Operating curve online planning method, device, storage medium and program product

Abstract

The application discloses a kind of operating curve online planning method, equipment, storage medium and program product.The method is applied to servo system, comprising: according to initial operating curve control servo system, when monitoring that the target operating parameter of change occurs, and the change of target operating parameter to initial operating curve exists effective influence, if target operating parameter is brake invalid parameter, or emergency brake processing to servo system has been completed, then determine peak speed search interval according to the overshoot judgment result of servo system, and determine peak speed in peak speed search interval;Determine the updated operating curve based on the operating curve of the acceleration section with peak speed as the terminal operating parameter, the operating curve of the uniform speed section with peak speed as constant speed and the operating curve of the deceleration section with peak speed as initial operating parameter, and control servo system according to the updated operating curve.The planning efficiency and real-time performance of operating curve can be improved by using the method.

Description

Technical Field

[0001] This application relates to the field of motion control, and in particular to a method, apparatus, storage medium, and program product for online planning of running curves. Background Technology

[0002] In typical motion control fields such as servo motion control systems, industrial robots, and elevator control, trajectory planning methods directly determine the dynamic performance and operational quality of the system. Traditionally, the widely used trapezoidal velocity curve is characterized by piecewise constant acceleration, with abrupt acceleration changes between acceleration and deceleration phases, where the jerk tends towards infinity. This discontinuous dynamic characteristic easily induces significant shocks and vibrations during system start-up, shutdown, and speed switching, manifesting as equipment jerking, uneven trajectory, and prolonged positioning stabilization time. Simultaneously, large impact loads can exacerbate fatigue damage to mechanical structures and transmission components, reducing equipment lifespan and further amplifying tracking errors in high-precision or high-dynamic applications, limiting system performance improvement. Therefore, to address the problem of achieving continuous changes in higher-order dynamic quantities while satisfying velocity and acceleration constraints, S-curve trajectory planning methods that constrain jerk have emerged to achieve smooth transitions and shock suppression during motion.

[0003] Currently, S-curve trajectory planning typically uses jerk as a constraint, obtaining velocity-displacement curves through piecewise integration of the acceleration. Essentially, it falls under the category of time-optimal control problems of third-order integral chains under multiple constraints. During the solution process, there is a strong coupling relationship between time parameters and motion state variables at each stage, with mutual constraints between different motion stages. This usually requires complex piecewise judgments and simultaneous solutions of multiple parameters. The calculation process involves solving high-order equations or iterative calculations, resulting in high overall implementation difficulty, low efficiency, and challenges in achieving rapid deployment and real-time online updates in engineering applications. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an online planning method for running curves, which can improve the planning efficiency and real-time performance of running curves.

[0005] Firstly, this application provides an online curve planning method for servo systems. The method includes: The servo system is controlled according to the initial operating curve. When the target operating parameters are detected to have changed, the validity of the target operating parameters is judged. If the validity judgment result indicates that the target operating parameter has an effective impact on the change of the initial operating curve, and if the target operating parameter is an ineffective braking parameter, or if the emergency braking process of the servo system has been completed, then the overshoot judgment of the servo system is performed, the peak speed search interval is determined according to the overshoot judgment result, and the peak speed of the operating curve is determined in the peak speed search interval. Using the current operating parameters as the starting operating parameters and the peak speed as the ending operating parameter, determine the operating curve for the acceleration phase; using the peak speed as the constant speed, determine the operating curve for the uniform speed phase; using the peak speed as the starting operating parameter and combining it with the ending operating parameter, determine the operating curve for the deceleration phase; based on the operating curves of the acceleration phase, the uniform speed phase, and the deceleration phase, determine the updated operating curve, and control the servo system according to the updated operating curve.

[0006] In conjunction with the first aspect, in one possible implementation, overshoot judgment is performed on the servo system based on the target operating parameters. A peak speed search interval is determined based on the overshoot judgment result, and the peak speed of the operating curve is determined within the peak speed search interval. This includes: using the current operating parameters as initial operating parameters and combining them with preset termination parameters to determine the target displacement of the servo system; if the target residual displacement of the servo system is greater than 0, and the target displacement is less than or equal to the target residual displacement, then the servo system is determined not to have positive overshoot, and the peak speed search interval is determined to be a closed interval from the first critical speed to the target speed; if the target displacement is greater than the target residual displacement, then the servo system is determined to have positive overshoot, and the peak speed search interval is determined to be a closed interval from the target negative speed to 0; if the target residual displacement of the servo system is less than or equal to 0, and the target displacement is greater than or equal to the target residual displacement, then the servo system is determined not to have reverse overshoot, and the peak speed search interval is determined to be a closed interval from the target negative speed to the first critical speed; if the target displacement is less than the target residual displacement, then the servo system is determined to have reverse overshoot, and the peak speed search interval is determined to be a closed interval from 0 to the target speed.

[0007] In conjunction with the first aspect, in one possible implementation where the target operating parameter is a braking risk parameter, the method further includes: making an emergency braking judgment based on the target operating parameter; if the emergency braking judgment result indicates that the servo system needs to be subjected to emergency braking processing, then generating a braking curve based on the target operating parameter, and controlling the servo system according to the braking curve.

[0008] In conjunction with the first aspect, in one possible implementation, when the target operating parameter is speed, emergency braking judgment is performed based on the target operating parameter, including: determining a first critical speed based on the initial operating parameters and the target speed; the first critical speed characterizes the maximum speed of the servo system under the maximum jerk constraint; comparing the initial speed and the target speed, the initial speed and the target negative speed, the first critical speed and the target speed, and the first critical speed and the target negative speed; updating the initial operating curve if the initial speed is greater than or equal to the target negative speed and less than or equal to the target speed, and the first critical speed is greater than or equal to the target negative speed and less than or equal to the target speed; otherwise, generating a braking curve based on the target speed and controlling the servo system according to the braking curve.

[0009] In conjunction with the first aspect, in one possible implementation, generating a braking curve based on a target speed includes: generating a braking curve with the target speed as the termination speed when the initial speed, target speed, and first critical speed satisfy a first condition; the first condition includes the initial speed being greater than the target speed and the first critical speed being greater than the target negative speed; or, the initial speed being less than or equal to the target speed and less than the target negative speed, and the first critical speed being greater than the target speed; or, the initial speed being less than or equal to the target speed and greater than or equal to the target negative speed, and the first critical speed being greater than the target speed; generating a braking curve with the target negative speed as the termination speed when the initial speed, target speed, and first critical speed satisfy a second condition; the second condition includes the initial speed being greater than the target speed and the first critical speed being less than or equal to the target negative speed; or, the initial speed being less than or equal to the target speed and greater than or equal to the target negative speed, and the first critical speed being less than or equal to the target speed, and the first critical speed being less than or equal to the target negative speed.

[0010] In conjunction with the first aspect, in one possible implementation, when the target operating parameter is the maximum acceleration, an emergency braking judgment is made based on the target operating parameter, including: comparing the initial acceleration and the target acceleration; updating the initial operating curve if the initial acceleration is less than or equal to the target acceleration; determining a second critical speed based on the initial operating parameter and the target acceleration if the initial acceleration is greater than the target acceleration; the second critical speed characterizes the maximum speed of the servo system under a negative maximum jerk constraint; generating a braking curve with the target speed as the termination speed if the second critical speed is greater than the target speed; and generating a braking curve with the second critical speed as the termination speed if the second critical speed is less than or equal to the target speed.

[0011] In conjunction with the first aspect, in one possible implementation, when the target operating parameter is the maximum deceleration, an emergency braking judgment is made based on the target operating parameter, including: comparing the initial acceleration and the target deceleration; updating the initial operating curve if the initial acceleration is greater than or equal to the target deceleration; determining a third critical speed based on the initial operating parameter and the target deceleration; the third critical speed characterizes the minimum speed of the servo system under the constraint of maximum acceleration; generating a braking curve with the target negative speed as the termination speed if the third critical speed is less than the target negative speed; and generating a braking curve with the third critical speed as the termination speed if the third critical speed is greater than or equal to the target negative speed.

[0012] Secondly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method described in the first aspect.

[0013] Thirdly, this application also provides a computer-readable storage medium. This computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the method described in the first aspect.

[0014] Fourthly, this application also provides a computer program product. This computer program product includes a computer program that, when executed by a processor, implements the method described in the first aspect.

[0015] This application provides an online operation curve planning method, device, storage medium, and program product. During the operation of a servo system controlled according to initial operating parameters, it monitors changing target operating parameters and performs online operation curve planning based on these parameters. When planning the servo system's operation curve, the peak speed can be determined first based on the changed target operating parameters. Then, based on the peak speed, the entire operation curve is divided into acceleration, constant speed, and deceleration segments. This decomposes the time-optimal planning process of a third-order integral chain under multiple constraints into two time-optimal planning processes of second-order integral chains under multiple constraints, effectively reducing the difficulty and computational load of operation curve planning and improving its efficiency. Furthermore, this efficient planning method can be applied to scenarios where parameters change during servo system operation, enabling rapid deployment and real-time online updates in engineering applications. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the S-curve in one embodiment; Figure 2 This is a flowchart illustrating the online curve planning method in one embodiment; Figure 3 This is a schematic diagram of another S-curve in one embodiment; Figure 4 This is a schematic representation of the effective parameter update time period in one embodiment; Figure 5 This is another flowchart illustrating the online curve planning method in one embodiment; Figure 6 This is another flowchart illustrating the online curve planning method in one embodiment; Figure 7 This is another flowchart illustrating the online curve planning method in one embodiment; Figure 8 This is another flowchart illustrating the online curve planning method in one embodiment; Figure 9 This is another flowchart illustrating the online curve planning method in one embodiment; Figure 10 This is another flowchart illustrating the online curve planning method in one embodiment; Figure 11 This is a schematic diagram illustrating the change in iteration error during the bisection method iteration process in one embodiment; Figure 12 This is a schematic diagram illustrating the changes in iterative data during the bisection method iteration process in one embodiment; Figure 13 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present application will now be described in detail with reference to the accompanying drawings and embodiments. Furthermore, the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The terms "first" and "second," etc., in the specification and claims of the embodiments of this application are used to distinguish different objects, not to describe a specific order of objects.

[0019] In typical motion control fields such as servo motion control systems, industrial robots, and elevator control, trajectory planning methods directly determine the dynamic performance and operational quality of the system. Traditionally, the widely used trapezoidal velocity curve is characterized by piecewise constant acceleration, with abrupt acceleration changes between acceleration and deceleration phases, meaning the jerk tends towards infinity. This discontinuous dynamic characteristic easily induces significant shocks and vibrations during system start-up, shutdown, and speed switching, manifesting as equipment jerking, uneven trajectory, and prolonged positioning stabilization time. Simultaneously, large impact loads can exacerbate fatigue damage to mechanical structures and transmission components, reducing equipment lifespan and further amplifying tracking errors in high-precision or high-dynamic applications, limiting system performance improvement. Therefore, to address the problem of achieving continuous changes in higher-order dynamic quantities while satisfying velocity and acceleration constraints, S-curve trajectory planning methods that constrain jerk have emerged to achieve smooth transitions and shock suppression during motion. Figure 1 The diagram shows a 7-segment S-curve, meaning the running curve includes complete acceleration, deceleration, uniform speed segment, deceleration segment, and deceleration and acceleration-deceleration segment.

[0020] Currently, S-curve trajectory planning typically uses jerk as a constraint, obtaining the velocity-displacement curve through piecewise integration of acceleration. Essentially, it falls under the third-order integral chain (jerk-acceleration-velocity-position) and is a time-optimal control problem under multiple constraints (jerk limit, maximum acceleration, maximum deceleration, and target velocity). During the solution process, there is a strong coupling relationship between the time parameters and motion state variables at each stage, with mutual constraints between different motion stages. This usually requires complex piecewise judgments and simultaneous solutions of multiple parameters. The calculation process involves solving high-order equations or iterative calculations, making overall implementation difficult, inefficient, and hindering rapid deployment and real-time online updates in engineering applications.

[0021] Based on this, embodiments of this application provide an online planning method, device, storage medium, and program product for running curves, which can improve the planning efficiency and real-time performance of running curves.

[0022] In one embodiment, such as Figure 2 As shown, an online curve planning method is provided for servo systems, including the following steps: Step 101: Control the servo system according to the initial operating curve, and when the target operating parameters are detected to have changed, determine the validity of the target operating parameters.

[0023] In this embodiment, it is considered that when the operating parameters (including target position, target velocity, acceleration, deceleration, and jerk values) change, the standard 7-segment S-curve will change accordingly. For example, Figure 3 As shown, the possible scenarios are: no uniform velocity segment (i.e., T4=0), no acceleration segment (i.e., T2=0), no deceleration segment (i.e., T6=0), no acceleration segment and uniform velocity segment (i.e., T2=0 and T4=0), no uniform velocity segment and deceleration segment (i.e., T4=0 and T6=0), no acceleration segment and deceleration segment (i.e., T2=0 and T6=0), and no acceleration segment, uniform velocity segment, and deceleration segment (i.e., T2=0, T4=0, and T6=0).

[0024] against Figure 3 Analysis of the various acceleration waveforms revealed that acceleration crosses the horizontal axis in all cases, corresponding to the period of maximum velocity. That is, when acceleration crosses the horizontal axis, the velocity is the peak velocity. Furthermore, using the peak velocity or the uniform velocity segment containing the peak velocity as a boundary, the acceleration curve can be divided into acceleration and deceleration segments. If the peak velocity is known, the running curve can be planned separately for the acceleration and deceleration segments, and finally, the acceleration, uniform velocity, and deceleration segments can be merged to obtain the complete running curve. The running curve planning process for the acceleration and deceleration segments is essentially two independent time-optimal control planning processes based on a second-order integral chain (jerk-acceleration-velocity) under multiple constraints (jerk limit, maximum acceleration, and maximum deceleration). This second-order running curve planning technology is relatively mature, and compared to the time-optimal control planning process under multiple constraints using a third-order integral chain, the implementation difficulty and computational load are significantly reduced, enabling rapid deployment and real-time online updates in engineering applications.

[0025] In this embodiment of the application, during the process of controlling the servo system to operate according to the planned initial operating curve, the operating parameters (such as target position, target speed, maximum acceleration, maximum deceleration, and maximum jerk) can be changed according to actual needs. When the servo system detects a changed operating parameter (i.e., the target operating parameter), it first needs to determine whether the target operating parameter will affect the initial operating curve, that is, whether it will cause a change in the initial operating curve.

[0026] Understandably, when a servo system is operating at certain stages, changing certain operating parameters will not affect the current operating curve. For example, if the servo system is currently in the deceleration phase based on the initial operating curve, changing the target speed will not cause a change in the initial operating curve; if the servo system is operating in the constant speed or deceleration phase, changing the acceleration will not cause a change in the initial operating curve.

[0027] Based on this, the embodiments of this application can first set as follows: Figure 4The effective parameter update time period mapping table is shown and stored in the servo system. This mapping table represents the time periods during which different types of operating parameters will affect the operating curve (i.e., the mapping relationship between different parameter types and effective time periods). When the servo system detects a change in the target operating parameter, it can first determine the current time period, and then query the effective parameter update time period mapping table to determine whether the current time period is a valid time period for the target operating parameter. If so, it indicates that the change in the target operating parameter has a valid impact on the initial operating curve, and the initial operating curve needs to be changed accordingly; if not, it indicates that the target operating parameter has no valid impact on the initial operating curve, and the servo system can continue to be controlled based on the initial operating curve.

[0028] It should be noted that, Figure 4 The effective parameter update time period mapping table shown represents the mapping relationship between parameter types and effective time periods when the servo system runs in the order of "acceleration phase - constant speed phase - deceleration phase". When the servo system runs in the order of "deceleration phase - constant speed phase - acceleration phase", the effective time periods for "maximum acceleration" and "maximum deceleration" can be interchanged.

[0029] Step 102: If the validity judgment result indicates that the target operating parameter has an effective impact on the change of the initial operating curve, and if the target operating parameter is an invalid braking parameter, or if the emergency braking process of the servo system has been completed, then the overshoot judgment of the servo system is performed, the peak speed search interval is determined according to the overshoot judgment result, and the peak speed of the operating curve is determined in the peak speed search interval.

[0030] In this embodiment, considering that speed and acceleration in the operating curve cannot change abruptly, a situation may arise where the actual operating speed or acceleration exceeds the modified target value, requiring emergency braking. Therefore, operating parameters can be categorized into braking risk parameters and braking ineffective parameters. Braking risk parameters are those operating parameters where there is a risk that the current actual value will exceed the modified target value, including speed, acceleration, and deceleration; braking ineffective parameters are those operating parameters where the current actual value does not exceed the modified target value, including position and jerk. Therefore, after determining the effectiveness of the target operating parameters and confirming their effective impact on the initial operating curve, further emergency braking judgment is needed, i.e., determining whether emergency braking is currently required.

[0031] If the target operating parameters are invalid braking parameters, or if emergency braking of the servo system has been completed, then there is no need to perform emergency braking of the servo system again. It is only necessary to determine the peak speed according to the target operating parameters, and replan the operating curve based on the principle of time optimality of the second-order integral chain under multiple constraints, with the peak speed as the boundary.

[0032] In the process of replanning the operating curve, the first step is to perform overshoot detection on the servo system. This involves predicting whether running according to the replanned operating curve will exceed the target remaining displacement Δq, i.e., determining whether overshoot will occur. Different overshoot detection results correspond to different peak speed search intervals. Here, the target remaining displacement Δq represents the deviation between the target displacement in the final state (end state) and the target displacement in the initial state. Specifically, as... Figure 5 As shown, the target displacement q of the servo system is determined by using the current operating parameters as the initial operating parameters (i.e., v0, a0) and combining them with the preset termination parameters. _brake The preset termination parameter can be v. f =0 and a f The value is 0. Specifically, it can start from the initial running parameters (v0, a0) and then proceed to the preset termination parameter (v...). f ,a f The system plans a trapezoidal acceleration curve and then calculates the target displacement of the servo system based on the planned curve through integration. If the target residual displacement of the servo system is greater than 0 (Δq>0), and the target displacement is less than or equal to the target residual displacement (q... _brake If the target displacement is less than or equal to Δq, then the servo system is determined to have no positive overshoot; if the target displacement is greater than the target residual displacement (q), then the servo system is determined to have no positive overshoot. _brake If the target residual displacement is greater than or equal to Δq, then the servo system is determined to have a positive overshoot; if the target residual displacement is greater than or equal to the target residual displacement (q), then the servo system is determined to have a positive overshoot. _brake If the target displacement is less than or equal to Δq, then the servo system is determined to have no overshoot in the reverse direction; if the target displacement is less than the target residual displacement (q) _brake If <Δq), then the servo system is determined to have reverse overshoot.

[0033] like Figure 6 As shown, if the servo system does not overshoot in the positive direction, the peak speed search range is determined to be from the first critical speed v. c1 to target speed V t The closed interval (i.e., [v]) c1 V t If the servo system experiences positive overshoot, the peak speed search interval is determined to be a closed interval from the target negative speed to 0 (i.e., [-V)). t If the servo system does not overshoot in the reverse direction, then the peak speed search interval is determined to be a closed interval from the target negative speed to the first critical speed (i.e., [-V]). t , v c1 If the servo system overshoots, the peak speed search interval is determined to be a closed interval from 0 to the target speed (i.e., [0, V). t ]). Among them, the first critical velocity v c1The maximum speed of the servo system under the maximum jerk constraint is calculated by the following formula (1): (1) After determining the peak velocity search interval, the peak velocity can be determined iteratively using a binary search method. Specifically, it can be initially determined based on the upper limit V of the peak velocity search interval. high and lower limit V low Calculate the median V mid =(V high +V low The peak speed is taken as 1 / 2. A running curve based on a second-order integral chain is planned using this peak speed, and the displacement S(V) is calculated based on this running curve. mid If the displacement is greater than the target residual displacement Δq, then the median V will be... mid Updated to the upper limit V of the peak speed search range. high Otherwise, the median V mid Updated to the lower limit V of the peak speed search range low Until the displacement S(V) corresponding to the median of the upper and lower limits. mid The remaining displacement Δq of the target satisfies the condition: |S(V) mid If Δq|<ε, then the median V that satisfies this condition will be... mid This represents the peak velocity. Here, ε is the minimum value.

[0034] In one possible implementation, if the target operating parameter is a braking risk parameter, an emergency braking judgment is made based on the target operating parameter. If the emergency braking judgment result indicates that the servo system needs to be subjected to emergency braking, a braking curve is generated based on the target operating parameter, and the servo system is controlled according to the braking curve.

[0035] In this implementation, if the target operating parameter is a braking risk parameter—meaning there is a risk that the actual value will exceed the changed target value, indicating a potential need for emergency braking—an emergency braking judgment is required to determine whether emergency braking is necessary. If emergency braking of the servo system is determined, a braking curve must first be generated based on the target operating parameter. The servo system is then controlled according to the braking curve to complete the emergency braking. After the emergency braking is completed, the operating curve is updated. Specifically, the process of generating the braking curve based on the target operating parameter involves time-optimal planning of the second-order integral chain (jerk-acceleration-velocity) from the current operating parameter to the target operating parameter under multiple constraints (maximum jerk value, maximum acceleration, maximum deceleration).

[0036] Step 103: Using the current operating parameters as the starting operating parameters and the peak speed as the ending operating parameter, determine the operating curve for the acceleration phase; using the peak speed as the constant speed, determine the operating curve for the uniform speed phase; using the peak speed as the starting operating parameter and combining it with the ending operating parameter, determine the operating curve for the deceleration phase; based on the operating curves for the acceleration phase, the uniform speed phase, and the deceleration phase, determine the updated operating curve, and control the servo system according to the updated operating curve.

[0037] In this embodiment, after determining the peak speed, the operation curves for the acceleration and deceleration phases can be planned separately. For the acceleration phase, the current operating parameters (current speed, acceleration, etc.) can be used as the starting operating parameters, and the peak speed as the ending operating parameter. Time-optimal control planning based on a second-order integral chain (jerk-acceleration-speed) under multiple constraints (jerk limit, maximum acceleration) can be performed to obtain the acceleration phase's operation curve. For the deceleration phase, the peak speed can be used as the starting operating parameter, combined with the ending operating parameter (which could be speed 0, acceleration 0), to perform time-optimal control planning based on a second-order integral chain (jerk-acceleration-speed) under multiple constraints (jerk limit, maximum deceleration) to obtain the deceleration phase's operation curve. Finally, by sequentially combining the acceleration phase curve, the constant speed phase curve (with the peak speed as a constant speed), and the deceleration phase curve, a complete acceleration curve, i.e., the updated operation curve, is obtained. Controlling the servo system according to the updated operation curve ensures that the servo system's operating parameters meet the target operating parameters.

[0038] The method provided in this application, when planning the operating curve of a servo system, can monitor changes in target operating parameters during the process of controlling the servo system according to initial operating parameters, and perform online operating curve planning based on the target operating parameters. During the operating curve planning process, the peak speed can be determined first based on the changed target operating parameters. Then, based on the peak speed, the entire operating curve is divided into acceleration, constant speed, and deceleration segments. This decomposes the time-optimal planning process of a third-order integral chain under multiple constraints into two time-optimal planning processes of second-order integral chains under multiple constraints, effectively reducing the difficulty and computational load of operating curve planning and improving the planning efficiency. Furthermore, this efficient planning method can be applied to scenarios where parameters change during servo system operation, enabling rapid deployment and real-time online updates in engineering applications.

[0039] The embodiments described above introduce a scheme for determining whether emergency braking is necessary when the target operating parameter is a braking risk parameter. In another embodiment of this application, when the target operating parameter is speed (i.e., target speed), emergency braking is determined by comparing multiple speed parameters. For example, the "emergency braking determination based on target operating parameters" mentioned above includes the following steps: Based on the initial operating parameters and the target speed, a first critical speed is determined; the first critical speed characterizes the maximum speed of the servo system under the maximum jerk constraint; the initial speed and target speed, the initial speed and target negative speed, the first critical speed and target speed, and the first critical speed and target negative speed are compared; if the initial speed is greater than or equal to the target negative speed and less than or equal to the target speed, and the first critical speed is greater than or equal to the target negative speed and less than or equal to the target speed, the initial operating curve is updated; otherwise, a braking curve is generated based on the target speed, and the servo system is controlled according to the braking curve.

[0040] Furthermore, generating a braking curve based on the target speed includes: generating a braking curve with the target speed as the termination speed when the initial speed, target speed, and first critical speed meet a first condition; and generating a braking curve with the target negative speed as the termination speed when the initial speed, target speed, and first critical speed meet a second condition. The first condition includes: the initial velocity being greater than the target velocity, and the first critical velocity being greater than the target negative velocity; or, the initial velocity being less than or equal to the target velocity, and the initial velocity being less than the target negative velocity, and the first critical velocity being greater than the target velocity; or, the initial velocity being less than or equal to the target velocity, and greater than or equal to the target negative velocity, and the first critical velocity being greater than the target velocity. The second condition includes: the initial velocity being greater than the target velocity, and the first critical velocity being less than or equal to the target negative velocity; or, the initial velocity being less than or equal to the target velocity, and greater than or equal to the target negative velocity, and the first critical velocity being less than or equal to the target velocity, and the first critical velocity being less than or equal to the target negative velocity.

[0041] The specific implementation process of the embodiments of this application is as follows: Figure 7 As shown, the first critical velocity is calculated according to the above formula (1). Then, the initial velocity and the target velocity are compared to determine whether deceleration is required.

[0042] If the initial velocity is greater than the target velocity (i.e., v0 > V) t In cases where deceleration is required, a further comparison is made between the first critical velocity and the target negative velocity. If the first critical velocity is greater than the target negative velocity (i.e., v...), then... c1 >-Vt This means that the vehicle can smoothly decelerate to the target speed without exceeding the limit. Therefore, the ending speed can be set as the target speed, i.e., v. end = V t If the first critical velocity is less than or equal to the target negative velocity (i.e., v), c1 ≤-V t If so, the ending speed needs to be set to the reverse value of the target speed, i.e., v. end =-V t .

[0043] If the initial velocity is less than or equal to the target velocity (v0≤V) t This means that without deceleration, the initial velocity and the target negative velocity are further compared. If the initial velocity is less than the target negative velocity (v0 < -V), then... t Then, the first critical velocity and the target velocity are further compared. If the first critical velocity is greater than the target velocity (i.e., v), then... c1 >V t If the final speed is set to the target speed, then v is the final speed. end = V t If the first critical velocity is less than or equal to the target velocity (i.e., v), c1 ≤V t If the final velocity is set to the negative velocity of the target, then v end = -V t That is, if the current (initial) velocity has already reversed and its absolute value is very large, only when the first critical velocity v... c1 Only when it is large enough is it allowed to continue moving towards the target velocity V. t Transition; otherwise, force to set to V t To prevent it from getting out of control.

[0044] The initial velocity is less than or equal to the target velocity (v0≤V) t In other words, without needing to decelerate, the result of comparing the initial velocity and the target negative velocity is that the initial velocity is greater than or equal to the target negative velocity (v0 ≥ -V). t When the first critical velocity is greater than the target velocity (i.e., v), the first critical velocity is further compared with the target velocity. c1 >V t If the final speed is set to the target speed, then v is the final speed. end = V t If the first critical velocity is less than or equal to the target velocity (i.e., v), c1 ≤V t Then, the first critical velocity and the target negative velocity are further compared. If the first critical velocity is less than the target negative velocity (i.e., v), then... c1 <-V tIf the final velocity is set to the negative velocity of the target, then v end = -V t If the first critical velocity is greater than or equal to the target negative velocity (i.e., v), c1 ≥-V t If the target speed is reached, it is determined that the servo system does not need to perform emergency braking, and therefore the initial running curve is updated directly based on the target speed.

[0045] The embodiments described above introduce a scheme for determining whether emergency braking is necessary when the target operating parameter is a braking risk parameter. In another embodiment of this application, when the target operating parameter is the maximum acceleration (i.e., the target acceleration), emergency braking is determined by comparing the velocity parameters under acceleration constraints. For example, the "emergency braking determination based on target operating parameters" mentioned above includes the following steps: The initial acceleration and target acceleration are compared. If the initial acceleration is less than or equal to the target acceleration, the initial running curve is updated. If the initial acceleration is greater than the target acceleration, a braking curve is determined based on the initial running parameters and the target acceleration. The second critical speed characterizes the maximum speed of the servo system under a negative maximum jerk constraint. If the second critical speed is greater than the target speed, a braking curve is generated with the target speed as the termination speed. If the second critical speed is less than or equal to the target speed, a braking curve is generated with the second critical speed as the termination speed.

[0046] The specific implementation process of the embodiments of this application is as follows: Figure 8 As shown, the initial acceleration and the target acceleration are compared to determine whether the initial (current) acceleration has exceeded the system's maximum allowable acceleration limit. This is done when the initial acceleration is less than or equal to the target acceleration (i.e., a0 ≤ a). max The system determines that the servo system does not need to perform emergency braking, and therefore updates the initial running curve directly based on the target acceleration.

[0047] When the initial acceleration is greater than the target acceleration (i.e., a0>a) max This indicates that the current acceleration is too high and emergency braking is required. Furthermore, based on the initial operating parameters and the target acceleration, the second critical velocity is calculated according to the following formula (2): (2) Then, the second critical velocity and the target velocity are compared. If the second critical velocity is greater than the target velocity (i.e., v), the result is determined by the comparison between the second critical velocity and the target velocity. c2 >V tThis indicates that even under maximum braking force, the minimum speed achievable by the servo system is still greater than the target speed, meaning the braking is not complete. Therefore, the final speed is set as the target speed, i.e., v. end = V t A braking curve is generated based on the target speed, and the servo system is subjected to emergency braking according to the braking curve.

[0048] If the second critical velocity is less than or equal to the target velocity (i.e., v) c2 ≤V t This indicates that exceeding the acceleration limit will not lead to exceeding the speed limit. Therefore, only the acceleration exceeding the limit issue needs to be addressed, i.e., controlling the servo system to perform emergency braking according to the second critical speed under the target acceleration constraint. In other words, the ending speed is set as the second critical speed, i.e., v. end = v c2 A braking curve is generated based on the second critical speed, and the servo system is subjected to emergency braking according to the braking curve.

[0049] The embodiments described above introduce a scheme for determining whether emergency braking is necessary when the target operating parameter is a braking risk parameter. In another embodiment of this application, when the target operating parameter is the maximum deceleration (i.e., the target deceleration), emergency braking is determined by comparing the speed parameters under deceleration constraints. For example, the "emergency braking determination based on target operating parameters" mentioned above includes the following steps: The initial acceleration and target deceleration are compared. If the initial acceleration is greater than or equal to the target deceleration, the initial running curve is updated. Based on the initial running parameters and the target deceleration, the third critical speed is determined. The third critical speed represents the minimum speed of the servo system under the maximum acceleration constraint. If the third critical speed is less than the target negative speed, the braking curve is generated with the target negative speed as the termination speed. If the third critical speed is greater than or equal to the target negative speed, the braking curve is generated with the third critical speed as the termination speed.

[0050] The specific implementation process of the embodiments of this application is as follows: Figure 9 As shown, the initial acceleration and target deceleration are compared to determine whether the current deceleration (the absolute value of the initial acceleration, hereinafter referred to as the initial acceleration) exceeds the system's maximum allowable deceleration limit. This is done when the initial acceleration is greater than or equal to the target deceleration (i.e., a0 ≥ -d). max The system determines that the servo system does not need to perform emergency braking, and therefore updates the initial running curve directly based on the target deceleration.

[0051] When the initial acceleration is less than the target deceleration (i.e., a0 < -d) maxThis indicates that the current deceleration is too large. Therefore, the minimum speed (i.e., the third critical speed) of the servo system under the maximum jerk constraint is further calculated according to the following formula (3) to evaluate the braking margin: (2) Then, the third critical velocity and the target negative velocity are compared. If the third critical velocity is less than the target negative velocity (i.e., v), the result is determined by the comparison between the third critical velocity and the target negative velocity. c3 <-V t This indicates that even under the limits of maximum acceleration and maximum deceleration, the speed will still drop below the reverse value of the target speed (severe overshoot). Therefore, the final speed is set to the negative target speed, i.e., v. end =-V t Based on the target negative velocity, a braking curve is generated, and the servo system is subjected to emergency braking according to the braking curve.

[0052] If the third critical velocity is greater than or equal to the target negative velocity (i.e., v) c3 ≥-V t This indicates that the current deceleration is within a controllable range and the speed will not fall below the reverse value of the target speed. Therefore, the final speed is set as the third critical speed, i.e., v. end = v c3 A braking curve is generated based on the third critical speed, and the servo system is subjected to emergency braking according to the braking curve.

[0053] In summary, the online planning method for operating curves provided in the embodiments of this application is described, including as follows: Figure 10 The steps shown are as follows: The servo system is controlled according to the initial operating curve. When a change in the target operating parameter is detected (S-curve parameter update judgment), the validity of the target operating parameter is judged (valid parameter update judgment).

[0054] If the validity judgment result indicates that the change of the target operating parameter has a valid impact on the initial operating curve (set the valid parameter update flag), if the target operating parameter is an invalid braking parameter, or the emergency braking process of the servo system has been completed (set the automatic parameter update flag), then the servo system is overshoot judged, the peak speed search interval is determined according to the overshoot judgment result (normal S-curve planning), and the peak speed is iteratively searched in the peak speed search interval using the bisection method to determine the peak speed of the operating curve (peak speed search).

[0055] Using the current operating parameters as the starting operating parameters and the peak speed as the ending operating parameter, determine the operating curve for the acceleration phase; using the peak speed as the constant speed, determine the operating curve for the uniform speed phase; using the peak speed as the starting operating parameter and combining it with the ending operating parameter, determine the operating curve for the deceleration phase; based on the operating curves of the acceleration phase, the uniform speed phase, and the deceleration phase, determine the updated operating curve, and control the servo system according to the updated operating curve (S-curve parameter solution and update).

[0056] If the validity assessment result indicates that the target operating parameters have a valid impact on changes to the initial operating curve, and if the target operating parameters are braking risk parameters, an emergency braking judgment is made based on the target operating parameters. If the emergency braking judgment result indicates that emergency braking processing of the servo system is required, a braking curve is generated based on the target operating parameters, and the servo system is controlled according to the braking curve. The system is then monitored to determine if the operating time reaches the operating time T corresponding to the braking curve. emg This is to determine whether to continue braking (emergency braking).

[0057] The planning of operating parameters should refer to the following formula:

[0058]

[0059]

[0060]

[0061]

[0062]

[0063]

[0064]

[0065] in, These represent the displacement, velocity, and acceleration corresponding to different stages t.

[0066] The following example uses specific numbers: Given a target speed of 500 / (2 pi)rpm, maximum acceleration 10 / (2 pi)rad / Maximum deceleration 20 / (2 pi)rad / The maximum jerk value is 500 / (2 pi)rad / (of which 2) pi is a scaling factor calculated internally by the program and is a constant); given Given .

[0067] 1. Since the effective interval for position updates is any time, therefore, given... If the condition is determined to affect curve planning and the system is not currently in an emergency braking state, the "valid parameter update flag" is set.

[0068] 2. Determine whether emergency braking is valid. Since the target position is being updated, the emergency braking determination fails, and the normal S-curve planning is resumed.

[0069] 3. Read the initial and final states.

[0070] 4. Overshoot Detection: Based on the constraints of the maximum jerk value, maximum acceleration value, and maximum deceleration value, and given the initial velocity and initial acceleration, and setting the final velocity and final acceleration to 0, construct the corresponding trapezoidal acceleration curve and calculate the corresponding displacement. The displacement difference is The displacement direction is positive and Therefore, the overshoot type is positive overshoot. 5. Determine the peak velocity search interval: Substitute the ending velocity as the target velocity and the ending acceleration as 0, construct the corresponding trapezoidal acceleration curve, and calculate the displacement corresponding to the target velocity. ,because Therefore, it can be determined that the S-curve has no uniform velocity segment in this case. The peak speed search range is determined as follows:

[0071] 6. The bisection iterative process involves setting an iteration threshold.

[0072] The iteration errors are given below. and iteration speed ,in This represents the iterative displacement corresponding to the iterative velocity.

[0073] The final iteration error was 0.00005, which was less than the iteration constraint. The corresponding peak velocity converged to 4.5748558 rad / s, and the iteration process ended.

[0074] like Figure 11The iteration error data (unit: rad) is shown below: 6.1711 3.3037 1.5714 0.6307 0.1416 -0.1576 0.0174 -0.0450 -0.0138 0.0018 -0.0060 -0.0021 -0.0001 0.0008 0.0004 0.0001 0.00005 like Figure 12 The iterative velocity data (unit: rad / s) shown are: 2.8188 3.7379 4.1974 4.4272 4.5421 4.5996 4.5709 4.5852 4.5780 4.5744 4.5762 4.5753 4.5749 4.5747 4.5848 4.57484 4.574869 4.5748558 7. Determine all parameters required to construct the S-curve:

[0075]

[0076]

[0077]

[0078]

[0079]

[0080]

[0081]

[0082] Based on the above parameters, a time-optimal planning process based on a second-order integral chain is performed, with the time interval... as follows: Corresponding time segments According to The calculations obtained in the above embodiments will not be elaborated here. At this point, the S-curve planning is complete.

[0083] It should be noted that although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0084] The following is for reference. Figure 13 It shows a schematic diagram of the structure of a computer system 500 suitable for implementing terminal devices or servers in the embodiments of this application.

[0085] like Figure 13 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 502 or programs loaded from storage section 508 into random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of the system 500. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0086] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. A removable medium 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 510 as needed so that computer programs read from it can be installed into storage section 508 as needed.

[0087] In particular, according to embodiments of this disclosure, the above references Figure 2 The described process can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing instructions for performing... Figure 2 The program code for the method. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable media 511.

[0088] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0089] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0090] The units or modules described in the embodiments of this application can be implemented in software or hardware. The described units or modules can also be located in a processor. The names of these units or modules do not, in certain circumstances, constitute a limitation on the unit or module itself.

[0091] On the other hand, this application also provides a computer-readable storage medium, which may be included in the computer device described in the above embodiments, or may exist independently and not assembled into the computer device. The aforementioned computer-readable storage medium stores one or more programs that, when used by one or more processors, execute the methods described in this application. For example, it may execute... Figure 2 The steps of the method shown.

[0092] This application provides a computer program product including instructions that, when executed, cause the method described in this application to be performed. For example, it can execute... Figure 2 The steps of the method shown.

[0093] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0094] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method for online planning of operating profiles, characterized in that Applied to a servo system, the method includes: The servo system is controlled according to the initial operating curve, and when the target operating parameters are detected to have changed, the validity of the target operating parameters is judged. If the validity judgment result indicates that the target operating parameter has an effective impact on the change of the initial operating curve, and if the target operating parameter is an ineffective braking parameter, or if the emergency braking process of the servo system has been completed, then the servo system is subjected to overshoot judgment, the peak speed search interval is determined according to the overshoot judgment result, and the peak speed of the operating curve is determined in the peak speed search interval. Using the current operating parameters as the starting operating parameters and the peak speed as the ending operating parameter, the operating curve for the acceleration phase is determined; using the peak speed as the constant speed, the operating curve for the uniform speed phase is determined; using the peak speed as the starting operating parameter and combining it with the ending operating parameter, the operating curve for the deceleration phase is determined; based on the operating curves of the acceleration phase, the uniform speed phase, and the deceleration phase, an updated operating curve is determined, and the servo system is controlled according to the updated operating curve.

2. The method according to claim 1, characterized in that, The step of performing overshoot judgment on the servo system based on target operating parameters, determining the peak speed search interval based on the overshoot judgment result, and determining the peak speed of the operating curve within the peak speed search interval includes: The target displacement of the servo system is determined by using the current operating parameters as the initial operating parameters and combining them with the preset termination parameters. If the target residual displacement of the servo system is greater than 0, and the target displacement is less than or equal to the target residual displacement, then it is determined that the servo system does not overshoot in the positive direction, and the peak speed search interval is determined to be a closed interval from the first critical speed to the target speed. If the target displacement is greater than the target remaining displacement, then the servo system is determined to have a positive overshoot, and the peak speed search interval is determined to be a closed interval from the target negative speed to 0. If the target residual displacement of the servo system is less than or equal to 0, and the target displacement is greater than or equal to the target residual displacement, then it is determined that the servo system does not overshoot in the reverse direction, and the peak speed search interval is determined to be a closed interval from the target negative speed to the first critical speed. If the target displacement is less than the target remaining displacement, then the servo system is determined to have reverse overshoot, and the peak speed search interval is determined to be a closed interval from 0 to the target speed.

3. The method according to claim 1, characterized in that, When the target operating parameter is a braking risk parameter, the method further includes: An emergency braking judgment is made based on the target operating parameters. If the emergency braking judgment result indicates that the servo system needs to be subjected to emergency braking, a braking curve is generated based on the target operating parameters, and the servo system is controlled according to the braking curve.

4. The method according to claim 3, characterized in that, When the target operating parameter is speed, the emergency braking determination based on the target operating parameter includes: Based on the initial operating parameters and the target speed, a first critical speed is determined; the first critical speed characterizes the maximum speed of the servo system under the maximum jerk constraint. Compare the initial velocity with the target velocity, the initial velocity with the target negative velocity, the first critical velocity with the target velocity, and the first critical velocity with the target negative velocity; If the initial speed is greater than or equal to the target negative speed and less than or equal to the target speed, and the first critical speed is greater than or equal to the target negative speed and less than or equal to the target speed, the initial running curve is updated. Otherwise, a braking curve is generated based on the target speed, and the servo system is controlled according to the braking curve.

5. The method according to claim 4, characterized in that, The generation of the braking curve based on the target speed includes: If the initial speed, target speed, and first critical speed satisfy a first condition, a braking curve is generated with the target speed as the termination speed; the first condition includes that the initial speed is greater than the target speed and the first critical speed is greater than the target negative speed; or, the initial speed is less than or equal to the target speed and the initial speed is less than the target negative speed and the first critical speed is greater than the target speed; or, the initial speed is less than or equal to the target speed and greater than or equal to the target negative speed and the first critical speed is greater than the target speed. If the initial speed, target speed, and first critical speed satisfy a second condition, a braking curve is generated with the target negative speed as the termination speed. The second condition includes: the initial speed is greater than the target speed, and the first critical speed is less than or equal to the target negative speed; or, the initial speed is less than or equal to the target speed, and the initial speed is less than the target negative speed, and the first critical speed is less than or equal to the target speed; or, the initial speed is less than or equal to the target speed, and greater than or equal to the target negative speed, and the first critical speed is less than or equal to the target speed, and the first critical speed is less than the target negative speed.

6. The method according to claim 3, characterized in that, When the target operating parameter is the maximum acceleration, the emergency braking determination based on the target operating parameter includes: The initial acceleration and the target acceleration are compared, and the initial running curve is updated if the initial acceleration is less than or equal to the target acceleration. When the initial acceleration is greater than the target acceleration, a second critical speed is determined based on the initial operating parameters and the target acceleration; the second critical speed characterizes the maximum speed of the servo system under a negative maximum jerk constraint. When the second critical speed is greater than the target speed, a braking curve is generated with the target speed as the termination speed; If the second critical speed is less than or equal to the target speed, a braking curve is generated with the second critical speed as the termination speed.

7. The method according to claim 3, characterized in that, When the target operating parameter is the maximum deceleration, the emergency braking judgment based on the target operating parameter includes: The initial acceleration and target deceleration are compared, and the initial running curve is updated if the initial acceleration is greater than or equal to the target deceleration. Based on the initial operating parameters and the target deceleration, the third critical speed is determined; the third critical speed characterizes the minimum speed of the servo system under the maximum jerk constraint. When the third critical speed is less than the target negative speed, the braking curve is generated with the target negative speed as the termination speed; When the third critical speed is greater than or equal to the target negative speed, a braking curve is generated with the third critical speed as the termination speed.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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