S-type seven-segment speed planning method and device, storage medium and computer program

Abstract

The invention discloses an S-shaped seven-section speed planning method and device, a storage medium and a computer program, and the method comprises the steps: firstly planning the time needed by a system to move to an end point in a current period through a displacement planning formula in combination with the actual motion parameters of the system in a previous period in a speed planning process of each period of the system; planning the displacement of the current periodic motion, and then planning the initial speed and the initial acceleration of the current periodic motion through a bisection method under a speed planning formula, so that the time and the displacement of the system moving to an end point under the speed planning formula are respectively equal to the time and the displacement planned under a displacement planning formula; under the condition that the initial speed and the initial acceleration serve as the initial speed of the S-shaped seven-section speed planning algorithm, the actual motion curve of the system can be smoother, vibration of a machine tool is avoided, and the quality of machined products is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of S-type seven-segment speed planning, and in particular to an S-type seven-segment speed planning method, device, storage medium and computer program. Background Art

[0002] In the CNC system, the movement of the system servo axis is determined by speed planning. Common speed planning algorithms include trigonometric functions, polynomials, T-type linear acceleration and deceleration, S-type seven-segment speed planning, and fifteen-segment speed planning. In some motion scenarios, multiple speed planning algorithms are used in combination, so the starting parameters of the speed planning may not be 0. For this usage scenario, since the models of each speed planning algorithm are inconsistent, the starting parameters of the speed planning can only use the parameters of the system motion. The displacement of each cycle of the system motion represents the speed of the system, and the difference between the system speed and the speed of the previous cycle represents the acceleration of the system. When the system parameters are directly used as the starting speed of the S-type seven-segment speed planning algorithm, a large error will occur, making the efficiency of the system motion and the speed curve not smooth enough, which is easy to cause vibration of the machine tool, which is not conducive to ensuring the quality of the processed products. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present application provides an S-shaped seven-segment speed planning method, device, storage medium and computer program, which can use a more appropriate starting speed and starting acceleration for speed planning to make the actual speed curve of the system smoother.

[0004] This embodiment adopts the following technical solutions:

[0005] An S-shaped seven-segment speed planning method comprises the steps of:

[0006] Get the actual terminal velocity and actual terminal acceleration of the system in the previous cycle;

[0007] Plan the time required for the system to move to the end point in the current cycle under the displacement planning formula, and plan the displacement of the current cycle movement;

[0008] The starting speed and starting acceleration of the current periodic motion are planned by dichotomy under the speed planning formula, so that the time and displacement of the system moving to the end point are equal to the time and displacement planned under the displacement planning formula.

[0009] Furthermore, in the S-type seven-segment speed planning method, the displacement planning formula is:

[0010] Acceleration a = a 系 +jt

[0011]

[0012] Among them, v 系 is the actual terminal velocity of the system in the previous cycle, a 系 is the actual terminal acceleration of the system in the previous cycle, and the value range of j is [-j max , j max ],j max is the maximum acceleration of the system, and t is the cycle time.

[0013] Furthermore, in the S-shaped seven-segment speed planning method, the step of planning the time required for the system to move to the end point in the current cycle under the displacement planning formula and planning the displacement of the current cycle movement includes:

[0014] Under the planning of the displacement planning formula, the shortest time required for the system to move to the end point in the current cycle is calculated as T 总1 , and plan the displacement S of the current periodic motion 1 =v 系 +a 系 +j 1 , where j 1 is the jerk of the system under the displacement planning formula, and its value range is [-j max , j max ].

[0015] Furthermore, in the S-type seven-segment speed planning method, the speed planning formula is:

[0016] a=a 系 +y+j t

[0017]

[0018] Among them, x is the velocity variable, y is the acceleration variable, and v 系 is the actual terminal velocity of the system in the previous cycle, a 系 is the actual terminal acceleration of the system in the previous cycle, and the value range of j is [-j max , j max ],j max is the maximum acceleration of the system, and t is the cycle time.

[0019] Furthermore, in the S-shaped seven-segment speed planning method, the step of planning the starting speed and starting acceleration of the current periodic motion by dichotomy under the speed planning formula so that the time and displacement of the system moving to the end point are respectively equal to the time and displacement planned under the displacement planning formula includes:

[0020] Under the speed planning formula, the shortest time required for the system to move to the end point in the current cycle is calculated as T 总2, and plan the displacement of the current periodic motion where j 2 is the acceleration of the system under the speed planning formula, and its value range is [-j max , j max ].

[0021] Furthermore, in the S-shaped seven-segment speed planning method, the step of planning the starting speed and starting acceleration of the current periodic motion by dichotomy under the speed planning formula so that the time and displacement of the system moving to the end point are respectively equal to the time and displacement planned under the displacement planning formula includes:

[0022] Assume that the speed planning formula plans the starting speed of the current cycle motion to be V 0 =v 系 +x, the initial acceleration is a 0 =a 系 +y, let x be in the value range [-|a 系 |,|a 系 |] and y is in the value range [-j max , j max ] Start from the minimum value and use the binary method to calculate the value that satisfies T y =T 总1 , S y =S 1 The values ​​of x and y under the condition, where T 总1 Calculate the shortest time required for the system to move to the end point in the current cycle under the planning of the displacement planning formula, S 1 It is the displacement of the system in the current period under the planning of the displacement planning formula.

[0023] Furthermore, in the S-shaped seven-segment speed planning method, the step of planning the starting speed and starting acceleration of the current periodic motion by dichotomy under the speed planning formula so that the time and displacement of the system moving to the end point are respectively equal to the time and displacement planned under the displacement planning formula includes:

[0024] Assume that there are three values ​​for x: 1 =-|a 系 |、x 2 =0, x 3 =|a 系 |, y value selection has three values: y 1 =-j max ,y 2 =0,y 3 =j max , first let x = x 1 , when y=y 1 ,y=y 2 and y = y 3In this case, the speed planning formula is used to obtain the time for the system to move to the end point in the current cycle, which is T y1 , T y2 and T y3 , in x 1 =-|a 系 | and y 1 =-j max When T y1 >T 总1 , execute the judgment step;

[0025] Judgment steps: judge T separately y1 , T y2 , T y3 With T 总1 size;

[0026] If T y1 >T 总1 , T y2 >T 总1 , T y3 >T 总1 , if x=x 1 Then let x = x 2 , if x=x 2 Then x 1 =x 2 , Let x = x 3 ,y 1 =-j max ,y 2 =0,y 3 =j max , recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0027] If T y1 >T 总1 , T y2 <T 总1 , T y3 <T 总1 , let y 1 =y 1 ,y 3 =y 2 , Recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0028] If T y1 >T 总1 , T y2 >T 总1 , T y3 <T总1 , let y 1 =y 2 ,y 3 =y 3 , Recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0029] If T y1 <T 总1 , T y2 <T 总1 , T y3 <T 总1 , if x=x 2 Then x 1 =x 1 、x 3 =x 2 , If x=x 3 Then x=x 2 ,y 1 =-j max ,y 2 =0,y 3 =j max , let x = x 2 , respectively at y=y 1 ,y=y 2 ,y=y 3 Recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0030] If T y =T 总1 , S y <S 1 , let x 1 =x, x 3 =|a 系 |、 Let x = x 2 , respectively at y=y 1 ,y=y 2 ,y=y 3 Recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0031] If T y =T 总1 , S y >S 1 , let x 1 =-|a 系 |、x3 =x, Let x = x 2 , respectively at y=y 1 ,y=y 2 ,y=y 3 Recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0032] Finally, T is calculated y =T 总1 and S y =S 1 The values ​​of x and y at this time, the starting speed is V 0 =v 系 +x, initial acceleration a 0 =a 系 +y.

[0033] An S-shaped seven-segment speed planning device comprises a processor and a memory; the memory is used to store a computer program, and the computer program comprises program instructions; the processor is used to call the computer program to implement the above-mentioned S-shaped seven-segment speed planning method.

[0034] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned S-shaped seven-segment speed planning method are implemented.

[0035] A computer program product stores computer instructions, which, when executed by a processor, implement the steps of the above-mentioned S-shaped seven-segment speed planning method.

[0036] Compared with the prior art, the present application provides an S-type seven-segment speed planning method, device, storage medium and computer program. In the speed planning process of each cycle of the system, combined with the actual motion parameters of the system in the previous cycle, the time required for the system to move to the end point in the current cycle is first planned through the displacement planning formula, and the displacement of the current cycle motion is planned. Then, the starting speed and starting acceleration of the current cycle motion are planned through the dichotomy under the speed planning formula, so that the time and displacement of the system moving to the end point under the speed planning formula are respectively equal to the time and displacement planned under the displacement planning formula. By using the aforementioned starting speed and starting acceleration as the starting speed of the S-type seven-segment speed planning algorithm, the actual motion curve of the system can be made smoother, vibration of the machine tool can be avoided, and the quality of the processed products can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of the S-type seven-segment speed planning method provided in this application.

[0038] Figure 2 This is a structural block diagram of the S-type seven-segment speed planning device provided in this application. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and are not used to limit the present application.

[0040] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0041] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0042] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0043] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0044] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0045] In the numerical control system, the motion of the system servo axis is determined by the S-type seven-segment speed planning. Common S-type seven-segment speed planning algorithms include trigonometric functions, polynomials, T-type linear acceleration and deceleration, S-type seven-segment speed planning, and fifteen-segment S-type seven-segment speed planning. In some motion scenes, a variety of S-type seven-segment speed planning algorithms will be used in combination, so the starting parameters of the S-type seven-segment speed planning may not be 0. For this use scenario, since each S-type seven-segment speed planning algorithm model is inconsistent, the starting parameters of the S-type seven-segment speed planning can only use the parameters of the system motion. The displacement of each periodic motion of the system represents the speed of the system, and the difference between the speed of the system and the speed of the previous period represents the acceleration of the system. Therefore, the displacement of the system cannot be directly used as the starting speed of the S-type seven-segment speed planning algorithm. In order to ensure the efficiency of the system motion and the smoothness of the speed curve, the present application provides an S-type seven-segment speed planning method, which can convert the speed and acceleration of the system into the S-type seven-segment speed planning of the S-type seven-segment speed planning.

[0046] See also Figure 1 The S-type seven-segment speed planning method provided in this application includes the following steps:

[0047] S10, obtaining the actual terminal velocity and actual terminal acceleration of the system in the previous cycle;

[0048] S20, planning the time required for the system to move to the end point in the current cycle under the displacement planning formula, and planning the displacement of the current cycle movement;

[0049] S30, planning the starting speed and starting acceleration of the current periodic motion by dichotomy under the speed planning formula, so that the time and displacement of the system moving to the end point are respectively equal to the time and displacement planned under the displacement planning formula.

[0050] In the process of speed planning of each cycle of the system, the present application first plans the time required for the system to move to the end point in the current cycle through the displacement planning formula, and plans the displacement of the current cycle motion, and then plans the starting speed and starting acceleration of the current cycle motion through the dichotomy method under the speed planning formula, so that the time and displacement of the system moving to the end point under the speed planning formula are respectively equal to the time and displacement planned under the displacement planning formula. By using the aforementioned starting speed and starting acceleration as the starting speed of the S-type seven-segment speed planning algorithm, the actual motion curve of the system can be made smoother, vibration of the machine tool can be avoided, and the quality of the processed products can be guaranteed.

[0051] During specific implementation, the system can send instructions to the servo system. The servo system needs to use one cycle to control the system movement, and the actual displacement of the system can be fed back in the current cycle. That is, the actual movement displacement of the system is the difference between the motor feedback coordinates read in the current cycle and the motor feedback coordinates read in the previous cycle.

[0052] Similarly, the actual movement speed of the system is also calculated based on the motor feedback coordinates of the current cycle, and the acceleration of the system is the difference between the actual movement speed of the system in the current cycle and the actual movement speed of the previous cycle.

[0053] In step S20, the displacement planning formula used may be:

[0054] Acceleration a = a 系 +jt

[0055]

[0056] Among them, V 系 is the actual terminal velocity of the system in the previous cycle, a 系 is the actual terminal acceleration of the system in the previous cycle, and the value range of j is [-j max , j max ],j max is the maximum acceleration of the system, and t is the cycle time.

[0057] Through the above displacement planning formula, the shortest time required for the system to move to the end point in the current cycle can be calculated as T 总1 , and plan the displacement S of the current periodic motion 1 =v 系 +a 系 +j 1 , where j1 is the jerk of the system under the displacement planning formula, and its value range is [-j max , j max ].

[0058] Of course, in other embodiments, other displacement planning formulas may also be used, and this application does not limit this.

[0059] In step S30, the speed planning formula used may be:

[0060] a=a 系 +y+jt

[0061]

[0062] Among them, x is the velocity variable, y is the acceleration variable, and v 系 is the actual terminal velocity of the system in the previous cycle, a 系is the actual terminal acceleration of the system in the previous cycle, and the value range of j is [-j max , j max ],j max is the maximum acceleration of the system, and t is the cycle time.

[0063] Through the above speed planning formula, the shortest time required for the system to move to the end point in the current cycle can be calculated as T 总2 , and plan the displacement of the current periodic motion where j 2 is the acceleration of the system under the speed planning formula, and its value range is [-j max , j max ].

[0064] At this time, T 总2 =T 总1 and S 2 =S 1 , and then we can get the starting speed v of the current periodic motion 0 and initial acceleration a 0 .

[0065] In step S30, the starting speed v of the current periodic motion is planned by bisection method. 0 and initial acceleration a 0 The steps include:

[0066] Assume that the velocity planning formula plans the starting velocity of the current periodic motion to be v 0 =v 系 +x, the initial acceleration is a 0 =a 系 +y, let x be in the value range [-|a 系 |,|a 系 |] and y is in the value range [-j max , j max ] Start from the minimum value and use the binary method to calculate the value that satisfies T y =T 总1 , S y =S 1 The values ​​of x and y under the condition.

[0067] The specific steps of the dichotomy method are as follows:

[0068] Assume that there are three values ​​for x: 1 =-|a 系 |、x 2 =0, x 3 =|a 系 |, y value selection has three values: y 1 =-j max ,y2 =0,y 3 =j max , first let x = x 1 , when y=y 1 ,y=y 2 and y = y 3 In this case, the speed planning formula is used to obtain the time for the system to move to the end point in the current cycle, which is T y1 , T y2 and T y3 , in x 1 =-|a 系 | and y 1 =-j max When T y1 >T 总1 , execute the judgment step;

[0069] Judgment steps: judge T separately y1 , T y2 , T y3 With T 总1 size;

[0070] If T y1 >T 总1 , T y2 >T 总1 , T y3 >T 总1 , if x=x 1 Then let x = x 2 , if x=x 2 Then x 1 =x 2 , Let x = x 3 ,y 1 =-j max ,y 2 =0,y 3 =j max , recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0071] If T y1 >T 总1 , T y2 <T 总1 , T y3 <T 总1 , let y 1 =y 1 ,y 3 =y 2 , Recalculate T y1 , T y2 , T y3, execute the judgment step;

[0072] If T y1 >T 总1 , T y2 >T 总1 , T y3 <T 总1 , let y 1 =y 2 ,y 3 =y 3 , Recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0073] If T y1 <T 总1 , T y2 <T 总1 , T y3 <T 总1 , if x=x 2 Then x 1 =x 1 、x 3 =x 2 , If x=x 3 Then x=x 2 ,y 1 =-j max ,y 2 =0,y 3 =j max , let x = x 2 , respectively at y=y 1 ,y=y 2 ,y=y 3 Recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0074] If T y =T 总1 , S y <S 1 , let x 1 =x, x 3 =|a 系 |、 Let x = x 2 , respectively at y=y 1 ,y=y 2 ,y=y 3 Recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0075] If T y =T 总1 , S y >S 1 , let x 1 =-|a 系 |、x 3 =x, Let x = x 2 , respectively at y=y 1 ,y=y 2 ,y=y 3 Recalculate T y1 , T y2 , T y3 , execute the judgment step;

[0076] Finally, T is calculated y =T 总1 and S y =S 1 At this time, in the S-type seven-segment speed planning algorithm of the current cycle of the system, by using the starting speed v 0 =v 系 +x, initial acceleration a 0 =a 系 +y can make the actual motion curve of the system smoother, avoid vibration of the machine tool, and ensure the quality of the processed products.

[0077] This application also provides an S-shaped seven-segment speed planning device, see Figure 2 The S-type seven-segment speed planning device includes at least one processor A1, a communication bus A2, a memory A3 and at least one communication interface A4.

[0078] The processor A1 may be a general-purpose central processing unit (CPU), a network processor (NP), a microprocessor, or may be one or more integrated circuits for implementing the solution of the present application, such as an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0079] The communication bus A2 is used to transmit information between the above components. The communication bus A2 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0080] The memory A3 may be a read-only memory (ROM), a random access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), an optical disc (including a compact disc read-only memory (CD-ROM), a compressed optical disc, a laser disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory A3 may exist independently and be connected to the processor A1 via the communication bus A2. The memory A3 may also be integrated with the processor A1.

[0081] The communication interface A4 uses any transceiver-like device for communicating with other devices or communication networks. The communication interface A4 includes a wired communication interface and may also include a wireless communication interface. The wired communication interface may be, for example, an Ethernet interface. The Ethernet interface may be an optical interface, an electrical interface, or a combination thereof. The wireless communication interface may be a wireless local area network (WLAN) interface, a cellular network communication interface, or a combination thereof.

[0082] In a specific implementation, the processor A1 may include one or more CPUs.

[0083] When specifically implemented, the S-type seven-segment speed planning device may include multiple processors. Each of these processors may be a single-core processor or a multi-core processor. The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0084] In specific implementation, as an embodiment, the S-type seven-segment speed planning device may also include an output device A5 and an input device A6. The output device A5 communicates with the processor A1 to present various calculation result data or information in the form of numbers, characters, images, sounds, etc. For example, the output device A5 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device or a projector, etc. The input device A6 communicates with the processor A1 and may receive user input in a variety of ways. For example, the input device A6 may be a mouse, a keyboard, a touch screen device or other sensing device, etc.

[0085] In some embodiments, the memory A3 is used to store the program code A7 for executing the solution of the present application, and the processor A1 can execute the program code A7 stored in the memory A3. The program code A7 may include one or more software modules, and the S-type seven-segment speed planning device can implement the S-type seven-segment speed planning method provided in the above embodiment through the processor A1 and the program code A7 in the memory A3.

[0086] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiment of the present application may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0087] The present application also provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer, the computer executes the steps of the above-mentioned S-shaped seven-segment speed planning method.

[0088] The present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the steps of the above-mentioned S-shaped seven-segment speed planning method. In other words, a computer program is provided, which, when executed on a computer, enables the computer to execute the steps of the above-mentioned S-shaped seven-segment speed planning method.

[0089] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and application concept of the present application, and all these changes or substitutions should fall within the protection scope of the claims attached to the present application.

Claims

1. An S-type seven-segment speed planning method, characterized in that: Includes steps: Obtain the actual terminal velocity and actual terminal acceleration of the system in the previous cycle; Plan the time required for the system to move to the end point in the current cycle under the displacement planning formula, and plan the displacement of the current cycle movement; The starting speed and starting acceleration of the current periodic motion are planned by dichotomy under the speed planning formula, so that the time and displacement of the system moving to the end point are equal to the time and displacement planned under the displacement planning formula.

2. The S-shaped seven-segment speed planning method according to claim 1, characterized in that: The displacement planning formula is: Acceleration a = a 系 +jt speed Displacement Among them, v 系 is the actual terminal velocity of the system in the previous cycle, a 系 is the actual terminal acceleration of the system in the previous cycle, and the value range of j is [-j max ,j max ],j max is the maximum acceleration of the system, and t is the cycle time.

3. The S-shaped seven-segment speed planning method according to claim 2, characterized in that: The steps of planning the time required for the system to move to the end point in the current cycle under the displacement planning formula and planning the displacement of the current cycle movement include: Under the planning of the displacement planning formula, the shortest time required for the system to move to the end point in the current cycle is calculated as T 总1 , and plan the displacement S1=v of the current periodic motion 系 +a 系 +j1, where j1 is the jerk of the system under the displacement planning formula, and its value range is [-j max ,j max ].

4. The S-shaped seven-segment speed planning method according to claim 1, characterized in that: The speed planning formula is: the=the 系 +y+jt Among them, x is the velocity variable, y is the acceleration variable, and v 系 is the actual terminal velocity of the system in the previous cycle, a 系 is the actual terminal acceleration of the system in the previous cycle, and the value range of j is [-j max ,j max ],j max is the maximum acceleration of the system, and t is the cycle time.

5. The S-shaped seven-segment speed planning method according to claim 4, characterized in that: The steps of planning the starting speed and starting acceleration of the current periodic motion by dichotomy under the speed planning formula so that the time and displacement of the system moving to the end point are respectively equal to the time and displacement planned under the displacement planning formula include: Under the speed planning formula, the shortest time required for the system to move to the end point in the current cycle is calculated as T 总2 , and plan the displacement of the current periodic motion Where j2 is the acceleration of the system under the speed planning formula, and its value range is [-j max ,j max ].

6. The S-shaped seven-segment speed planning method according to claim 5, characterized in that: The steps of planning the starting speed and starting acceleration of the current periodic motion by dichotomy under the speed planning formula so that the time and displacement of the system moving to the end point are respectively equal to the time and displacement planned under the displacement planning formula include: Assume that the velocity planning formula plans the starting velocity of the current periodic motion to be v0 = v 系 +x, the initial acceleration is a0=a 系 +y, let x be in the value range [-|a 系 |,|a 系 |] and y are in the value range [-j max ,j max ] Start from the minimum value and use the binary method to calculate the value that satisfies T y =T 总1 , S y = the value of x and y under S1 conditions, where T 总1 The shortest time required for the system to move to the end point in the current cycle is calculated under the planning of the displacement planning formula, and S1 is the displacement of the system in the current cycle under the planning of the displacement planning formula.

7. The S-shaped seven-segment speed planning method according to claim 6, characterized in that: The steps of planning the starting speed and starting acceleration of the current periodic motion by dichotomy under the speed planning formula so that the time and displacement of the system moving to the end point are respectively equal to the time and displacement planned under the displacement planning formula include: Assume that there are three values ​​for x: x1 = -|a 系 |、x2=0、x3=|a 系 |, y has three values ​​to choose from: y1 = -j max ,y2=0,y3=j max First, let x = x1. When y = y1, y = y2 and y = y3, the time for the current cycle system to move to the end point is T respectively through the speed planning formula. y1 , T y2 and T y3 , when x1=-|a 系 | and y1 = -j max When T y1 >T 总1 , execute the judgment step; Judgment steps: judge T separately y1 、T y2 、T y3 With T 总1 size; If T y1 >T 总1 、T y2 >T 总1 、T y3 >T 总1 , if x=x1 then let x=x2, if x=x2 then x1=x2, Let x = x3, y1 = -j max ,y2=0,y3=j max , recalculate T y1 、T y2 、T y3 , execute the judgment step; If T y1 >T 总1 、T y2 <T 总1 、T y3 <T 总1 , let y1=y1、y3=y2、 Recalculate T y1 、T y2 、T y3 , execute the judgment step; If T y1 >T 总1 、T y2 >T 总1 、T y3 <T 总1 , let y1=y2、y3=y3、 Recalculate T y1 、T y2 、T y3 , execute the judgment step; If T y1 <T 总1 、T y2 <T 总1 、T y3 <T 总1 , if x=x2 then x1=x1、x3=x2、 If x=x3 then x=x2,y1=-j max ,y2=0,y3=j max , let x = x2, and recalculate T when y = y1, y = y2, and y = y3 respectively y1 、T y2 、T y3 , execute the judgment step; If T y = T 总1 , S y <S1, let x1 = x, x3 = |a 系 |, let x = x2, recalculate T y1 , T y2 , T y3 respectively when y = y1, y = y2, y = y3, and perform the judgment step; If T y =T 总1 , S y >S1, let x1=-|a 系 |、x3=x、 Let x = x2, and recalculate T when y = y1, y = y2, and y = y3 respectively. y1 、T y2 、T y3 , execute the judgment step; Finally, T is calculated y =T 总1 and S y =S1, the value of x and y, at this time the starting speed is v0 = v 系 +x, initial acceleration a0 = a 系 +y.

8. An S-shaped seven-segment speed planning device, characterized in that: It comprises a processor and a memory; the memory is used to store a computer program, and the computer program includes program instructions; the processor is used to call the computer program to implement the S-shaped seven-segment speed planning method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the steps of the S-type seven-segment speed planning method according to any one of claims 1 to 7.

10. A computer program product, characterized in that The computer program product stores computer instructions, and when the computer instructions are executed by a processor, the steps of the S-type seven-segment speed planning method according to any one of claims 1 to 7 are implemented.

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