Drive Trajectory Generation With Jerk Limits on Microcontrollers
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Solution Overview
Problem
Existing methods for automatically generating jerk-limited movement profiles are complex and not suitable for implementation on compact microcontrollers, requiring extensive code and complex mathematical calculations, making them inefficient for simple applications and resource-constrained systems.
Innovation Solution
A computer-aided method for calculating trajectories that minimizes calculation time and memory usage, using a simple algorithm to determine center velocity and optimize trajectory time while adhering to velocity, acceleration, and jerk limits, allowing for efficient implementation on microcontrollers with a minimal code structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If complex mathematical calculations and decision trees are used to generate jerk-limited trajectories, then trajectory accuracy and compliance with movement limits are improved, but device complexity and code requirements increase significantly
Solution Approach 1:
The patent replaces complex, reusable mathematical models with simple, disposable lookup tables containing pre-calculated trajectory parameters. These tables are generated once offline and then used directly during runtime without complex calculations, effectively trading offline computation for online simplicity.
Solution Approach 2:
The patent performs all complex trajectory calculations in advance during system setup or offline programming, storing the results in lookup tables. During actual operation, the controller simply retrieves pre-computed values rather than performing real-time mathematical optimizations, eliminating runtime complexity.
2Productivity
If comprehensive trajectory optimization algorithms are implemented, then trajectory time is minimized and productivity increases, but memory requirements and processor load increase
Solution Approach 1:
The patent uses lightweight lookup tables with minimal memory footprint instead of comprehensive optimization algorithms. The tables store only essential trajectory parameters (position, velocity, acceleration, jerk) at discrete time points, requiring minimal memory while enabling fast retrieval during execution.
Solution Approach 2:
The patent implements a simplified version of trajectory optimization that captures the most critical aspects (jerk limitation and time minimization) while omitting less critical optimizations. This partial optimization approach achieves sufficient productivity improvement without the full computational burden.
3Ease of operation
If jerk-limited movement profiles are generated with minimal code, then ease of operation and implementation simplify, but calculation accuracy may be compromised
Solution Approach 1:
The patent uses simple lookup tables that can be implemented with minimal code while maintaining accuracy through careful offline generation of the table data. The tables contain pre-calculated values that ensure jerk limitation compliance without requiring complex runtime algorithms.
Solution Approach 2:
The lookup tables are generated automatically using offline software tools that perform the complex calculations once, then store the results for automatic retrieval during operation. This self-service approach transfers the computational burden from runtime to setup time, simplifying implementation.
Data Source
AI summary
A method and a trajectory generator are provided which automatically generate a trajectory, which is converted into control signals (sd) for the purpose of controlling a drive system. The control signals (sd) are used to control actuators of the drive system to carry out the movement according to the calculated trajectory. The method is implemented on a microcontroller (μC) and has a very short runtime and a low memory requirement.