Fifteen-section type sine S-shaped curve planning method and storage medium

Abstract

The invention relates to the technical field of motion control, in particular to a fifteen-section type sine S-shaped curve planning method and a storage medium, and the method comprises the following steps: the front end and the tail end of a stroke are divided into a starting stage and an in-place stage respectively, the starting stage comprises a jerk section, a uniform acceleration section, a decelerating acceleration section and a uniform speed section, and the in-place stage comprises an in-place stage; the in-place stage comprises a constant speed stage, a jerk stage, a uniform acceleration stage and a reduced acceleration stage, and the middle section is divided into a seven-section sine S-shaped curve planning stage; the speed V2 of entering the constant speed section of the starting stage and the speed V1 of entering the constant speed section of the in-place stage are inversely calculated according to preset time and distance parameters respectively, and seven-section sine S-shaped curve planning is carried out with the initial speed as V2 and the final speed as V1 in the middle section. According to the scheme, the torque required in the starting stage of the motor and the residual oscillation when the motor is decelerated and stopped are effectively reduced, and the production efficiency and the in-place precision are improved.

Description

Technical Field

[0001] The present invention relates to the field of motion control technology, and in particular to a 15-segment sinusoidal S-curve planning method and a storage medium. Background Art

[0002] The seven-segment sinusoidal S-curve planning currently used in the market mostly plans the entire motion with the initial and final velocities of 0, without any processing of the motor start and arrival time, which is suitable for most application scenarios, but it is insufficient for high-speed and high-inertia ratio loads. For example, the patent (publication number CN114879609A) discloses a trigonometric function curve planning method and system and a placement machine that discloses continuous jerk. The method includes the following steps: dividing the curve planning into an acceleration segment, a uniform speed segment and a deceleration segment, and the acceleration segment and the deceleration segment are respectively divided into a jerk segment, a uniform acceleration segment and a deceleration segment; setting and initializing the motion parameters of the curve planning; defining the average acceleration ratio of the deceleration segment to the acceleration segment as a softening factor, and defining the ratio of the maximum acceleration to the average acceleration in the deceleration segment or the acceleration segment as an acceleration coefficient; calculating the time nodes of each stage of the curve planning according to the motion parameters, the softening factor and the acceleration coefficient; and updating the state of each stage of the curve planning according to the time nodes. Combined with the characteristics of the continuity of the second-order derivative of trigonometric functions, an S-curve planning with continuous acceleration is designed to effectively reduce the impact of movement, ensure the stable time in place, and the operation is simple. For example, the patent (publication number CN114740806A) discloses an S-curve planning method and system compatible with the target position update during movement, the method includes the following steps: dividing the curve planning into 7 stages; setting and initializing the motion parameters of the curve planning; calculating the distance of direct deceleration in the curve planning according to the motion parameters, and judging whether it is possible to decelerate directly; calculating the acceleration time and acceleration distance from the acceleration to the maximum speed according to the judgment result; calculating the time points of each stage according to the acceleration time and acceleration distance; real-time detection of whether there is a new target position, if not, updating the state of each stage of the curve planning according to the time point; if so, returning to the initial step to re-plan. The present invention supports curve planning with initial velocity, and is compatible with direct re-position curve planning after the target position changes during movement, which effectively improves production efficiency. However, the seven-segment sinusoidal S-curve planning ensures the continuity of acceleration and jerk, but does not process the startup and arrival phases. In high-speed and high-load situations, it is usually necessary to reduce the deceleration to ensure smooth arrival.

[0003] The seven-segment S-curve planning needs to reach the maximum acceleration at the beginning of the movement. At this time, the torque and current that the motor needs to apply are extremely large. In the case of some motors with small rated electrical parameters, it is very likely that the motor position speed error is too large and the overcurrent error will be reported due to insufficient applied torque. In the motion stage structure, due to the presence of high inertia loads, the deceleration is usually reduced to achieve smooth motor positioning and reduce oscillation, but this will cause the movement time to be extended and affect work efficiency. However, high deceleration can easily cause the motor to oscillate when it is in place, and the position presents a sinusoidal back-and-forth oscillation process. Therefore, the prior art lacks a solution to reduce the torque required in the motor startup phase and reduce the position error without reducing the acceleration, deceleration and movement time as much as possible; or, to reduce the residual oscillation of the motor in place and improve the positioning accuracy. Summary of the invention

[0004] The purpose of the present invention is to overcome the problems existing in the prior art. The purpose of the present invention is to provide a fifteen-segment sinusoidal S-curve planning method and storage medium.

[0005] In order to achieve the above-mentioned object, the first aspect of the present invention provides a seven-segment sinusoidal S-shaped curve planning optimization method, wherein the end of the stroke adds a curve planning for the arrival stage, which includes a uniform speed segment and a deceleration segment in sequence, presets time and distance parameters, and reversely calculates the speed of entering the uniform speed segment. V 1 The distance before the end is the final speed. V 1 A seven-segment sinusoidal S-curve is planned to reduce residual oscillation in place.

[0006] Preferably, the preset time and distance parameters are used to reversely calculate the speed of entering the uniform speed section. V 1 Specifically: The preset end distance is S , the total end motion time is T, the uniform speed segment motion time is T1, calculate the speed V 1 The formula is as follows: .

[0007] Preferably, the deceleration section is divided into an acceleration section, a uniform acceleration section and a deceleration section in sequence, and the speed of the arrival stage is V ( t ) The curve planning is: , The acceleration α(t) curve of the arrival stage is planned as: Among them, α m =2*α1 / (β+1), α1= V 1 / ( TT1 ), β is the multiple of the uniform acceleration period to the deceleration period, 0<β<1; w is the angular velocity constant, t is the real-time time of the curve planning of the arrival stage, t1=T1, t2=T1+T α , t3=T1+T α +T b , t4=T1+T α +T b +T c , T α 、T b 、T c They are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively.

[0008] The second aspect of the present invention provides a seven-segment sinusoidal S-curve planning optimization method, wherein the starting end of the stroke adds a starting phase curve planning, which includes an acceleration segment and a uniform speed segment in sequence, presets time and distance parameters, and reversely calculates the speed of entering the uniform speed segment. V 2 , the stroke behind the starting end is based on the initial speed V 2 A seven-segment sinusoidal S-curve is planned to reduce the starting error.

[0009] Preferably, the preset time and distance parameters are used to reversely calculate the speed of entering the uniform speed section. V 2 Specifically: The preset starting end distance is S 2 , the total motion time of the starting end is T2, the motion time of the uniform speed section is T3, and the calculated speed V 2 The formula is as follows: .

[0010] Preferably, the acceleration section is divided into a jerk section, a uniform acceleration section and a deceleration section in sequence, and the speed in the startup stage is V1 ( t ) The curve planning is: , The acceleration α1(t) curve of the startup phase is planned as: Among them, α m1 =2*α2 / (β1+1), α2= V 2 / ( T 2 -T 3 ), β1 is the multiple of the uniform acceleration period to the acceleration period, 0<β1<1; wis the angular velocity constant, t is the real time of the curve planning in the startup phase, t5=T3, t6=T3+T d , t7=T3+T d +T e , t8=T3+T d +T e +T f , T d 、T e 、T f They are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively.

[0011] A third aspect of the present invention provides a 15-segment sinusoidal S-shaped curve planning method, comprising the following steps: The front end and the end of the stroke are divided into the starting stage and the arrival stage respectively. The starting stage includes the acceleration section, the uniform acceleration section, the deceleration section and the uniform speed section. The arrival stage includes the uniform speed section, the acceleration section, the uniform acceleration section and the deceleration section. The middle section is divided into a seven-segment sinusoidal S-curve planning stage. The preset time and distance parameters are used to calculate the speed of the uniform speed section in the startup phase. V 2 and the speed of the uniform speed section in the arrival phase V 1 The middle section takes the initial speed as V 2 The final speed is V 1 Perform seven-segment sinusoidal S-curve planning.

[0012] Preferably, the speed at the arrival stage V ( t ) The curve planning is: , The acceleration α(t) curve of the arrival stage is planned as: Among them, α m =2*α1 / (β+1), α1= V 1 / ( TT 1 ), β is the multiple of the uniform acceleration period to the deceleration period, 0<β<1; w is the angular velocity constant, t is the real-time time of the curve planning of the arrival stage, t1=T1, t2=T1+T α , t3=T1+T α +T b , t4=T1+T α +T b +T c , T α 、Tb 、T c They are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively.

[0013] Preferably, the startup phase speed V1 ( t ) The curve planning is: , The acceleration α1(t) curve of the startup phase is planned as: Among them, α m1 =2*α2 / (β1+1), α2= V 2 / ( T 2 -T 3 ), β1 is the multiple of the uniform acceleration period to the acceleration period, 0<β1<1; w is the angular velocity constant, t is the real time of the curve planning in the startup phase, t5=T3, t6=T3+T d , t7=T3+T d +T e , t8=T3+T d +T e +T f , T d 、T e 、T f They are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively.

[0014] A fourth aspect of the present invention provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned seven-segment sinusoidal S-curve planning optimization method, and / or, to enable a machine to execute the above-mentioned fifteen-segment sinusoidal S-curve planning method.

[0015] Through the above technical scheme, the following technical effects are achieved: on the basis of the seven-segment sinusoidal S-curve planning, the existing curve planning logic is optimized, and the curve planning of the motor starting stage is added to deal with the problem that the motor and driver errors are easily caused by the extremely high peak torque in the starting stage of the small motor drive with high-quality load, which effectively reduces the torque required in the motor starting stage, and ensures the operating efficiency at high speed and acceleration as much as possible; and, the curve planning of the motor in-place stage is added to deal with the problem that residual oscillation is easily generated when high-speed and high-quality loads are in place, resulting in slow convergence speed, which effectively reduces the residual oscillation when the motor decelerates and stops, reduces the structural system energy by means of the end buffer, improves the motor in-place accuracy, reduces the in-place residual oscillation time, and improves production efficiency and in-place accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the planning of a seven-segment sinusoidal S-shaped curve in the prior art solution; Figure 2 This is a schematic diagram of the planning of the seven-segment sinusoidal S-shaped curve after optimization in Example 1 of the present invention; Figure 3 This is a schematic diagram of the planning of the seven-segment sinusoidal S-shaped curve after optimization in Example 2 of the present invention; Figure 4 This is a schematic diagram of planning a fifteen-segment sinusoidal S-shaped curve after optimization in Example 3 of the present invention; Figure 5 A schematic diagram of a speed error and position error curve using conventional seven-segment curve planning for a test example of the present invention; Figure 6 This is a schematic diagram of an in-place curve using conventional seven-segment curve planning in the test example of the present invention; Figure 7 It is a schematic diagram of the speed error and position error curves planned by the scheme in Example 3 of the present invention. DETAILED DESCRIPTION

[0017] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0018] The existing seven-segment sinusoidal S-curve planning, with the initial and final velocities set to 0 by default, is as follows: Figure 1 As shown, the acceleration and jerk are continuous. When the end is in place, the acceleration converges to 0 and the motor enters the tuning stage. However, the following problems may exist: (1) Under high-speed, high-quality, and poorly rigid loads, the motor position curve sometimes presents a sinusoidal slow convergence oscillation due to the influence of system inertia and structural center of gravity. Therefore, without changing the structural parameters and motion time, it is necessary to consider adding logic to suppress residual vibration in the three-loop controller, such as input shaping; or to minimize the impact on efficiency, it is necessary to reduce the deceleration value and reduce the energy when the system decelerates and stops. Using a controller to suppress oscillations is usually more effective, but the system model will be more complex and will also experience lags; (2) Under high acceleration and high mass load, the motor usually needs to bear extremely high peak torque during the startup phase, which places high demands on the motor and drive system. During the startup phase, due to the influence of nonlinear resistance such as system friction, the torque applied by the motor from static to startup is usually much larger than that during the running process. In servo system control, due to the lag of loop control, the startup phase is accompanied by very high position error and speed error, which may trigger the drive to report an error; in situations where frequent starting and stopping are required, excessive peak current during the startup phase often leads to extremely high motor temperature rise.

[0019] Example 1 In order to overcome the above problem (1), the first aspect of the embodiment of the present invention provides a seven-segment sinusoidal S-curve planning optimization method, in which a curve planning for the arrival stage is added at the end of the stroke, which includes a uniform speed segment and a deceleration segment in sequence, presets time and distance parameters, and reversely calculates the speed of entering the uniform speed segment. V 1 The distance before the end is the final speed. V 1 A seven-segment sinusoidal S-curve is planned to reduce residual oscillation in place.

[0020] The uniform speed section and deceleration section at the end also use a sinusoidal S-shaped curve to ensure the continuity of acceleration and jerk.

[0021] The calculation formula is as follows: the total movement stroke is X, the movement distance of the designed end uniform speed section + deceleration section is S, the total movement time is T, the movement time of the uniform speed section is T1, and the speed V1 entering the uniform speed section and the average deceleration α1 value of the deceleration section are calculated by reverse calculation through the moving distance: S=V1* T1+V1*(T-T1) / 2, α1= V 1 / ( TT 1 ), .

[0022] The position, velocity, acceleration and jerk curve of the terminal motor can be planned through the terminal velocity V1 and the average deceleration α1. Assuming that the uniform deceleration time during the acceleration process accounts for β times the total deceleration time, the peak deceleration α of the motor in this stage is m =α m =2*α1 / (β+1).

[0023] Deceleration time T a , uniform deceleration time T b , deceleration time T c They are: .

[0024] The motor real-time deceleration value α(t) is calculated by the above parameters: , where t1=T1, t2=T1+T α , t3=T1+T α +T b , t4=T1+T α +T b +T c , T α 、T b 、T c are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively. w is the angular velocity constant (the same below).

[0025] The velocity curve V(t) can be further obtained as: .

[0026] The remaining stroke S1=XS, the position curve can be directly realized by using S(t+1)=S(t)+V(t)*dt. Note that the displacement is based on S1. The S1 part of the stroke is realized by seven-segment sinusoidal S-curve planning, with an initial velocity of 0 and a final velocity of V 1 There are eleven sections in total.

[0027] It is worth noting that the prior art adopted in the embodiment of the present invention - the seven-segment sinusoidal S-curve planning scheme is based on patent CN114879609A or patent CN114740806A.

[0028] On the basis of the seven-segment sinusoidal S-curve planning with an initial velocity of 0 and a final velocity of non-0, the terminal uniform speed segment and the deceleration segment are added to modify it into an eleven-segment sinusoidal S-curve planning. The curve is as follows Figure 2 As shown, the in-position phase problem of the motor system is effectively handled and the in-position residual oscillation is reduced. Example

[0029] In order to solve the above problem (2), the embodiment of the present invention provides a seven-segment sinusoidal S-curve planning optimization method, in which the starting end of the stroke adds a starting phase curve planning, which includes an acceleration segment and a uniform speed segment in sequence, presets time and distance parameters, and reversely calculates the speed of entering the uniform speed segment. V 2 , the stroke behind the starting end is based on the initial speed V 2 A seven-segment sinusoidal S-curve is planned to reduce the starting error.

[0030] The uniform speed section and deceleration section of the startup phase also use a sinusoidal S-curve to ensure the continuity of acceleration and jerk. The calculation formula is as follows: the total movement stroke is X, the movement distance of the acceleration section + uniform speed section of the startup phase is designed to be S2, the total movement time is T2, and the movement time of the uniform speed section is T3. The speed V2 entering the uniform speed section and the average acceleration a2 value of the acceleration section are calculated by reverse calculation through the moving distance: , α2 = V 2 / ( T 2 -T 3 ).

[0031] The position, velocity, acceleration and jerk curve of the terminal motor can be planned by the uniform speed V2 and average acceleration a2 of the startup phase. Assuming that the uniform acceleration time of the acceleration process accounts for β1 times the total acceleration time, the peak acceleration of the motor in this phase is α m1 =α m1 =2*α2 / (β1+1).

[0032] Acceleration time T d , uniform deceleration time T e , deceleration time T f They are: .

[0033] The motor real-time acceleration value a1(t) is calculated by the above parameters: .

[0034] Further, the velocity curve V1(t) can be obtained as follows: Wherein, β1 is the multiple of the uniform acceleration period to the acceleration period, 0<β1<1; t is the real-time time of the curve planning in the startup phase, t5=T3, t6=T3+T d , t7=T3+T d +T e , t8=T3+T d +T e +T f , T d 、T e 、T f They are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively.

[0035] The remaining stroke S3 = X-S2, the position curve can be directly realized by using S(t+1) = S(t) + V(t)*dt, moving from position 0 to position S2. The S3 part of the stroke is realized by seven-segment sinusoidal S-curve planning, and the initial velocity is V2 , the final speed is 0. There are eleven stages in total.

[0036] On the basis of the seven-segment sinusoidal S-curve planning with non-zero initial velocity and zero final velocity, the acceleration segment and the uniform speed segment are added to modify it into an eleven-segment sinusoidal S-curve planning. Figure 3 As shown, the startup phase problem is effectively handled and the motor peak torque is reduced. Example

[0037] In order to solve the above problems (1) and (2) at the same time, an embodiment of the present invention provides a 15-segment sinusoidal S-shaped curve planning method, comprising the following steps: The front end and the end of the stroke are divided into the starting stage and the arrival stage respectively. The starting stage includes the acceleration section, the uniform acceleration section, the deceleration section and the uniform speed section. The arrival stage includes the uniform speed section, the acceleration section, the uniform acceleration section and the deceleration section. The middle section is divided into a seven-segment sinusoidal S-curve planning stage. The preset time and distance parameters are used to calculate the speed of the uniform speed section in the startup phase. V 2 and the speed of the uniform speed section in the arrival phase V 1 The middle section takes the initial speed as V 2 The final speed is V 1 Perform seven-segment sinusoidal S-curve planning.

[0038] Based on the same inventive concept, the curve planning of the front end of the stroke of the embodiment of the present invention is the same as the scheme in embodiment 2, and the curve planning of the end of the stroke of the embodiment of the present invention is the same as the scheme in embodiment 1. On the basis of the seven-segment sinusoidal S-shaped curve planning with non-zero initial velocity and non-zero final velocity, the acceleration segment, the uniform speed segment and the deceleration segment are added to modify it into a fifteen-segment sinusoidal S-shaped curve planning, combined with the following Figure 2 The curve planning shown and Figure 3 The curve planning shown is as follows: Figure 4 As shown, the starting phase problem is effectively solved, the peak torque of the motor is reduced, a uniform speed section and a deceleration section are added at the end, the in-place phase problem of the motor system is solved, and the in-place residual oscillation is reduced.

[0039] Test example: The test was performed based on the method of Example 3. Using conventional seven-segment curve planning, under a certain speed acceleration load, the speed error and position error curves of the motor under a 300mm motion stroke are as follows: Figure 5 As shown, the arrival curve is Figure 6 shown.

[0040] As a comparison, the solution of Example 3 of the present invention is used for testing. Under a certain speed acceleration load, the position error and speed error curves of the motor under a 300 mm motion stroke are as follows: Figure 7 shown.

[0041] It can be seen that after adding the fifteen-stage type, under the same controller, the maximum position error of the movement is reduced from 85µm to 45µm, and the maximum speed error is reduced from 18mm / s to 11mm / s under the full stroke, and the effect is significant; in comparison with the in-place curve, the fifteen-stage type is more in line with the theoretical position curve than the seven-stage type, and has better in-place performance.

[0042] Based on the same inventive concept, another embodiment of the present invention provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable the machine to execute the segmented sinusoidal S-shaped curve planning optimization method as in Example 1, and / or to enable the machine to execute the segmented sinusoidal S-shaped curve planning optimization method as in Example 2, and / or to enable the machine to execute the fifteen-segment sinusoidal S-shaped curve planning method as in Example 3.

[0043] In summary, the technical solution of the present invention optimizes the existing curve planning logic on the basis of the seven-segment sinusoidal S-curve planning, adds curve planning in the motor starting stage, and deals with the problem that the motor and driver are prone to error reporting under extremely high peak torque in the starting stage of a small motor drive with a high-quality load, effectively reducing the torque required in the motor starting stage, and ensuring the operating efficiency at high speed and acceleration as much as possible; and, adds curve planning in the motor in-place stage, deals with the problem that residual oscillation is prone to occur when high-speed and high-quality loads are in place, resulting in slow convergence, effectively reducing the residual oscillation when the motor decelerates and stops, reducing the structural system energy by means of an end buffer to improve the motor in-place accuracy, reducing the in-place residual oscillation time, and improving production efficiency and in-place accuracy; it is achieved that there is no need to directly add corresponding logic in the three-ring controller, the curve planning logic is simple to implement, and the parameters can be adjusted at will.

[0044] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various specific technical features in any suitable manner. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

Claims

1. A seven-segment sinusoidal S-curve planning optimization method, characterized in that: At the end of the stroke, a curve planning for the arrival stage is added, which includes a uniform speed section and a deceleration section in sequence, presets time and distance parameters, and reversely calculates the speed of entering the uniform speed section V 1 The distance before the end is the final speed. V 1 A seven-segment sinusoidal S-curve is planned to reduce residual oscillation in place.

2. The method according to claim 1, characterized in that The preset time and distance parameters are used to reversely calculate the speed of entering the uniform speed section V 1 Specifically: The preset end distance is S , the total end motion time is T, the uniform speed segment motion time is T1, calculate the speed V 1 The formula is as follows: .

3. The method according to claim 2, characterized in that The deceleration section is divided into a jerk section, a uniform acceleration section and a deceleration section in sequence. V ( t ) The curve planning is: ， The acceleration α(t) curve of the arrival stage is planned as: Among them, α m =2*α1 / (β+1), α1= V 1 / ( TT 1 ), β is the multiple of the uniform acceleration period to the deceleration period, 0<β<1; w is the angular velocity constant, t is the real-time time of the curve planning of the arrival stage, t1=T1, t2=T1+T α , t3=T1+T α +T b , t4=T1+T α +T b +T c , T α , T b , T c They are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively.

4. A seven-segment sinusoidal S-curve planning optimization method, characterized in that: The starting stage curve planning is added at the starting end of the trip, including the acceleration section and the uniform speed section in sequence, presetting the time and distance parameters and inversely calculating the speed of entering the uniform speed section V 2 , the stroke behind the starting end is based on the initial speed V 2 A seven-segment sinusoidal S-curve is planned to reduce the starting error.

5. The method according to claim 4, characterized in that The preset time and distance parameters are used to reversely calculate the speed of entering the uniform speed section V 2 Specifically: The preset starting end distance is S 2 , the total motion time of the starting end is T2, the motion time of the uniform speed section is T3, and the calculated speed V 2 The formula is as follows: 。 6. The method according to claim 5, characterized in that The acceleration section is divided into a jerk section, a uniform acceleration section and a deceleration section in sequence. The speed of the startup stage V1 ( t ) The curve planning is: ， The acceleration α1(t) curve of the startup phase is planned as: Among them, α m1 =2*α2 / (β1+1), α2= V 2 / ( T 2 -T 3 ), β1 is the multiple of the uniform acceleration period to the acceleration period, 0<β1<1; w is the angular velocity constant, t is the real time of the curve planning in the startup phase, t5=T3, t6=T3+T d , t7=T3+T d +T e , t8=T3+T d +T e +T f , T d , T e , T f They are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively.

7. A 15-segment sinusoidal S-curve planning method, characterized in that: The following steps are involved: The front end and the end of the stroke are divided into the starting stage and the arrival stage respectively. The starting stage includes the acceleration section, the uniform acceleration section, the deceleration section and the uniform speed section. The arrival stage includes the uniform speed section, the acceleration section, the uniform acceleration section and the deceleration section. The middle section is divided into a seven-segment sinusoidal S-curve planning stage. The preset time and distance parameters are used to calculate the speed of the uniform speed section in the startup phase. V 2 and the speed of the uniform speed section in the arrival phase V 1 The middle section takes the initial speed as V 2 The final speed is V 1 Perform seven-segment sinusoidal S-curve planning.

8. The method according to claim 7, characterized in that The speed at the arrival stage V ( t ) The curve planning is: ， The acceleration α(t) curve of the arrival stage is planned as: Among them, α m =2*α1 / (β+1), α1= V 1 / ( TT 1 ), β is the multiple of the uniform acceleration period to the deceleration period, 0<β<1; w is the angular velocity constant, t is the real-time time of the curve planning of the arrival stage, t1=T1, t2=T1+T α , t3=T1+T α +T b , t4=T1+T α +T b +T c , T α , T b , T c They are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively.

9. The method according to claim 7, characterized in that: The startup phase speed V1 ( t ) The curve planning is: ， The acceleration α1(t) curve of the startup phase is planned as: Among them, α m1 =2*α2 / (β1+1), α2= V 2 / ( T 2 -T 3 ), β1 is the multiple of the uniform acceleration period to the acceleration period, 0<β1<1; w is the angular velocity constant, t is the real time of the curve planning in the startup phase, t5=T3, t6=T3+T d , t7=T3+T d +T e , t8=T3+T d +T e +T f , T d , T e , T f They are the motion time of the acceleration segment, uniform acceleration segment and deceleration segment respectively.

10. A machine-readable storage medium having instructions stored thereon, the instructions being used to cause a machine to execute a method as described in any one of claims 1 to 3, and / or to cause a machine to execute a method as described in any one of claims 4 to 6, and / or to cause a machine to execute a method as described in any one of claims 7 to 9.

Images