Point motion realization method and system

Abstract

The present disclosure provides a method and system for realizing point motion, the method comprising: when the axis system parameters change, judging whether the current motion state meets the dynamic interpolation conditions; obtaining the basic parameters required for S-type speed planning; calculating the time T spent in each motion stage under the condition of minimum time consumption; i , displacement S i , initial acceleration a i and the terminal velocity V of each stage i ; Dynamic S-shaped speed interpolation is performed based on the pulses output by each interpolation cycle iteratively calculated in the discrete domain. The present invention improves the response speed and response quality of parameter modification, and realizes smooth processing of the dynamic change process of parameters; realizes staged interpolation, reduces the peak acceleration, and makes the operation of the axis system more stable; the derivation calculation process is simple, and the calculation is performed step by step in an iterative manner, avoiding the complex and tedious calculation process in the existing S-shaped speed planning, improving the calculation accuracy while reducing the calculation time, better meeting the processing requirements, and being suitable for high-speed and high-precision processing scenarios.

Description

Technical Field

[0001] The present disclosure relates to the technical field of numerical control machining, and in particular to a method and system for realizing point motion. Background Art

[0002] In the traditional NC axis movement process, point movement often occurs, the driven axis follows the active axis movement, the target position movement changes dynamically, and the speed movement changes dynamically. However, the NC axis in the traditional CNC equipment cannot achieve high-speed response of parameter modification, resulting in the inability to realize subsequent functions based on the NC axis, affecting production efficiency and production quality. Summary of the invention

[0003] In view of the above problems, the present disclosure proposes a method and system for realizing point motion.

[0004] In order to solve at least one of the above technical problems, the present disclosure proposes the following technical solutions:

[0005] In a first aspect, a method for realizing point motion is provided, the method comprising the following steps:

[0006] Step 1: When the axis system parameters change, if the current motion state meets the dynamic interpolation conditions, execute steps 2 to 4;

[0007] Step 2: Obtain the basic parameters required for S-shaped speed planning, including the starting speed V s , terminal velocity V e , maximum speed V max , maximum acceleration A max , acceleration J and total displacement S;

[0008] Step 3: Calculate the time T spent in each movement stage with the minimum time consumption i , displacement S i , initial acceleration a i and the terminal velocity V of each stage i , where i=1, 2, 3, 4, 5, 6, 7, and ∑S i =S;

[0009] Step 4: Perform dynamic S-shaped velocity interpolation based on the pulses output in each interpolation cycle calculated iteratively in the discrete domain.

[0010] In a second aspect, a point motion realization system is provided, which is used to execute any of the above-mentioned point motion realization methods, and the system includes:

[0011] The dynamic interpolation condition judgment module is used to judge whether the current motion state meets the dynamic interpolation conditions when the axis system parameters change;

[0012] Data acquisition module, used to obtain the basic parameters required for S-type speed planning, including the starting speed V s , terminal velocity V e , maximum speed V max , maximum acceleration A max , acceleration J and total displacement S;

[0013] The S-type speed planning module is used to calculate the time T spent in each movement stage with the minimum time consumption. i , displacement S i , initial acceleration a i and the terminal velocity V of each stage i , where i=1, 2, 3, 4, 5, 6, 7, and ∑S i =S;

[0014] The S-type speed interpolation module is used to perform dynamic S-type speed interpolation based on the pulses output in each interpolation cycle iteratively calculated in the discrete domain.

[0015] The beneficial effects of the present invention are as follows: different parameter modification responses are adjusted according to different motion states, the response speed and response quality of parameter modification are improved, and smooth processing of the dynamic change process of parameters is achieved; by dividing the motion stage into seven stages, staged interpolation is achieved, the peak acceleration is reduced, and the operation of the axis system is more stable; the derivation calculation process is simple, and the calculation is performed step by step in an iterative manner, avoiding the complex and tedious calculation process in the existing S-type speed planning, improving the calculation accuracy while reducing the calculation time, better meeting the processing requirements, and being suitable for high-speed and high-precision processing scenarios.

[0016] In addition, in the technical solution disclosed in the present invention, unless otherwise specified, the technical solution can be implemented by adopting conventional means in the art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A flowchart of a method for implementing point motion provided by one embodiment of the present disclosure.

[0019] Figure 2 A schematic diagram of a point motion implementation system provided by one embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are part of the embodiments of the present disclosure, rather than all of the embodiments, and are only used to explain the present disclosure, and are not used to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0021] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, products or devices.

[0022] Embodiment 1:

[0023] Reference Manual Attached Figure 1 , shows a method for implementing point motion provided by an embodiment of the present application, which may include the following steps:

[0024] Step 1: When the axis system parameters change, if the current motion state meets the dynamic interpolation conditions, execute steps 2 to 4;

[0025] Step 2: Obtain the basic parameters required for S-shaped speed planning, including the starting speed V s , terminal velocity V e , maximum speed V max , maximum acceleration A max , acceleration J and total displacement S;

[0026] Step 3: Calculate the time T spent in each movement stage with the minimum time consumption i , displacement S i , initial acceleration a i and the terminal velocity V of each stage i , where i=1, 2, 3, 4, 5, 6, 7, and ∑S i =S;

[0027] Step 4: Perform dynamic S-shaped velocity interpolation based on the pulses output at each motion stage calculated iteratively in the discrete domain.

[0028] In an optional embodiment, the time T spent in each movement stage is calculated with the minimum time consumption. i , displacement S i , initial acceleration a i , where i=1, 2, 3, 4, 5, 6, 7, and ∑Si =S, including the following steps:

[0029] The S-type speed planning is divided into seven motion stages, denoted as Stage i , i=1, 2, 3, 4, 5, 6, 7, Stage1 to Stage7 correspond to the acceleration stage, uniform acceleration stage, deceleration stage, uniform speed stage, acceleration and deceleration stage, uniform deceleration stage and deceleration and deceleration stage respectively;

[0030] Obtain the calculation formula in the time domain in each movement stage;

[0031] According to the calculation formula in the time domain, calculate the acceleration stage displacement S 123 , the time spent in the acceleration phase is T1, the time spent in the uniform acceleration phase is T2, and the time spent in the deceleration phase is T3, where S 123 =S1+S2+S3, the displacement in the acceleration phase is S1, the displacement in the uniform acceleration phase is S2, and the displacement in the deceleration phase is S3;

[0032] According to the calculation formula in the time domain, calculate the displacement S in the deceleration stage 567 , the time spent in the acceleration and deceleration stage T5, the time spent in the uniform deceleration stage T6, and the time spent in the deceleration stage T7, where S 567 =S5+S6+S7, the displacement in the acceleration stage is S5, the displacement in the uniform acceleration stage is S6, and the displacement in the deceleration stage is S7;

[0033] Calculate the displacement S4 in the uniform speed stage, S4=SS 123 -S 567 .

[0034] In an optional embodiment, the calculation formula in the continuous time domain in each movement stage includes:

[0035] In the acceleration phase, deceleration phase, acceleration / deceleration phase, and deceleration / deceleration phase, the calculation formula is as follows:

[0036]

[0037]

[0038]

[0039] In the uniform acceleration and deceleration phases, J = 0 and A = A max , the calculation formula is as follows:

[0040]

[0041]

[0042] In the uniform velocity phase, J=0, A=0 and V=V max , the calculation formula is as follows:

[0043]

[0044] In the above formulas 1_1 to 1_6, Jmax represents the maximum acceleration, t represents the time, A0, V0 and S0 represent the acceleration, velocity and position of the initial state respectively. s Indicates the same quantity.

[0045] In an optional embodiment, the acceleration phase displacement S is calculated 123 , the time spent in the acceleration stage T1, the time spent in the uniform acceleration stage T2, and the time spent in the deceleration stage T3, including the following steps:

[0046] Let the terminal velocity of stage3 be V try_max , δ v =V try_max -V s ;

[0047] Then T1=A / J, T2=δ v / A-T1;

[0048] Determine whether T2 is greater than 0. If T2 is greater than 0, there is a uniform acceleration stage, S2≠0. If T2 is not greater than 0, there is no uniform acceleration stage, S2=0;

[0049] When S2=0, T2=0, according to formula 1_3:

[0050]

[0051]

[0052] In formula 2_2, V1 represents the terminal velocity of Stage1. If Stage2 currently exists, then V1 is also equal to the starting velocity of Stage2. Since there is no Stage2 at this time, V1 is also equal to the starting velocity of Stage3. a1 represents the starting acceleration of Stage3. The starting acceleration of Stage1 is 0, and the terminal acceleration of Stage3 is 0. From the perspective of acceleration, Stage3 is regarded as the reverse process of Stage1. According to formulas 1_1 and 1_2, we get:

[0053]

[0054]

[0055]

[0056]

[0057] Substituting formula 2_6 into formula 2_2, we get:

[0058]

[0059] Thus we get S 123 The calculation formula is as follows:

[0060]

[0061] Substituting formula 2_5 into formula 2_6 yields:

[0062]

[0063] After deformation, the expression of T1 is:

[0064]

[0065] Combining Formula 2_9 and Formula 2_10 gives:

[0066]

[0067] Since S2=0 at this time, T1=T3, the acceleration stage displacement S is calculated 123 , the time spent in the acceleration phase is T1, the time spent in the uniform acceleration phase is T2, and the time spent in the deceleration phase is T3;

[0068] When S2≠0, T2≠0, T1=A / J, T2=δ v / A-T1, get S 13 The calculation formula is as follows:

[0069]

[0070] Assume that V1 represents the terminal velocity of Stage 1 and V2 represents the starting velocity of Stage 3, and the formula is as follows:

[0071]

[0072]

[0073]

[0074] According to formula 1_5, we get the following formula:

[0075]

[0076] Substituting formula 2_13 into 2_14, we get the following formula:

[0077]

[0078] Combining formula 2_12 and 2_14, we get the following formula:

[0079]

[0080] Thus, the acceleration stage displacement S is calculated 123 , the time spent in the acceleration stage is T1, the time spent in the uniform acceleration stage is T2, and the time spent in the deceleration stage is T3.

[0081] Calculate the displacement S during the deceleration phase 567 The method is the same as above and will not be repeated here.

[0082] In an optional embodiment, the terminal velocity of stage 3 is V try_max The calculation method includes the following steps:

[0083] The construction function is as follows:

[0084]

[0085] Let V try_max =V max , S remain1 =SS 123 -S 567 , if S remain1 > 0, it means there is a uniform speed stage. If S remain1 ≤0 means that there is no uniform speed stage;

[0086] If there is a uniform speed stage, then S4=S remain1 , V try_max =V max ;

[0087] If there is no uniform speed stage, let V try_max =V0, where V0 represents the starting speed of Stage 1. At this time, S remain2 =SS 123 -S 567 ;

[0088] Let V now =V0,V last =V max , S now =S remain2 , S last =S remain2 ;

[0089] Let δ v1 =V now -V last , δ s =Snow -S last , judge δ v1 Is it greater than the minimum speed difference or δ s Is it greater than the minimum position difference?

[0090] When δ v1 Greater than the minimum speed difference and δ s When it is greater than the minimum position difference, construct the iterative formula V next =V now -S now ×δ v1 ÷δ s ;

[0091] Let V try_max =V next , at this time S remain3 =SS 123 -S 567 ;

[0092] Let V now =V last , S now =S last , V now =V next , S now =S remain3 , recalculate δ v1 =V now -V last , δ s =S now -S last , and judge δ v1 Is it greater than the minimum speed difference or δ s Is it greater than the minimum position difference until δ v1 Less than or equal to the minimum speed difference or δ s Less than or equal to the minimum position difference;

[0093] When δ v1 Less than or equal to the minimum speed difference or δ s When it is less than or equal to the minimum position difference, V try_max =V now , determine the S at this time remain Is it greater than 0? If S remain Greater than 0, then S4=S remain , if S remain Not greater than 0, then S4=0.

[0094] Among them, the minimum speed difference and the minimum position difference are preset minimum error values.

[0095] In an optional embodiment, the dynamic S-shaped velocity interpolation is performed according to the pulse outputted in each interpolation period iteratively calculated in the discrete domain, specifically including:

[0096] Calculate the displacement S in the acceleration phase, deceleration phase, acceleration and deceleration phase, and deceleration phase i , the terminal velocity V of each stage i , acceleration A i and the calculation formula of the acceleration J in the discrete domain, and derive an iterative formula based on the calculation formula in the discrete domain, and calculate the output of each interpolation cycle based on the iterative formula;

[0097] Calculate the displacement S during the uniform acceleration and deceleration phases i , the terminal velocity V of each stage i and acceleration A i A calculation formula in the discrete domain, and an iterative formula is derived based on the calculation formula in the discrete domain, and the output of each interpolation cycle is calculated based on the iterative formula;

[0098] Calculate the displacement Si in the uniform speed segment and the terminal velocity Vi in each stage in the discrete domain, and calculate the output of each interpolation cycle based on the calculation formula.

[0099] Specifically, the calculation formulas for the displacement Si, the terminal speed Vi, the acceleration Ai and the jerk J in the acceleration stage, the deceleration stage, the acceleration and deceleration stage, and the deceleration and deceleration stage in the discrete domain are obtained according to the calculation formulas 1_1, 1_2 and 1_3 in the continuous time domain. The specific formulas are as follows:

[0100]

[0101]

[0102]

[0103]

[0104]

[0105]

[0106]

[0107]

[0108]

[0109]

[0110]

[0111]

[0112]

[0113]

[0114]

[0115]

[0116] ;

[0117] The iterative formula derived from the calculation formula in the above discrete domain is as follows:

[0118]

[0119]

[0120]

[0121]

[0122]

[0123]

[0124]

[0125]

[0126]

[0127]

[0128]

[0129] ;

[0130] In the above iterative formula, V(x) represents the speed corresponding to each interpolation cycle in the discrete domain, and V(x)*1 interpolation cycle represents the displacement increment to be output in each interpolation cycle, that is, the pulse output in each interpolation cycle. In an optional embodiment, the interpolation cycle can be set to 1 millisecond.

[0131] Specifically, the displacement S in the uniform acceleration stage and the uniform deceleration stage is obtained according to the calculation formula 1_4 and formula 1_5 in the continuous time domain: i , the terminal velocity V of each stage i and acceleration A i The calculation formula in the discrete domain is as follows:

[0132]

[0133]

[0134]

[0135]

[0136]

[0137]

[0138]

[0139]

[0140] ;

[0141] The iterative formula derived from the calculation formula in the above discrete domain is as follows:

[0142]

[0143]

[0144]

[0145]

[0146]

[0147] ;

[0148] In the above iterative formula, V(x) represents the speed corresponding to each interpolation cycle in the discrete domain, and V(x)*1 interpolation cycle represents the displacement increment to be output in each interpolation cycle, that is, the pulse output in each interpolation cycle. In an optional embodiment, the interpolation cycle can be set to 1 millisecond.

[0149] Specifically, the displacement Si in the uniform speed segment and the terminal velocity V in each stage are obtained according to the calculation formula 1_6 in the continuous time domain: i The calculation formula in the discrete domain is as follows:

[0150]

[0151]

[0152]

[0153]

[0154] .

[0155] In the above calculation formula, V(x)=V max Indicates that the speed corresponding to each interpolation cycle in the discrete domain is V max , V max *1 interpolation cycle represents the displacement increment that needs to be output in each interpolation cycle, that is, the pulse output in each interpolation cycle. In an optional embodiment, the interpolation cycle can be set to 1 millisecond.

[0156] In an optional embodiment, when the axis system parameters change, judging whether the current motion state satisfies the dynamic interpolation condition includes the following steps:

[0157] Get the motion state of the current axis system, the current time is recorded as t, the velocity is recorded as v, the acceleration is recorded as a, and the jerk is recorded as j;

[0158] Determine whether the current acceleration a is zero,

[0159] If the current acceleration a is zero, the uniform speed segment or zero speed segment parameter modification response process is performed;

[0160] If the current acceleration a is not zero, the acceleration or deceleration parameter modification response process is executed.

[0161] In an optional embodiment, the uniform speed segment or zero speed segment parameter modification response process includes the following steps:

[0162] If the current acceleration a is 0 and the velocity v is also 0, then it is judged that the current motion state meets the dynamic interpolation conditions;

[0163] If the current acceleration a is 0 and the velocity v is not 0, then let V try_max =v,V e =V max , calculate S 567 ;

[0164] Determine the total displacement S and S 567 If S is smaller than S 567 , indicating that the current parameter modification request is invalid and no parameter modification is required;

[0165] If S is not less than S 567 , then determine whether v is greater than V max , if v is not greater than V max , then it is judged that the current motion state meets the dynamic interpolation conditions;

[0166] If v is greater than V max , let V try_max =v,V e =V max , calculate the first deceleration distance S1567 ,

[0167] Let V try_max =V max , V e =0, calculate the second deceleration distance S2 567 ,

[0168] Determine whether S is less than S1 567 With S2 567 If S is less than S1 567 With S2 567 The axis system moves at a uniform speed v, and the moving distance is SS 567 , then execute the acceleration and deceleration stage, the uniform deceleration stage and the deceleration stage to reduce the speed from v to 0, and complete the parameter modification;

[0169] If S is not less than S1 567 With S2 567 The axis system performs the acceleration and deceleration phase, the uniform deceleration phase and the deceleration phase in the current uniform speed segment, so that the speed drops from v to V. max , with a speed of V max Perform uniform motion, then perform acceleration and deceleration phases, uniform deceleration phases, and deceleration phases to increase the speed from V max Reduce to 0 and complete the parameter modification.

[0170] In an optional embodiment, the acceleration or deceleration parameter modification response process includes the following steps:

[0171] Set up a virtual motion stage x , Movement Stage x The starting acceleration is 0 and the starting velocity is V s , the starting acceleration is 0, the terminal speed is v, the terminal acceleration is a, the terminal acceleration is j, and the motion stage is Stage x The cumulative displacement is S x , assuming the movement stage Stage x is the starting time of the axis system, and the total displacement of the axis system is S'=S+S x ;

[0172] According to the above set data, calculate the time T spent in each exercise stage i , displacement S i , initial acceleration a i and the terminal velocity V of each stage i , obtain a new S-shaped speed planning curve;

[0173] Determine whether the new S-shaped speed planning curve can reach the state at the current time t, that is, the speed v of a point on the S-shaped speed planning curve new =v, acceleration anew = a, acceleration j new =j,

[0174] If the new S-shaped speed planning curve can reach the state at the current time t, it is determined that the S-shaped speed planning curve after the parameter modification can cover the original speed planning. At this time, the S-shaped speed planning curve after the parameter modification is output, and the parameter modification is completed;

[0175] If the new S-shaped speed planning curve cannot reach the state at the current time t, a virtual motion stage Stage is reset. x , Movement Stage x The starting acceleration is a, the starting speed is v, the starting jerk is j, and the terminal speed is v x , the terminal acceleration is a x =0, the end point acceleration is j x =0, movement stage x The cumulative displacement is S x ;

[0176] Let V try_max =v x , V e = 0, calculate S 567 ;

[0177] Determine the total displacement S' and S 567 With S x The relationship between the sum of the magnitudes and v x and V max The size relationship of

[0178] If the total displacement S' is less than S 567 With S x The sum or v x Not greater than V max , the parameter modification fails and the original speed planning curve is continued to be output;

[0179] If the total displacement S' is not less than S 567 With S x The sum of v x Less than V max , then the parameter modification is successful, according to the virtual motion stage Stage x Output;

[0180] In the virtual sports stage x After the output is completed, the end point acceleration a x =0, end point acceleration j x =0, the axis system enters the uniform speed section or zero speed section, and executes the uniform speed section or zero speed section parameter modification response process.

[0181] The beneficial effects of the present invention are as follows: different parameter modification responses are adjusted according to different motion states, the response speed and response quality of parameter modification are improved, and smooth processing of the dynamic change process of parameters is achieved; by dividing the motion stage into seven stages, staged interpolation is achieved, the peak acceleration is reduced, and the operation of the axis system is more stable; the S-type speed planning effectively controls the acceleration of the axis system, so that the acceleration of the axis system changes continuously and linearly, the impact of the axis system is reduced, and the life of the machine is extended; the derivation calculation process is simple, and the calculation is performed step by step in an iterative manner, avoiding the complex and tedious calculation process in the existing S-type speed planning, improving the calculation accuracy while reducing the calculation time, better meeting the processing requirements, and being suitable for high-speed and high-precision processing scenarios.

[0182] Embodiment 2:

[0183] Reference Manual Attached Figure 2 , shows a point motion realization system provided by an embodiment of the present application, which is used to execute any of the above-mentioned point motion realization methods, including:

[0184] The dynamic interpolation condition judgment module is used to judge whether the current motion state meets the dynamic interpolation conditions when the axis system parameters change;

[0185] Data acquisition module, used to obtain the basic parameters required for S-type speed planning, including the starting speed V s , terminal velocity V e , maximum speed V max , maximum acceleration A max , acceleration J and total displacement S;

[0186] The S-type speed planning module is used to calculate the time T spent in each movement stage with the minimum time consumption. i , displacement S i , initial acceleration a i and the terminal velocity V of each stage i , where i=1, 2, 3, 4, 5, 6, 7, and ∑S i =S;

[0187] The S-type speed interpolation module is used to perform dynamic S-type speed interpolation based on the pulses output in each interpolation cycle iteratively calculated in the discrete domain.

[0188] The beneficial effects of the present invention are as follows: different parameter modification responses are adjusted according to different motion states, the response speed and response quality of parameter modification are improved, and smooth processing of the dynamic change process of parameters is achieved; by dividing the motion stage into seven stages, staged interpolation is achieved, the peak acceleration is reduced, and the operation of the axis system is more stable; the S-type speed planning effectively controls the acceleration of the axis system, so that the acceleration of the axis system changes continuously and linearly, the impact of the axis system is reduced, and the life of the machine is extended; the derivation calculation process is simple, and the calculation is performed step by step in an iterative manner, avoiding the complex and tedious calculation process in the existing S-type speed planning, improving the calculation accuracy while reducing the calculation time, better meeting the processing requirements, and being suitable for high-speed and high-precision processing scenarios.

[0189] The system provided in the above embodiment, when realizing its functions, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0190] The embodiments described above are merely illustrative, wherein the units or modules described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0191] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, or of course by hardware. Based on this understanding, the above technical solution, in essence or in other words, the part that contributes to the prior art, can be expressed in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for a computer device (which may be a personal computer, a server or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0192] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not make the corresponding technical solutions essentially deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for realizing point motion, characterized in that: The following steps are involved: Step 1: When the axis system parameters change, if the current motion state meets the dynamic interpolation conditions, execute steps 2 to 4; Step 2: Obtain the basic parameters required for S-shaped speed planning, including the starting speed V s , terminal velocity V e , maximum speed V max , maximum acceleration A max , acceleration J and total displacement S; Step 3: Calculate the time T spent in each movement stage with the minimum time consumption i , displacement S i , initial acceleration a i and the terminal velocity V of each stage i , where i=1, 2, 3, 4, 5, 6, 7, and ∑S i =S, the S-type speed planning is divided into seven motion stages, denoted as Stage i , i=1, 2, 3, 4, 5, 6, 7, Stage1 to Stage7 correspond to the acceleration stage, uniform acceleration stage, deceleration stage, uniform speed stage, acceleration and deceleration stage, uniform deceleration stage and deceleration and deceleration stage respectively; Step 4: Perform dynamic S-shaped speed interpolation based on the pulses output in each interpolation cycle iteratively calculated in the discrete domain; In step 3, the acceleration phase displacement S is calculated 123 , the time spent in the acceleration stage T1, the time spent in the uniform acceleration stage T2, and the time spent in the deceleration stage T3, including the following steps: Let the terminal velocity of stage3 be V try_max , δ v =V try_max -V s ; Rule T1=A / J, T2=δ v / A-T1; Determine whether T2 is greater than 0. If T2 is greater than 0, there is a uniform acceleration stage, S2≠0. If T2 is not greater than 0, there is no uniform acceleration stage, S2=0; When S2=0, T2=0, the formula is: In formula 2_2, V1 represents the terminal velocity of Stage1. Since there is no Stage2 at this time, V1 is also equal to the starting velocity of Stage3. a1 represents the starting acceleration of Stage3. The starting acceleration of Stage1 is 0, and the terminal acceleration of Stage3 is 0. From the perspective of acceleration, Stage3 is regarded as the reverse process of Stage1, and we get: Substituting formula 2_6 into formula 2_2, we get: The calculation formula of S123 is as follows: Combining Formula 2_4 and Formula 2_5 gives: After deformation, the expression of T1 is: Combining Formula 2_9 and Formula 2_10 yields: Since S2=0 at this time, T1=T3, the acceleration stage displacement S is calculated 123 , the time spent in the acceleration phase is T1, the time spent in the uniform acceleration phase is T2, and the time spent in the deceleration phase is T3; When S2≠0, T2≠0, T1=A / J, T2=δ v / A-T1, get S 13 The calculation formula is as follows: Assume that V1 represents the terminal velocity of Stage 1 and V2 represents the starting velocity of Stage 3, and the formula is as follows: Substituting formula 2_13 into 2_14, we get the following formula: Combining formula 2_12 and 2_14, we get the following formula: Thus, the acceleration stage displacement S is calculated 123 , the time spent in the acceleration stage is T1, the time spent in the uniform acceleration stage is T2, and the time spent in the deceleration stage is T3.

2. The method for realizing point motion according to claim 1, characterized in that: Calculate the time T spent in each movement stage with the minimum time consumption i , displacement S i , initial acceleration a i , where i=1, 2, 3, 4, 5, 6, 7, and ∑S i =S, including the following steps: Obtain the calculation formula in the time domain in each movement stage; According to the calculation formula in the time domain, calculate the acceleration stage displacement S 123 , the time spent in the acceleration phase is T1, the time spent in the uniform acceleration phase is T2, and the time spent in the deceleration phase is T3, where S 123 =S1+S2+S3, the displacement in the acceleration phase is S1, the displacement in the uniform acceleration phase is S2, and the displacement in the deceleration phase is S3; According to the calculation formula in the time domain, calculate the displacement S in the deceleration stage 567 , the time spent in the acceleration and deceleration stage T5, the time spent in the uniform deceleration stage T6, and the time spent in the deceleration stage T7, where S 567 =S5+S6+S7, the displacement in the acceleration stage is S5, the displacement in the uniform acceleration stage is S6, and the displacement in the deceleration stage is S7; Calculate the displacement S4 in the uniform speed stage, S4=SS 123 -S 567 .

3. The method for realizing point motion according to claim 2, characterized in that: The calculation formulas in the time domain in each motion phase include: In the acceleration phase, deceleration phase, acceleration / deceleration phase, and deceleration / deceleration phase, the calculation formula is as follows: In the uniform acceleration and deceleration phases, J = 0 and A = A max , the calculation formula is as follows: In the uniform velocity phase, J=0, A=0 and V=V max , the calculation formula is as follows: In the above formulas 1_1 to 1_6, A0, V0 and S0 represent acceleration, velocity and position of the initial state, respectively.

4. The method for realizing point motion according to claim 1, characterized in that: The terminal velocity of stage 3 is V try_max The calculation method includes the following steps: The construction function is as follows: Let V try_max =V max , S remain1 =SS 123 -S 567 , if S remain1 > 0, it means there is a uniform speed stage. If S remain1 ≤0 means there is no uniform speed stage; If there is a uniform speed stage, then S4=S remain1 , V try_max =V max ; If there is no uniform speed stage, let V try_max =V0, where V0 represents the starting speed of Stage 1. At this time, S remain2 =SS 123 -S 567 ; Let V now = V0, V last = V max , S now = S remain2 , S last = S remain2 ; Let δ v1 =V now -V last , δ s =S now -S last , judge δ v1 Is it greater than the minimum speed difference or δ s Is it greater than the minimum position difference? When δ v1 Greater than the minimum speed difference and δ s When it is greater than the minimum position difference, construct the iterative formula V next =V now -S now ×δ v1 ÷δ s ; Let V try_max =V next , at this time S remain3 =SS 123 -S 567 ; Let V now =V last , S now =S last , V now =V next , S now =S remain3 , recalculate δ v1 =V now -V last , δ s =S now -S last , and judge δ v1 Is it greater than the minimum speed difference or δ s Is it greater than the minimum position difference until δ v1 Less than or equal to the minimum speed difference or δ s Less than or equal to the minimum position difference; When δ v1 Less than or equal to the minimum speed difference or δ s When it is less than or equal to the minimum position difference, V try_max =V now , determine the S at this time remain Is it greater than 0? If S remain If greater than 0, then S4=S remain , if S remain Not greater than 0, then S4=0.

5. The method for realizing point motion according to claim 1, characterized in that: According to the iterative calculation of the pulse output in each interpolation cycle in the discrete domain, the dynamic S-shaped speed interpolation specifically includes: Calculate the displacement S in the acceleration phase, deceleration phase, acceleration and deceleration phase, and deceleration phase i , the terminal velocity V of each stage i , acceleration A i and the calculation formula of the acceleration J in the discrete domain, and derive an iterative formula based on the calculation formula in the discrete domain, and calculate the output of each interpolation cycle based on the iterative formula; Calculate the displacement S during the uniform acceleration and deceleration phases i , the terminal velocity V of each stage i and acceleration A i A calculation formula in the discrete domain, and an iterative formula is derived based on the calculation formula in the discrete domain, and the output of each interpolation cycle is calculated based on the iterative formula; Calculate the displacement S in the uniform speed segment i and the terminal velocity V of each stage i The calculation formula in the discrete domain is used to calculate the output of each interpolation cycle.

6. The method for realizing point motion according to claim 1, characterized in that: When the axis system parameters change, judging whether the current motion state meets the dynamic interpolation conditions includes the following steps: Get the motion state of the current axis system, the current time is recorded as t, the velocity is recorded as v, the acceleration is recorded as a, and the jerk is recorded as j; Determine whether the current acceleration a is zero, If the current acceleration a is zero, the uniform speed segment or zero speed segment parameter modification response process is performed; If the current acceleration a is not zero, the acceleration or deceleration parameter modification response process is executed.

7. The method for realizing point motion according to claim 6, characterized in that: The parameter modification response process for the uniform speed segment or zero speed segment includes the following steps: If the current acceleration a is 0 and the velocity v is also 0, then it is judged that the current motion state meets the dynamic interpolation conditions; If the current acceleration a is 0 and the velocity v is not 0, then let V try_max =v,V e =V max , calculate S 567 ; Determine the total displacement S and S 567 If S is smaller than S 567 , indicating that the current parameter modification request is invalid and no parameter modification is required; If S is not less than S 567 , then determine whether v is greater than V max , if v is not greater than V max , then it is judged that the current motion state meets the dynamic interpolation conditions; If v is greater than V max , let V try_max =v,V e =V max , calculate the first deceleration distance S1 567 , Let V try_max =V max , V e =0, calculate the second deceleration distance S2 567 , Determine whether S is less than S1 567 With S2 567 If S is less than S1 567 With S2 567 The axis system moves at a uniform speed v, and the moving distance is SS 567 , then execute the acceleration and deceleration stage, the uniform deceleration stage and the deceleration stage to reduce the speed from v to 0, and complete the parameter modification; If S is not less than S1 567 With S2 567 The axis system performs the acceleration and deceleration phase, the uniform deceleration phase and the deceleration phase in the current uniform speed segment, so that the speed drops from v to V. max , with a speed of V max Perform uniform motion, then perform acceleration and deceleration phases, uniform deceleration phases, and deceleration phases to increase the speed from V max Reduce to 0 and complete the parameter modification.

8. The method for realizing point motion according to claim 6, characterized in that: The acceleration or deceleration parameter modification response process includes the following steps: Set up a virtual motion stage x , Movement stage x The starting acceleration is set to 0, and the starting speed is set to the starting speed V s , the starting acceleration is set to 0, the end speed is set to the current speed v, the end acceleration is set to the current acceleration a, the end acceleration is set to the current acceleration j, and the motion stage is Stage x The cumulative displacement is S x , assuming the movement stage Stage x is the starting time of the axis system, and the total displacement of the axis system is S'=S+S x ; Calculate the time T spent in each movement stage i , displacement S i , initial acceleration a i and the terminal velocity V of each stage i , obtain a new S-shaped speed planning curve; Determine whether the new S-shaped speed planning curve can reach the state at the current time t, that is, the speed v of a point on the S-shaped speed planning curve new =v, acceleration a new = a, acceleration j new =j, If the new S-shaped speed planning curve can reach the state at the current time t, it is determined that the S-shaped speed planning curve after the parameter modification can cover the original speed planning. At this time, the S-shaped speed planning curve after the parameter modification is output, and the parameter modification is completed; If the new S-shaped speed planning curve cannot reach the state at the current time t, a virtual motion stage Stage is reset. x , Movement Stage x The starting acceleration is set to the current acceleration a, the starting speed is set to the current speed v, the starting jerk is set to the current jerk j, and the terminal speed is v x , the terminal acceleration is a x =0, the end point acceleration is j x =0, movement stage x The cumulative displacement is S x ; Let V try_max =v x , V e = 0, calculate S 567 ; Determine the total displacement S' and S 567 With S x The relationship between the sum and v x and V max The size relationship of If the total displacement S' is less than S 567 With S x The sum or v x Not greater than V max , the parameter modification fails and the original speed planning curve is continued to be output; If the total displacement S' is not less than S 567 With S x The sum of v x Less than V max , then the parameter modification is successful, according to the virtual motion stage Stage x Output; In the virtual sports stage x After the output is completed, the end point acceleration a x =0, end point acceleration j x =0, the axis system enters the uniform speed section or zero speed section, and executes the uniform speed section or zero speed section parameter modification response process.

9. A point motion realization system, used to execute the point motion realization method according to any one of claims 1 to 8, characterized in that: include, The dynamic interpolation condition judgment module is used to judge whether the current motion state meets the dynamic interpolation conditions when the axis system parameters change; Data acquisition module, used to obtain the basic parameters required for S-type speed planning, including the starting speed V s , terminal velocity V e , maximum speed V max , maximum acceleration A max , acceleration J and total displacement S; The S-type speed planning module is used to calculate the time T spent in each movement stage with the minimum time consumption. i , displacement S i , initial acceleration a i and the terminal velocity V of each stage i , where i=1, 2, 3, 4, 5, 6, 7, and ∑S i =S; The S-type speed interpolation module is used to perform dynamic S-type speed interpolation based on the pulses output in each interpolation cycle iteratively calculated in the discrete domain.

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