And the function curve of the initial acceleration function is smooth and derivable.

[0039] For example, the function curve of the initial acceleration function monotonically increases (or decreases) in the interval range from the left end point of the function interval to the middle point of the interval; the function curve of the initial acceleration function monotonically decreases (or increases) in the interval range from the middle point of the interval to the right end point of the function interval.

[0040] In an embodiment, the initial acceleration function can be a quadratic function. Alternatively, the initial acceleration function can be a sine function with the function interval being [0, π], and the embodiments of the present application do not make specific limitation on the initial acceleration function.

[0041] The initial first speed function can be determined by once integrating the initial acceleration function. The initial displacement function can be determined by once integrating the initial first speed function, or the initial displacement function can be determined by twice integrating the acceleration function, and the embodiments of the present application do not make specific limitation on the manner of determining the initial first speed function and the initial displacement function.

[0042] 120: determining the final acceleration function, the final first speed function and the final displacement function based on the preset initial speed, the preset final speed and the preset displacement.

[0043] Specifically, the initial acceleration function can be a quadratic function, or a trigonometric function (i.e. a sine function or a cosine function, etc.), and the embodiments of the present application do not make specific limitation thereon.

[0044] In an embodiment, when the initial acceleration function is a quadratic function, the controller of the motion mechanism can construct an acceleration differential function in advance. The initial acceleration function can be determined by once integrating the acceleration differential function. The acceleration differential function can be a linear function. The intercept of the linear function can be determined by the product of the total acceleration / deceleration time and the slope of the linear function.

[0045] Further, the controller of the motion mechanism can determine the total acceleration / deceleration time and the slope based on the preset initial speed, the preset final speed and the preset displacement. Then, the controller can substitute the determined total acceleration / deceleration time and the slope into the initial acceleration function, the initial first speed function and the initial displacement function to determine the final acceleration function, the final first speed function and the final displacement function.

[0046] Alternatively, in another embodiment, when the initial acceleration function is a sine function, the controller of the motion mechanism can directly construct the initial acceleration function. The initial acceleration function can be determined by the product of the sine function and the maximum value influence coefficient. The sine function can be determined by the product of the total acceleration / deceleration time, the circular constant (i.e. π) and the time t. Since the maximum value of the sine function in the function interval is 1, the maximum value influence coefficient m is set in the embodiments of the present application to control the maximum value of the trigonometric function.

[0047] Further, the controller of the motion mechanism can determine the total acceleration / deceleration time based on the preset initial speed, the preset final speed and the preset displacement. The controller of the motion mechanism can substitute the total acceleration / deceleration time into the initial first speed function to determine the maximum value influence coefficient. Then, the controller can substitute the determined total acceleration / deceleration time and the maximum value influence coefficient into the initial acceleration function, the initial first speed function and the initial displacement function to determine the final acceleration function, the final first speed function and the final displacement function.

[0048] It should be noted that the specific description of step 120 can be found in the description of the following embodiments.

[0049] 130: controlling the motion of the motion mechanism according to the final acceleration function, the final first speed function and the final displacement function.

[0050] Specifically, the corresponding acceleration, speed and displacement at each time can be obtained according to the final acceleration function, the final first speed function and the final displacement function. The set time t is substituted into the final acceleration function, the final first speed function and the final displacement function to determine the corresponding acceleration, speed and displacement at the set time t.

[0051] For example, when t is equal to 20s, the corresponding acceleration, speed and displacement of the motion mechanism at the time of 20s can be obtained to realize the control of the motion mechanism.

[0052] It should be noted that the acceleration, speed and displacement at each time obtained by the embodiments of the present application are used to control the motion state of the motion mechanism at each time to plan the motion of the motion mechanism.

[0053] Therefore, the embodiments of the present application construct the acceleration function as an even function, set the acceleration function to take the maximum value at the midpoint of the interval of the function interval, and the acceleration function has monotonicity in the range from the two endpoints (i.e. the left endpoint and the right endpoint) to the midpoint of the interval of the function interval, the function curve is smooth and derivable, so that the impact generated in the motion process is optimized.

[0054] In an embodiment of the present application, the method further comprises: determining the initial acceleration function based on the pre-constructed acceleration differential function. The acceleration differential function is a linear function, the intercept of the acceleration differential function is determined by the product of the total acceleration / deceleration time and the slope of the acceleration differential function, and the initial acceleration function is a quadratic function.

[0055] Specifically, the differential function of acceleration can be a linear function. The differential function of acceleration can be composed of the slope and intercept of the linear function, wherein the intercept can be determined by the product of the total acceleration / deceleration time and the slope of the differential function of acceleration. The embodiments of this application do not specifically limit the form of the intercept.

[0056] In one embodiment, the intercept of the acceleration differential function can be the negative product of the total acceleration / deceleration time, the slope of a linear function, and half of it.

[0057] The initial acceleration function can be determined by integrating the differential acceleration function once. Since the differential acceleration function is a linear function, the initial acceleration function determined by integration is a quadratic function. It should be noted that, in this embodiment, a quadratic function is chosen as the initial acceleration function to smooth the acceleration curve and mitigate the impact generated during motion. For example... Figure 2a The at curve during the acceleration process, and Figure 2b The at curve during the deceleration process.

[0058] The initial first velocity function can be determined by integrating the initial acceleration function once, or by integrating the differential acceleration function twice. The initial first velocity function can be a cubic function, and this application does not specifically limit the method for determining the initial first velocity function.

[0059] The initial displacement function can be determined by integrating the initial first velocity function once, or by integrating the differential acceleration function three times. The initial displacement function can be a fourth-order function. This application does not specifically limit the method for determining the initial displacement function.

[0060] In one embodiment, determining the final acceleration function, the final first velocity function, and the final displacement function based on preset initial velocity, final velocity, and displacement includes: determining the total acceleration / deceleration time and slope based on the preset initial velocity, final velocity, and displacement; and determining the final acceleration function, the final first velocity function, and the final displacement function based on the determined total acceleration / deceleration time and slope.

[0061] Specifically, the controller can construct a second velocity function based on an initial first velocity function. The first area enclosed by the first velocity curve of the initial first velocity function and the time axis is equal to the second area enclosed by the second velocity curve of the second velocity function and the time axis. The initial first velocity function can be a cubic function, and the second velocity function can be a linear function.

[0062] It should be noted that when the second speed function which is a linear function is constructed from the initial first speed function which is a cubic function, the second speed function is a uniform acceleration / deceleration speed function at this time, that is, the motion process is a uniform acceleration / deceleration motion. That is, the time t in the uniform acceleration / deceleration motion is the total acceleration / deceleration time.

[0063] Based on the preset second speed function, the initial speed, the final speed and the displacement, the controller can determine the total acceleration / deceleration time. The controller can substitute the total acceleration / deceleration time into the initial first speed function, and can determine the slope. The controller can substitute the determined total acceleration / deceleration time and the slope into the initial acceleration function, the initial first speed function and the initial displacement function formula, to determine the final acceleration function, the final first speed function and the final displacement function.

[0064] Wherein, the difference between the final acceleration function, the final first speed function and the final displacement function and the initial acceleration function, the initial first speed function and the initial displacement function is that the variable in the function formula of the final acceleration function, the final first speed function and the final displacement function is only the time variable t, and the slope and the total acceleration / deceleration time are represented by the preset initial speed, the final speed and the displacement.

[0065] It should be noted that the values of the set slope k and the total acceleration / deceleration time T max can obtain Figure 2a corresponding four curves, that is, j-t, a-t, v-t and s-t. And from Figure 2a It can be seen that the acceleration curve is smooth in the acceleration process, that is, the impact in the motion process can be optimized. Similarly, the curve changes of the deceleration process can be obtained as shown in Figure 2b , wherein the negative sign indicates that the acceleration and speed vectors are opposite to the positive direction.

[0066] It should be noted that the embodiments of the application are optimized for motion control from the two points of controlling smoothness and simplifying calculation.

[0067] Therefore, the embodiments of the application optimize the impact generated in the motion process by constructing the acceleration differential function as a linear function and then setting the acceleration function as a quadratic function.

[0068] Figure 3 is a flowchart of a method of motion control provided by another exemplary embodiment of the application. Figure 3 The embodiments are Figure 1 Examples of the embodiments, the same parts will not be described again, and the different parts will be described here. As shown in Figure 3 , the method of motion control includes the following contents.

[0069] 310: constructing a second speed function according to the initial first speed function.

[0070] In an embodiment, a first area enclosed by a first speed curve of the initial first speed function and a time axis is equal to a second area enclosed by a second speed curve of the second speed function and the time axis.

[0071] Specifically, integrating the initial first speed function can obtain an initial displacement function. As can be seen from the function image (see Figure 2a or the v-t function curve in Figure 2b ), the displacement size is the area enclosed by the speed function curve and the time axis within the corresponding time range.

[0072] Further, the controller can construct a second speed function according to the initial first speed function, where the initial first speed function can be a cubic function, and the second speed function can be a linear function. Since the cubic function has symmetry, the symmetry can be used to simplify the calculation. That is, based on the initial first speed function (i.e., the cubic function), a second speed function of uniform acceleration / deceleration is constructed by using the area enclosed by the linear function and the time axis and the area enclosed by the cubic function and the time axis.

[0073] In an embodiment, the second speed function is a uniform acceleration / deceleration speed function, and the second speed function is a linear function.

[0074] The following embodiment description can prove that the area enclosed by the linear function and the time axis is equal to the area enclosed by the cubic function and the time axis.

[0075] In an example, referring to Figure 4a , the function curve 410 of the initial first speed function is a cubic function curve. The function curve 420 of the second speed function is a linear function curve, and the function curve 420 of the second speed function is a speed function curve of a uniform acceleration motion constructed. Wherein, the points A and C are the endpoints of the function on the interval, and the point B is the center of symmetry of the initial first speed function. Since the cubic function image has symmetry, when the domain of the cubic function is symmetric about the center of symmetry B point, and the linear function passes through the center of symmetry of the cubic function and the two interval endpoints A point and C point of the cubic function, it can be known that the area enclosed by the linear function and the cubic function in the AB interval and the BC interval is equal.

[0076] In another example, referring to Figure 4b , it can be proved from the parity of the cubic function. Figure 4bThe function curve 410 of the initial first speed function (i.e. the cubic function) is translated to the coordinate origin. Since the cubic function is an odd function, it is known that the areas enclosed by the cubic function and the x-axis in the domains [-3, 0] and [0, 3] are equal, i.e. the triangles ABC and DEC are congruent.

[0077] Exemplarily, it is assumed that the areas enclosed by the linear function and the cubic function in the intervals [-3, 0] and [0, 3] are S1 and S2 respectively, and the areas enclosed by the x-axis and the cubic function are S3 and S4 respectively, then:

[0078] S1 = S3 - S ΔABC (1)

[0079] S2 = S4 - S ΔDBC (2)

[0080] Further, the areas of the triangles ABC and DEC are equal, and further, the areas of S3 and S4 are equal, and finally, the areas of S1 and S2 are equal.

[0081] 320: Determine the total acceleration / deceleration time based on the second speed function, the initial speed, the final speed and the displacement.

[0082] Specifically, the total acceleration / deceleration time is determined based on the second speed function (i.e. the speed function of uniform acceleration / deceleration motion), and the initial speed, the final speed and the displacement.

[0083] For example, taking the acceleration motion with the initial speed of 0 as an example, based on the calculation formula of uniform acceleration motion, the total acceleration / deceleration time can be obtained as the following formula (3):

[0084]

[0085] where T max is the total acceleration / deceleration time, and at this time, the T max is the total acceleration time; s is the displacement; v t is the final speed.

[0086] 330: Substitute the total acceleration / deceleration time into the initial first speed function to determine the slope.

[0087] Specifically, the slope can be obtained by substituting the total acceleration / deceleration time into the initial first speed function, for example, the following formula (4). It should be noted that the constructed second speed function corresponds to uniform acceleration motion, i.e. the time t in the substituted initial first speed function formula is the total acceleration time T max .

[0088]

[0089] wherein k is a slope of the first function of the acceleration differential function; v t is the final velocity; T max is the total acceleration / deceleration time, at which time the T max is the total acceleration time.

[0090] It should be noted that the initial acceleration function, the initial first velocity function and the initial displacement function obtained by calculation can calculate the acceleration, velocity and displacement of the entire motion process of the motion mechanism. However, in the prior art, it is still difficult to avoid the need to solve a quartic equation set by simultaneous equations, and the calculation is also complex, and the calculation result has multiple solutions and needs to be selected, so the calculation process needs to be simplified.

[0091] It should also be noted that as long as the following two conditions are met, that is, for the acceleration function equation, as long as its function image is inverted "U" type, and a even function can be obtained after translation; and for the initial first velocity function equation, as long as its function image can be translated to obtain an odd function, the function equation can be constructed to simplify the operation.

[0092] Therefore, it can be seen that the embodiment of the application obtains the area surrounded by the cubic function and the time axis by calculating the area surrounded by the first function and the time axis, simplifying the motion calculation process. Meanwhile, the application provides a new simplified method of motion control, which does not need to solve the high-order polynomial by simultaneous equations, avoiding the problems of complex motion algorithm, multiple solutions of motion algorithm, long operation time, low real-time of motion control.

[0093] In an embodiment of the application, the intercept of the acceleration differential function is the product of the negative total acceleration / deceleration time, the slope of the first function and one-half.

[0094] Specifically, the acceleration differential function can be composed of the total acceleration / deceleration time, the slope and the time variable t.

[0095] For example, taking the acceleration motion with an initial velocity of 0 as an example, the acceleration differential function about time can be obtained by using the first function as follows:

[0096]

[0097] wherein j(t) is the acceleration differential function; k is the slope of the first function of the acceleration differential function; v max is the total acceleration / deceleration time, at which time the T max is the total acceleration time; t is each time.

[0098] As can be seen from the above formula (5), when t is T maxThe acceleration differential function is 0 at T / 2, and the initial acceleration function reaches an extreme value at T / 2, and the initial first speed function built subsequently is an odd function, such as a cubic function. max The acceleration differential function is 0 at T / 2, and the initial acceleration function reaches an extreme value at T / 2, and the initial first speed function built subsequently is an odd function, such as a cubic function.

[0099] Therefore, the embodiment of the application builds an odd function with symmetry on the function curve as the initial first speed function, meets the condition that the area surrounded by the linear function and the cubic function and the time axis is equal, and simplifies the subsequent calculation process.

[0100] Figure 5 is a flowchart of a method of motion control provided by another exemplary embodiment of the application. Figure 5 The embodiment is Figure 1 Examples of the embodiment will be described below, and the same parts will not be described again. Differences will be mainly described below. As shown in Figure 5 The method of motion control includes the following contents.

[0101] In an embodiment, the initial acceleration function is determined based on the pre-built acceleration differential function, including: integrating the acceleration differential function to obtain the initial acceleration function.

[0102] Specifically, in the case of acceleration motion with initial speed of 0, the initial acceleration function obtained by integrating the acceleration differential function (for example, formula (5) described above) can be formula (6) as follows.

[0103]

[0104] Wherein, a(t) is the initial acceleration function; k is the slope of the linear function of the acceleration differential function; T max is the total acceleration / deceleration time, and at this time, the T max is the total acceleration time; t is each time.

[0105] 510: integrating the initial acceleration function to determine the initial first speed function.

[0106] In an embodiment, the initial first speed function is a cubic function.

[0107] Specifically, the initial first speed function obtained by further integrating the initial acceleration function (for example, formula (6) described above) can be formula (7) as follows.

[0108]

[0109] Wherein, v(t) is the initial speed function; k is the slope of the linear function of the acceleration differential function; T max is the total acceleration / deceleration time, and at this time, the T max is the total acceleration time; t is each time.

[0110] 520: Integrate the initial first speed function to determine an initial displacement function.

[0111] In an embodiment, the initial displacement function is a quartic function.

[0112] Specifically, the initial displacement function obtained by further integrating the initial speed function (e.g., formula (7) above) can be formula (8) below.

[0113]

[0114] wherein f(t) is the initial displacement function; k is the slope of the first order function of the acceleration differential function; T is the total acceleration / deceleration time, and t is the time at each moment. max The total acceleration / deceleration time is T = T1 + T2, wherein T1 is the total acceleration time and T2 is the total deceleration time. max The total acceleration time is T1 = T1 + T2, wherein T1 is the total acceleration time and T2 is the total deceleration time.

[0115] It should be noted that the above formulas (6), (7) and (8) are calculated based on the acceleration motion with an initial speed of 0.

[0116] Therefore, the initial acceleration function, the initial first speed function and the initial displacement function are obtained through continuous integration operations, which lays a foundation for subsequent calculation of the acceleration, the speed and the displacement of the motion mechanism at each moment.

[0117] In an embodiment of the present application, based on the determined total acceleration / deceleration time and the slope, the final acceleration function, the final first speed function and the final displacement function are determined, including: substituting the total acceleration / deceleration time and the slope into the initial acceleration function, the initial first speed function and the initial displacement function to determine the final acceleration function, the final first speed function and the final displacement function.

[0118] Specifically, the set total acceleration / deceleration time and the slope are substituted into the initial acceleration function, the initial first speed function and the initial displacement function to determine the final acceleration function, the final first speed function and the final displacement function. The variables in the final acceleration function, the final first speed function and the final displacement function only include the time variable t.

[0119] Further, by setting t as each moment to be calculated, the acceleration, the speed and the displacement corresponding to each moment can be obtained.

[0120] Therefore, the acceleration, the speed and the displacement corresponding to each moment are calculated, so that the motion control process of the motion mechanism is more intuitive.

[0121] In an embodiment of the present application, the method further comprises: constructing an initial acceleration function, wherein the initial acceleration function is a trigonometric function determined by a product of a sine function and a maximum value influence coefficient, and the sine function is determined by the total acceleration / deceleration time.

[0122] Specifically, the initial acceleration function can be a trigonometric function, for example, the initial acceleration function is a sine function, or a cosine function, etc.

[0123] In an embodiment, the initial acceleration function is determined by a product of a sine function and a maximum value influence coefficient, as shown in the following formula (9).

[0124]

[0125] wherein m is the maximum value influence coefficient; T max is the total acceleration / deceleration time, and the T max is the total acceleration time; t is each time; and sin is the sine function.

[0126] It should be noted that, since the sine function curve has monotonicity in a local interval, for example, [0, π / 2] is monotonically increasing, and [π / 2, π] is monotonically decreasing. Therefore, the sine function constructed in the embodiment of the present application is set as π / T max , so that the sine function curve is in the shape of “U” or inverted “U” in the function interval (for example, in [0, π]), to meet the requirements of symmetry and monotonicity of the initial acceleration function constructed in the present application.

[0127] In an embodiment, the initial velocity function can be obtained by integrating the initial acceleration, as shown in the following formula (10).

[0128]

[0129] wherein m is the maximum value influence coefficient; T max is the total acceleration / deceleration time, and the T max is the total acceleration time; t is each time; and cos is the cosine function.

[0130] In an embodiment, the initial displacement function can be obtained by integrating the initial velocity function, as shown in the following formula (11).

[0131]

[0132] wherein m is the maximum value influence coefficient; T max is the total acceleration / deceleration time, and the T max is the total acceleration time; t is each time; and sin is the sine function.

[0133] In an embodiment of the present application, the final acceleration function, the final first speed function and the final displacement function are determined based on the preset initial speed, the final speed and the displacement, comprising: determining the total acceleration / deceleration time and the extreme value influence coefficient based on the preset initial speed, the final speed and the displacement; determining the final acceleration function, the final first speed function and the final displacement function based on the total acceleration / deceleration time and the extreme value influence coefficient.

[0134] Specifically, the controller of the motion mechanism can construct a third speed function according to the initial first speed function. A first area enclosed by the first speed curve of the initial first speed function and the time axis is equal to a third area enclosed by the third speed curve of the third speed function and the time axis. The third speed function is a uniform acceleration / deceleration speed function. It should be noted that the third speed function can also be a uniform acceleration / deceleration function as the second speed function, and the present embodiment does not make specific limitation to the third speed function.

[0135] The controller can determine the total acceleration / deceleration time based on the third speed function, the initial speed, the final speed and the displacement. The total acceleration / deceleration time is substituted into the initial first speed function to determine the extreme value influence coefficient. The determined total acceleration / deceleration time and the extreme value influence coefficient are substituted into the initial acceleration function, the initial first speed function and the initial displacement function to determine the final acceleration function, the final first speed function and the final displacement function.

[0136] It should be noted that the values of the extreme value influence coefficient and the total acceleration / deceleration time can be obtained Figure 6a corresponding to the three curves, i.e. a-t, v-t and s-t. And from Figure 6a It can be seen that the acceleration curve is smooth during the acceleration process, i.e. the impact during the motion process can be optimized. Similarly, the changes of the curves during the deceleration process can be obtained as Figure 6b shown, wherein the negative sign indicates that the acceleration and speed vectors are opposite to the positive direction.

[0137] Therefore, the present embodiment constructs the acceleration function as a trigonometric function, so that the speed function and the displacement function can be solved without high-order polynomial, and the problem of multiple solutions in the calculation result is avoided.

[0138] Figure 7 is a flowchart of a motion control method provided by another exemplary embodiment of the present application. Figure 7 The embodiment is Figure 1 Examples of the embodiment will not be described in detail here, and the differences will be described. As Figure 7 shown, the motion control method comprises the following contents.

[0139] 710: constructing a third speed function according to the initial first speed function.

[0140] In an embodiment, a first area enclosed by a first velocity curve of the initial first velocity function and a time axis is equal to a third area enclosed by a third velocity curve of a third velocity function and the time axis, and the third velocity function is a uniformly accelerated / decelerated velocity function.

[0141] Specifically, the initial first velocity function can be obtained by integrating the initial acceleration function. That is, when the initial acceleration function is a sine function, the initial first velocity function is a cosine function, for example, formula (10). The initial displacement function can be obtained by integrating the initial first velocity function, where the initial displacement function can be a sine function, for example, formula (11) described above. From Figure 6a and Figure 6b The function image of formula (10) (see the v-t function curve in formula (10)) can be seen that the displacement size is the area enclosed by the velocity function curve and the time axis within the corresponding time range. Figure 6a or Figure 6b The function image of formula (10) (see the v-t function curve in formula (10)) can be seen that the displacement size is the area enclosed by the velocity function curve and the time axis within the corresponding time range.

[0142] Further, the controller can construct a third velocity function according to the initial first velocity function, where the third velocity function can be a linear function. Since the v-t function curve has central symmetry, the central symmetry can be used to simplify the calculation. That is, based on the initial first velocity function, the area enclosed by the linear function and the time axis is equal to the area enclosed by the trigonometric function (i.e., the initial first velocity function in the embodiment) and the time axis, and the uniformly accelerated / decelerated velocity function is constructed as the third velocity function.

[0143] It should be noted that the third velocity function can be the same as the second velocity function, and the embodiment of the present application does not specifically limit the third velocity function.

[0144] It should be noted that the verification process of step 710 is basically the same as that of Figure 3 the embodiment, and details are described in the description of Figure 3 the embodiment.

[0145] 720: Determine the acceleration / deceleration total time based on the third velocity function, the initial velocity, the final velocity, and the displacement.

[0146] Specifically, based on the third velocity function (i.e., the velocity function of uniformly accelerated / decelerated motion), and the initial velocity, the final velocity, and the displacement, the acceleration / deceleration total time can be determined.

[0147] For example, taking the acceleration motion with the initial velocity of 0 as an example, based on the calculation formula of uniformly accelerated motion, the acceleration / deceleration total time can be obtained as formula (3) described above.

[0148] 730: Substitute the acceleration / deceleration total time into the initial first velocity function to determine the extreme value influence coefficient.

[0149] Specifically, the acceleration / deceleration total time is substituted into the initial first speed function (cosine function) to determine the maximum value influence coefficient.

[0150] In an embodiment, the maximum value influence coefficient is the product of the constant pi, one-half, the final speed, and the reciprocal of the acceleration / deceleration total time, such as the following formula (12).

[0151] Therefore, the embodiment of the application obtains the area surrounded by the trigonometric function and the time axis by calculating the area surrounded by the linear function and the time axis, simplifies the motion calculation process. At the same time, the technical solution applied in the embodiment of the application does not need to solve the simultaneous equations, avoids the problems of complex motion algorithm, long operation time, and low real-time motion control.

[0152] In an embodiment of the application, the maximum value influence coefficient is the product of the constant pi, one-half, the final speed, and the reciprocal of the acceleration / deceleration total time.

[0153] Specifically, taking the acceleration motion with the initial speed of 0 as an example, based on the calculation formula of the uniform acceleration motion, the acceleration / deceleration total time can be obtained as the above formula (3). Substituting the above formula (3) into the initial first speed formula, the maximum value influence coefficient can be obtained, such as the following formula (12). It should be noted that since it is an acceleration motion, the time t at this time is the acceleration total time T max .

[0154]

[0155] wherein m is the maximum value influence coefficient; v t is the final speed; T max is the acceleration / deceleration total time, and the T max at this time is the acceleration total time.

[0156] Therefore, the embodiment of the application obtains the maximum value influence coefficient by calculation, which lays a foundation for subsequent calculation of the acceleration, speed, and displacement of the motion mechanism.

[0157] In an embodiment of the application, based on the acceleration / deceleration total time and the maximum value influence coefficient, the final acceleration function, the final first speed function, and the final displacement function are determined, including: substituting the acceleration / deceleration total time and the maximum value influence coefficient into the initial acceleration function, the initial first speed function, and the initial displacement function to determine the final acceleration function, the final first speed function, and the final displacement function.

[0158] Specifically, the final acceleration function, the final first speed function and the final displacement function are different from the initial acceleration function, the initial first speed function and the initial displacement function in that the variable in the final acceleration function, the final first speed function and the final displacement function only includes the time variable t.

[0159] Further, t is set as each time point which needs to be calculated, and the acceleration, the speed and the displacement corresponding to each time point are obtained.

[0160] Therefore, the embodiment of the application makes the motion control process of the motion mechanism more intuitive by calculating the acceleration, the speed and the displacement corresponding to each time point.

[0161] Figure 8 is a structural schematic diagram of the motion control device 800 provided by an exemplary embodiment of the application. As shown in the figure, the motion control device 800 includes a first determination module 810, a second determination module 820 and a control module 830. Figure 8 The first determination module 810 is configured to determine an initial first speed function and an initial displacement function based on a pre-constructed initial acceleration function, the initial acceleration function is an even function, the initial acceleration function takes the maximum value at the midpoint of the interval of the function interval, the initial acceleration function has monotonicity in the range from the endpoint to the midpoint of the interval of the function interval, and the curve of the initial acceleration function is smooth and derivable.

[0162] The second determination module 820 is configured to determine a final acceleration function, a final first speed function and a final displacement function based on the preset initial speed, the final speed and the displacement.

[0163] The embodiment of the application provides a motion control device, by constructing the acceleration function as an even function, and setting the acceleration function to take the maximum value at the midpoint of the interval of the function interval, and the acceleration function has monotonicity in the range from the two endpoints (i.e. the left endpoint and the right endpoint) to the midpoint of the interval of the function interval, and the function curve is smooth and derivable, so that the impact generated in the motion process is optimized.

[0164] According to an embodiment of the application, the first determination module 810 is configured to determine an initial acceleration function based on a pre-constructed acceleration differential function, the acceleration differential function is a linear function, the intercept of the acceleration differential function is determined by the product of the total acceleration / deceleration time and the slope of the acceleration differential function, and the initial acceleration function is a quadratic function; the second determination module 820 is configured to determine the total acceleration / deceleration time and the slope based on the preset initial speed, the final speed and the displacement; and determine the final acceleration function, the final first speed function and the final displacement function based on the determined total acceleration / deceleration time and the slope.

[0165] According to an embodiment of the present application, the second determining module 820 is configured to construct a second speed function according to the initial first speed function, wherein a first area enclosed by a first speed curve of the initial first speed function and a time axis is equal to a second area enclosed by a second speed curve of the second speed function and the time axis; determine the total acceleration / deceleration time based on the second speed function, the initial speed, the final speed and the displacement; and determine the slope by substituting the total acceleration / deceleration time into the initial first speed function.

[0166] According to an embodiment of the present application, the second speed function is a uniform acceleration / deceleration speed function, and the second speed function is a linear function.

[0167] According to an embodiment of the present application, the intercept of the acceleration differential function is a product of the total acceleration / deceleration time, the slope of the linear function and one half.

[0168] According to an embodiment of the present application, the first determining module 810 is configured to integrate the acceleration differential function to determine an initial acceleration function; integrate the initial acceleration function to determine an initial first speed function, wherein the initial first speed function is a cubic function; and integrate the initial first speed function to determine an initial displacement function, wherein the initial displacement function is a quartic function.

[0169] According to an embodiment of the present application, the third determining module 830 is configured to substitute the total acceleration / deceleration time and the slope into the initial acceleration function, the initial first speed function and the initial displacement function to determine the final acceleration function, the final first speed function and the final displacement function.

[0170] According to an embodiment of the present application, the first determining module 810 is configured to construct the initial acceleration function, wherein the initial acceleration function is a trigonometric function determined by a product of a sine function and a maximum value influence coefficient, and the sine function is determined by the total acceleration / deceleration time; and the second determining module 820 is configured to determine the total acceleration / deceleration time and the maximum value influence coefficient based on the preset initial speed, the final speed and the displacement; and determine the final acceleration function, the final first speed function and the final displacement function based on the total acceleration / deceleration time and the maximum value influence coefficient.

[0171] According to an embodiment of the present application, the second determining module 820 is configured to construct a third speed function according to the initial first speed function, wherein a first area enclosed by a first speed curve of the initial first speed function and a time axis is equal to a third area enclosed by a third speed curve of the third speed function and the time axis, and the third speed function is a uniform acceleration / deceleration speed function; determine the total acceleration / deceleration time based on the third speed function, the initial speed, the final speed and the displacement; and determine the maximum value influence coefficient by substituting the total acceleration / deceleration time into the initial first speed function.

[0172] According to an embodiment of the present application, the maximum influence coefficient is the product of the circumference ratio, one-half, the final velocity, and the reciprocal of the total acceleration / deceleration time.

[0173] According to an embodiment of the present application, the second determining module 820 is configured to substitute the total acceleration / deceleration time and the maximum influence coefficient into the initial acceleration function, the initial first velocity function, and the initial displacement function to determine the final acceleration function, the final first velocity function, and the final displacement function.

[0174] It should be understood that the specific working process and functions of the first determining module 810, the second determining module 820, and the control module 830 in the above embodiments can refer to the description of the motion control method provided by the above Figures 1 to 7 embodiments. For the sake of brevity, they will not be repeated here.

[0175] Figure 9 is a structural schematic diagram of a motion mechanism control system 900 provided by an exemplary embodiment of the present application.

[0176] Referring to Figure 9 , the electronic device 900 includes a processing component 910, which further includes one or more processors, and a memory resource represented by a memory 920, for storing instructions executable by the processing component 910, such as an application program. The application program stored in the memory 920 can include one or more than one module each corresponding to a set of instructions. In addition, the processing component 910 is configured to execute the instructions to perform the motion control method described above.

[0177] The electronic device 900 can also include a power supply component configured to perform power management of the electronic device 900, a wired or wireless network interface configured to connect the electronic device 900 to a network, and an input / output (I / O) interface. The electronic device 900 can be operated based on an operating system stored in the memory 920, such as Windows Server TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or the like.

[0178] Figure 10 is a structural schematic diagram of a motion mechanism 1000 provided by an exemplary embodiment of the present application. As Figure 10 shown, the motion mechanism 1000 includes a motion mechanism control system 1010. The specific working process and functions of the motion mechanism control system 1010 can refer to the description of the motion mechanism control system provided by the above Figure 9 embodiments. For the sake of brevity, they will not be repeated here.

[0179] A non-transitory computer readable storage medium, when instructions in the storage medium are executed by a processor of the electronic device 900, enables the electronic device 900 to perform a method of motion control, comprising: determining an initial first speed function and an initial displacement function based on a pre-constructed initial acceleration function, the initial acceleration function being an even function, taking a maximum value at a midpoint of an interval of a function interval, the initial acceleration function having monotonicity in a range from an endpoint of the function interval to the midpoint of the interval, and the curve of the initial acceleration function being smooth and derivable; determining a final acceleration function, a final first speed function and a final displacement function based on a preset initial speed, a final speed and a displacement; and controlling the motion of the motion mechanism according to the final acceleration function, the final first speed function and the final displacement function.

[0180] All the optional technical solutions described above can be combined to form optional embodiments of the present application, which will not be described one by one here.

[0181] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0182] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0183] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0184] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0185] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0186] The functions, if realized in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part of the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0187] It should be noted that in the description of the present application, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0188] The above is only the preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of motion control applied to a motion mechanism, characterized by, The method comprises the steps of: determining an initial first speed function and an initial displacement function based on a pre-constructed initial acceleration function, the initial acceleration function being an even function, the initial acceleration function taking a maximum value at a midpoint of a function interval, the initial acceleration function having monotonicity in a range from an endpoint of the function interval to the midpoint of the function interval, and the curve of the initial acceleration function being smooth and derivable; determining a final acceleration function, a final first speed function and a final displacement function based on preset initial speed, final speed and displacement; controlling movement of the movement mechanism according to the final acceleration function, the final first speed function and the final displacement function; wherein the step of determining the final acceleration function, the final first speed function and the final displacement function based on the preset initial speed, final speed and displacement comprises: when the initial acceleration function is a quadratic function, determining the initial acceleration function based on a pre-constructed acceleration differential function, wherein the acceleration differential function is a linear function, and the intercept of the acceleration differential function is determined by the product of the total acceleration / deceleration time and the slope of the acceleration differential function; determining the total acceleration / deceleration time and the slope based on the preset initial speed, final speed and displacement; determining the final acceleration function, the final first speed function and the final displacement function based on the determined total acceleration / deceleration time and the slope.

2. The method of motion control of claim 1, wherein, The step of determining the total acceleration / deceleration time and the slope based on the preset initial speed, final speed and displacement comprises: constructing a second speed function according to the initial first speed function, wherein a first area enclosed by the first speed curve of the initial first speed function and a time axis is equal to a second area enclosed by a second speed curve of the second speed function and the time axis; determining the total acceleration / deceleration time based on the second speed function, the initial speed, the final speed and the displacement; determining the slope by substituting the total acceleration / deceleration time into the initial first speed function.

3. The method of motion control of claim 2, wherein, The second speed function is a uniformly accelerated / decelerated speed function, and the second speed function is a linear function.

4. The method of motion control of claim 1, wherein, The intercept of the acceleration differential function is the product of the negative total acceleration / deceleration time, the slope of the linear function and one-half.

5. The method of motion control of claim 1, wherein, The step of determining the initial acceleration function based on the pre-constructed acceleration differential function comprises: integrating the acceleration differential function to determine the initial acceleration function, wherein the step of determining the initial first speed function and the initial displacement function based on the pre-constructed initial acceleration function comprises: integrating the initial acceleration function to determine the initial first speed function, wherein the initial first speed function is a cubic function; integrating the initial first speed function to determine the initial displacement function, wherein the initial displacement function is a quartic function.

6. The method of motion control of claim 1, wherein, The step of determining the final acceleration function, the final first speed function and the final displacement function based on the determined total acceleration / deceleration time and the slope comprises: substituting the total acceleration / deceleration time and the slope into the initial acceleration function, the initial first velocity function and the initial displacement function to determine the final acceleration function, the final first velocity function and the final displacement function.

7. The method of motion control of claim 1, wherein, The method further comprises: when the initial acceleration function is a sine function, constructing the initial acceleration function determined by the product of a sine function and a maximum value influence coefficient, wherein the sine function is determined by the total acceleration / deceleration time, wherein, the final acceleration function, the final first velocity function and the final displacement function are determined based on the preset initial velocity, the final velocity and the displacement, comprising: determining the total acceleration / deceleration time and the maximum value influence coefficient based on the preset initial velocity, the final velocity and the displacement; determining the final acceleration function, the final first velocity function and the final displacement function based on the total acceleration / deceleration time and the maximum value influence coefficient.

8. The method of motion control of claim 7, wherein, The determination of the total acceleration / deceleration time and the maximum value influence coefficient based on the preset initial velocity, the final velocity and the displacement comprises: constructing a third velocity function according to the initial first velocity function, wherein a first area enclosed by a first velocity curve of the initial first velocity function and a time axis is equal to a third area enclosed by a third velocity curve of the third velocity function and the time axis, and the third velocity function is a uniform acceleration / deceleration velocity function; determining the total acceleration / deceleration time based on the third velocity function, the initial velocity, the final velocity and the displacement; substituting the total acceleration / deceleration time into the initial first velocity function to determine the maximum value influence coefficient.

9. The method of motion control of claim 8, wherein, The maximum value influence coefficient is the product of the circular constant, one-half, the final velocity and the reciprocal of the total acceleration / deceleration time.

10. The method of motion control of claim 8, wherein, The determination of the final acceleration function, the final first velocity function and the final displacement function based on the total acceleration / deceleration time and the maximum value influence coefficient comprises: substituting the total acceleration / deceleration time and the maximum value influence coefficient into the initial acceleration function, the initial first velocity function and the initial displacement function to determine the final acceleration function, the final first velocity function and the final displacement function.

11. A motion control apparatus, characterized by comprising: comprising: a first determination module configured to determine an initial first velocity function and an initial displacement function based on a pre-constructed initial acceleration function, the initial acceleration function being an even function, taking a maximum value at a midpoint of a function interval, the initial acceleration function having monotonicity in a range from an endpoint of the function interval to the midpoint, and the curve of the initial acceleration function being smooth and derivable; a second determination module configured to determine a final acceleration function, a final first velocity function and a final displacement function based on a preset initial velocity, a final velocity and a displacement; a control module configured to control the movement of a movement mechanism according to the final acceleration function, the final first velocity function and the final displacement function. The second determining module is further configured to, when the initial acceleration function is a quadratic function, determine the initial acceleration function based on a pre-constructed acceleration differential function, wherein the acceleration differential function is a linear function, an intercept of the acceleration differential function is determined by a product of a total acceleration / deceleration time and a slope of the acceleration differential function, determine the total acceleration / deceleration time and the slope based on the preset initial speed, the final speed and the displacement, and determine the final acceleration function, the final first speed function and the final displacement function based on the determined total acceleration / deceleration time and the slope.

12. A motion mechanism control system characterized by comprising: Comprise: a processor; a memory for storing instructions executable by the processor, wherein the processor is configured to perform the motion control method of any one of claims 1-10.

13. A motion mechanism characterized by comprising: A motion mechanism control system as claimed in claim 12.

14. A computer readable storage medium, the storage medium storing a computer program, the computer program being configured to perform the motion control method of any one of claims 1-10.

Images