CN106168790A - A kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position - Google Patents
A kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position Download PDFInfo
- Publication number
- CN106168790A CN106168790A CN201610116683.6A CN201610116683A CN106168790A CN 106168790 A CN106168790 A CN 106168790A CN 201610116683 A CN201610116683 A CN 201610116683A CN 106168790 A CN106168790 A CN 106168790A
- Authority
- CN
- China
- Prior art keywords
- acceleration
- speed
- deceleration
- formula
- accelerating sections
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 178
- 230000008859 change Effects 0.000 title claims abstract description 62
- 230000001133 acceleration Effects 0.000 claims abstract description 199
- 230000008569 process Effects 0.000 claims abstract description 90
- 238000005070 sampling Methods 0.000 claims abstract description 64
- 238000006073 displacement reaction Methods 0.000 claims description 108
- 230000033001 locomotion Effects 0.000 claims description 93
- 238000004364 calculation method Methods 0.000 claims description 25
- 238000012545 processing Methods 0.000 claims description 25
- 230000006870 function Effects 0.000 claims description 21
- 230000036461 convulsion Effects 0.000 claims description 14
- 238000004458 analytical method Methods 0.000 claims description 9
- 238000012508 change request Methods 0.000 claims description 4
- 239000004576 sand Substances 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 238000000205 computational method Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000004422 calculation algorithm Methods 0.000 abstract description 30
- 238000012937 correction Methods 0.000 abstract description 4
- 239000006185 dispersion Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 27
- 238000006467 substitution reaction Methods 0.000 description 12
- 238000009795 derivation Methods 0.000 description 7
- 230000011664 signaling Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000004899 motility Effects 0.000 description 5
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34169—Coarse interpolator, path calculator delivers position, speed, acceleration blocks
Abstract
The present invention proposes a kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position.The method includes: boost phase speed planning；Decelerating phase speed planning；Constant velocity stage's speed planning；Actual deceleration point prediction；Maximal rate processes；Distance Remaining compensates；Online change target velocity algorithm；Online change target location algorithm.Take the speed planning method of plus/minus speed dispersion, and combine user and input parameter and calculate the operation time in seven periods of speed planning stages respectively.Foundation peak acceleration and maximal rate, whether up to criterion, simultaneously take account of the plus/minus acceleration after discretization, plus/minus speed and final positionLTo the sampling periodT s Round problem, to reality up to maximum plus/minus acceleration, plus/minus speed and feed rate correction.The present invention greatly simplifies original computing formula and saves a large amount of Computing times, and Distance Remaining takes disposable compensation method in moderating process.
Description
Technical field
The invention belongs to motion control field, specifically the realization of kinetic control system sigmoid curve Acceleration-deceleration Control Method
Method.
Background technology
Motor control is the key technology that digital control system is achieved, and good Acceleration-deceleration Control Method can be prevented effectively from number
There are the phenomenons such as impact, step-out or vibration in control equipment moving process.High speed and high precision processing is an important development of digital control processing
Direction, had both required Digit Control Machine Tool fast reaction, reached command speed in the short time；Also require that course of processing motion is the most flat simultaneously
Surely, impact little.Therefore, on the basis of ensureing that machine tool motion is smoothly, how to realize processing transition shortest time as target
Optimum feed speed control rule so that Digit Control Machine Tool has the acceleration and deceleration characteristic meeting high speed and high precision processing requirement, is motion control
One of critical problem in area research processed.
Acceleration-deceleration Control Method conventional in digital control system has: T-shaped acceleration and deceleration (also known as linear type acceleration and deceleration), exponential type add
Deceleration, trigonometric function acceleration and deceleration and S-shaped acceleration and deceleration.T-shaped acceleration and deceleration algorithm have algorithm simply, the shortest and easy realization etc. excellent
Point, but accelerating curve is discontinuous, there is velocity jump, easily occurs that various vibrations and noise, machine tool motion exist flexibility punching
Hit, it is adaptable to low speed less demanding to kinematic accuracy, the digital control system of low cost.Exponential type acceleration and deceleration algorithm flatness compares T
Shape acceleration and deceleration to be got well, and kinematic accuracy is high, but its algorithm is complicated, and computing is the longest, acceleration and deceleration beginning and end sudden change of acceleration, with
There is soft impulse in sample.Trigonometric function acceleration and deceleration rule can realize the motion smoothed, but owing to the calculating of trigonometric function is multiple
Miscellaneous, it is impossible to meet digital control system requirement of real-time, it is necessary to process it in advance, the form as several tables deposits in internal memory,
Realize by the way of tabling look-up；It addition, current trigonometric function acceleration and deceleration are then due to for ensureing that speed line style cannot give full play to
Acceleration, the advantage of acceleration maximum permissible value, cause speed cannot reach expected value in short period, distance.S-shaped is bent
Line Acceleration-deceleration Control Method has stable movement without impact, the advantage such as accelerating curve is continuous, rate curve is smooth, the highest
Polish occasion is especially suitable, such as robot control system, quasiconductor paster packaging control system etc..Meanwhile, sigmoid curve plus-minus
Speed control method planning process is considerably complicated, and operation time is long, how the computing formula of reduced programming process and reduce algorithm
Operation time is domestic and international expert and the long-term focus of attention of scholar.
Current less data and document S-shaped acceleration and deceleration algorithm is changed online target velocity and position functions extension
Research and discussion, and in some application scenario, the function of online change target velocity and position is particularly important, as quasiconductor pastes
Sheet Packaging Industry, online change target velocity and position expanded function can greatly be saved the dry running time of equipment, and be strengthened
The motility of digital control system, can meet the application demand of more users group.
S-shaped Acceleration-deceleration Control Method plus/minus speed dispersionization processes and brings problems, it is necessary to assure the operation in each stage
Time (n1, n2, n3, n4, n5, n6, n7) and sampling period TsIntegral multiple relation, therefore need to actual plus/minus acceleration, plus/minus
Speed recalculates and revises, and to ensure after feed speed control computing, moving target position can accurately arrive.Pass
The S-shaped acceleration and deceleration algorithm of system there is also computing formula complexity, actual deceleration point prediction calculates time-consuming, Distance Remaining multicycle compensation
Etc. problem.
Summary of the invention
For above-mentioned weak point present in prior art, the technical problem to be solved in the present invention is to provide a kind of online
Changing target velocity and the S-shaped Acceleration-deceleration Control Method of position in real time, S-shaped Acceleration-deceleration Control Method proposed by the invention can be expired
Foot high speed and high precision processing is to running that the time is short, stable movement, speed are smooth, want without acceleration and deceleration characteristics such as impact and precision are high
Ask.S-shaped Acceleration-deceleration Control Method is changed online target velocity and position functions extension, enhances the function of digital control system
And improve its motility, the application demand of more users group can be met；S-shaped Acceleration-deceleration Control Method realizes process to plus/minus speed
Line of writing music carries out sliding-model control, and derives the speed of simplification according to the integral relation between plus/minus speed, speed and displacement
With the recursive calculative formula of displacement, saving-algorithm operation time；The Distance Remaining bringing discretization takes disposable compensation
Method, reduces operand and saves interpolation cycle number.
For achieving the above object, the technical scheme that the present invention takes is as follows.
A kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position, input parameter for user: motion is total
Displacement L, starting velocity fs, maximal rate F, terminate speed fe, peak acceleration A, maximum deceleration D, acceleration Jacc, subtract and add
Speed JdecWith interpolation sampling period Ts, proceed as follows:
(1) first carry out initializing and divided stages process:
Take acceleration region I, at the uniform velocity region II and decelerating area III syllogic divided stages processing mode that sigmoid curve is entered
Row plus/minus speed dispersionization processes, specific as follows:
1) whether acceleration region I acceleration sliding-model control process, divide situation to calculate up to criterion according to peak acceleration A
Obtain adding accelerating sections 1., 2. even accelerating sections and subtract accelerating sections actual interpolation cycle number 3. and be respectively n1、n2、n3；
2) whether decelerating area III deceleration sliding-model control process, divide situation meter up to criterion according to maximum deceleration D
Calculate obtain accelerating and decelerating part 5., 6. even braking section and subtract braking section actual interpolation cycle number 7. and be respectively n5、n6、n7；
3) 1. precalculate the most in real time from the beginning of present speed and current acceleration with even accelerating sections according to adding accelerating sections, warp
Over subtraction accelerating sections 3. after maximum speed value V that can arrivem, calculate Distance Remaining L the most in real timer, once predict and meet simultaneously
Vm＞ F and Lr>VmCondition, then next cycle enter at the uniform velocity section 4., along with at the uniform velocity section periodicity n 4.4Often increase by a week
Phase, current displacement LcurIncrease maximal rate V therewithmDistance, Distance Remaining LrConstantly reduce；Work as Lr<VmTime enter subtract
Speed region III carries out deceleration process, at the uniform velocity section periodicity n 4.4Determine；
(2) then carry out actual deceleration point prediction, judge reality by calculating deceleration distance in real time with path Distance Remaining
Border deceleration point, current acceleration and deceleration process be in add accelerating sections 1. or even accelerating sections 2. time, in order to ensure the seriality of acceleration,
The distance i.e. accelerating and decelerating part that now deceleration distance of indication is passed by except including decelerating area III displacement L 5.5, even braking section
6. displacement L6With subtract braking section displacement L 7.7In addition, also should include subtracting accelerating sections displacement L 3.3；
(3) according to the integral relation between plus/minus acceleration j (t), plus/minus speed a (t), speed f (t) and displacement s (t)
The real-time interpolation carrying out each segment calculates, and the current shift value of real-time update, velocity amplitude, accekeration and Distance Remaining value；
Real-time interpolation carries out end point judging process before calculating simultaneously, to ensure the accurate arrival in final position.
The present invention extends online change target velocity and position functions, can meet user and change in real time in motor process
Target velocity and the requirement of position, it is allowed to target velocity and position are varied multiple times.
Below the explanation again technical scheme carried out further preferably or implement.
(1) the speed planning principle of sigmoid curve Acceleration-deceleration Control Method
On the premise of moving displacement long enough, the process of S-shaped Acceleration-deceleration Control Method proposed by the invention can be divided into
Acceleration region I, at the uniform velocity region II and decelerating area III.Acceleration region I can be further divided into add accelerating sections 1., even accelerating sections 2. and
Subtract accelerating sections 3.；In like manner decelerating area III also can be sub-divided into accelerating and decelerating part 5., even braking section 6. and subtract braking section 7.；Whole even
4. speed region II is made up of at the uniform velocity section.The input parameter of S-shaped Acceleration-deceleration Control Method proposed by the invention includes: total position of moving
Move L, starting velocity fs, maximal rate F, terminate speed fe, peak acceleration A, maximum deceleration D, acceleration Jacc, subtract acceleration
Degree JdecWith interpolation sampling period Ts.According to S curve acceleration and deceleration motion equation understand, plus/minus speed a (t), speed f (t) with
There is relationship below in displacement s (t) and time:
In formula (1), t is time coordinate, tiRepresenting the transition point moment of each motion stage, i represents speed planning process
Each motion stage, i=1～7, i are integer；τiRepresent the local time with the starting point of each motion stage as time zero
Coordinate, i.e. τi=t-ti-1, i represents each motion stage of speed planning process, and i=1～7, i are integer；Plus/minus acceleration j
(ti) it is the piecewise function with the time as variable:
In formula (2), JiRepresenting the plus/minus acceleration of each motion stage, i represents each motion rank of speed planning process
Section, i=1～7, i are integer, wherein J2=J4=J6=0.(2) formula is integrated, plus/minus speed a (t can be obtainedi) equation:
In formula (3), A and D represents peak acceleration and maximum deceleration respectively.Time integral can be derived speed by formula (3)
Degree f (ti) equation:
In formula (4), fiRepresenting the velocity amplitude that each motion stage end point reaches, i represents each fortune of speed planning process
In the dynamic stage, i=1～7, i are integer；F represents the maximum speed value that the accelerated region of motor process can arrive after accelerating, herein etc.
Maximal rate in user's input；TiRepresent the movement time (T of each motion stageiIt is required to be sampling period TsIntegral multiple), i
Representing each motion stage of speed planning process, i=1～7, i are integer.Displacement equation s (ti) can be by formula (4) to time integral
Try to achieve:
In formula (5), siRepresenting the displacement moved at the end of each motion stage, i represents each fortune of speed planning process
In the dynamic stage, i=1～7, i are integer；L represents motion total displacement.In order to subsequent calculations is convenient, provide motion bit in each stage
Shifting amount computing formula can be calculated by below equation group:
L in formula (6)iThe displacement moved in representing each motion stage, i represents each motion stage of speed planning process, i
=1～7, i are integer.
(2) speed planning divided stages
Maximum moment and the power limit that the limit of maximum plus/minus speed is usually from driving motor obtain, and reflect numerical control
The maximum acceleration and deceleration ability of servosystem；And the flexibility of maximum plus/minus acceleration reflection digital control servo system, with the acceleration time
(T1、T3、T5And T7) be inversely proportional to.If taking bigger plus/minus acceleration, then impact is big；Infinitely-great plus/minus is taken under limiting case
Acceleration, then sigmoid curve acceleration and deceleration deteriorate to T-shaped acceleration and deceleration；If taking little, then the acceleration and deceleration process time of system is long.Therefore user
Can choose according to being actually needed of system.General, the acceleration capacity of motor is the same with slowing down power(SDP), in order to simplify
Calculate, it is assumed that plus/minus speed is decreased to the time needed for 0 from 0 time increasing to maximum demand and plus/minus speed from maximum
It is equal, simultaneously takes account of boundary condition f7=feAnd s7=L, then be made up of vertical below equation:
In formula (7), JaccAnd JdecRepresent the jerk value of acceleration region I and decelerating area III respectively subtracts acceleration
Value.If 1. the interpolation cycle number after the 7 of sigmoid curve speed planning motion stage discretizations for adding accelerating sections n1, the evenest acceleration
Section n2, 3. subtract accelerating sections n3, the most at the uniform velocity section n4, 5. accelerating and decelerating part n5, the evenest braking section n67. braking section n is subtracted7.Given below respectively
The sliding-model control in individual region and the derivation of respective formula:
(1) acceleration region I sliding-model control
Acceleration region I include adding accelerating sections 1., even accelerating sections 2. and subtract accelerating sections 3..If adding accelerating sections interpolation cycle 1.
Number n1With subtract accelerating sections interpolation cycle number n 3.3There is following relation:
n3=n1-1 (8)
Can be obtained by formula (7):
In formula (9), x result of calculation is rounded up by ceil (x) expression.Due to n1For integer, when A cannot be by JaccDivide exactly
Time, the setting value original less than user in order to ensure revised actual acceleration and acceleration, need to be to the calculating of formula (9)
Result rounds up process.From formula (3), the i-th cycle after discretization adds accelerating sections and 1. and subtracts accelerating sections acceleration 3.
Degree can be calculated by formula (10) and (11) respectively:
aai=i × Jacc i∈[0,n1] (10)
adi=A-i × Jacc i∈[0,n3] (11)
In formula (10), aaiRepresent and add accelerating sections acceleration 1.；In formula (11), adiRepresent and subtract accelerating sections acceleration 3..
So, add accelerating sections 1. and to subtract accelerating sections speed increment summation 3. and can be calculated by formula (12):
In formula (12), Δ VaccRepresent that 1. add accelerating sections and subtracts accelerating sections speed increment summation 3..By formula (10) and (11)
Substitution formula (12), and simplify and can obtain:
Assume that in motor process, movement velocity can reach given maximal rate F, then from starting velocity fsIncrease to F's
Maximum permission speed increment can be calculated by formula (14):
ΔVamax=F-fs (14)
In formula (14), Δ VamaxRepresent F and fsDifference, i.e. acceleration region I allow maximal rate increment.By formula (13)
(14) result of calculation can obtain peak acceleration A whether up to criterion:
If Δ Vacc≥ΔVamax, then acceleration and deceleration process peak acceleration A is unreachable；Otherwise peak acceleration A can
Reach.Hereinafter discuss the most respectively:
a)ΔVacc≥ΔVamax, A is unreachable
Owing to peak acceleration A is unreachable, it is meant that 2. even accelerating sections lacks, i.e. n2=0.In view of formula (13) and
(14) accelerating sections actual interpolation cycle number 1., is addedCan be calculated as:
In order to ensure the actual interpolation cycle number after quantifyingFor sampling period TsIntegral multiple, it is necessary to add actual
Speed and actual acceleration are modified and rerun process, it may be assumed that
And ArealRepresent revised actual acceleration and acceleration respectively.From formula (8), acceleration region I from
2. even accelerating sections after dispersion and subtracts accelerating sections 3. interpolation cycle number and is respectively as follows:
b)ΔVacc＜ Δ Vamax, A up to
In this case, peak acceleration A up to, 2. even accelerating sections exists.From formula (3), even acceleration after discretization
Section speed increment 2. is:
n2×A (18)
Speed increment summation Δ V behind accelerated region I can be obtained according to formula (13)amaxCan be calculated by following formula:
ΔVamax=(n1+n2)×A (19)
If na=n1+n2, then formula (19) is rewritable is:
ΔVamax=na×A (20)
Then naActual value can be calculated as:
Actual acceleration A can be obtained by formula (20) and (7)real, add accelerating sections actual interpolation cycle number 1.Add with actual
AccekerationFor:
Therefore actual even accelerating sections actual interpolation cycle number 2. can be obtainedWith subtract accelerating sections actual interpolation cycle number 3.For:
To sum up, acceleration region I discretization process completes, and whether calculates two respectively up to criterion according to peak acceleration A
Kind of different situations (above-mentioned a, b) add accelerating sections 1., even accelerating sections 2. and subtract accelerating sections actual motion interpolation cycle number 3., and
To reality up to acceleration and acceleration be modified processing, with ensure actual up to acceleration and acceleration will not
Exceed user original value is set.
(2) decelerating area III sliding-model control
In like manner, decelerating area III include accelerating and decelerating part 5., even braking section 6. and subtract braking section 7..5. if accelerating and decelerating part
Interpolation cycle number n5With subtract braking section interpolation cycle number n 7.7Meet following relation:
n7=n5-1 (25)
In view of n5For being necessary for sampling period TsIntegral multiple, simultaneously in order to ensure actual to add up to deceleration value and subtracting
The setting value that velocity amplitude is original less than user, in like manner, when deceleration D can not be subtracted acceleration JdecWhen dividing exactly, need to be to n5Make to
On round process, can obtain according to formula (7):
In like manner, from formula (3) and (7), in decelerating area III, accelerating and decelerating part is 5. and to subtract braking section speed increment 7. total
With Δ VdecCan be calculated by following formula:
The speed reached after accelerating in view of motor process accelerated region I is maximal rate F, after slowing down in decelerating area III
Speed for terminate speed fe, then interior maximal rate increment Delta V allowed in decelerating area III can be obtaineddmaxFor:
ΔVdmax=F-fe (28)
In like manner, by formula (27) and (28) result of calculation can obtain maximum deceleration D whether up to criterion:
If Δ Vdec≥ΔVdmax, then acceleration and deceleration process maximum deceleration D is unreachable；Otherwise maximum deceleration D can
Reach.Hereinafter discuss the most respectively:
a)ΔVdec≥ΔVdmax, D is unreachable
In the case of this, decelerating area III only includes that 7. 5. accelerating and decelerating part and subtract braking section, there is not even braking section 6., therefore has
Utilizing formula (27) result of calculation, formula (28) is rewritable is:
Therefore the actual interpolation cycle number that accelerating and decelerating part is 5.For:
UtilizeCan obtain with formula (29) and revised actual subtract accekerationFor:
Historical facts or anecdotes border up to deceleration value DrealFor:
According to it is assumed above that relational expression (25) can subtract braking section actual interpolation cycle number 7.For:
b)ΔVdec＜ Δ Vdmax, D up to
In this situation, decelerating area III include accelerating and decelerating part 5., even braking section 6. and subtract braking section 7..Can by formula (3)
After knowing discretization, even braking section speed increment 6. is:
n6×D
Can be obtained by formula (27) again, speed increment summation Δ V in decelerating area IIIdmaxCan be calculated by following formula:
ΔVdmax=(n5+n6)×D (33)
If nd=n5+n6, formula (33) is rewritable is:
ΔVdmax=nd×D (34)
Can be obtained by formula (34):
Historical facts or anecdotes border is up to deceleration value DrealWith accelerating and decelerating part actual interpolation cycle number 5.For:
In like manner, actual accekeration is subtractedCan rerun into:
By nd=n5+n6Can obtain with formula (25), even braking section actual interpolation cycle number 6.With subtract braking section reality 7.
Border interpolation cycle numberFor:
To sum up, decelerating area III discretization process completes, and whether calculates two respectively up to criterion according to maximum deceleration D
The accelerating and decelerating part of kind of different situations (above-mentioned a, b) 5., even braking section 6. and subtract braking section actual motion interpolation cycle number 7., and
To actual deceleration degree with subtract accekeration and be modified processing, with ensure actual up to deceleration and subtract acceleration not over
What user was original arranges value.
(3) at the uniform velocity region II sliding-model control
4. whole at the uniform velocity region II is then made up of at the uniform velocity section, it is necessary to assure subtract accelerating sections 3. at the end of, the maximum reached
Speed VmMaximal rate F given less than or equal to user, i.e. inequality are set up:
Vm≤F (39)
At the uniform velocity region II or decelerating area III will be entered after 3. accelerating sections terminates owing to subtracting, therefore VmRepresent from present speed and
Current acceleration starts, the maximum speed value that can arrive in over subtraction accelerator.Understand based on above-mentioned analysis, once add
Speed section 1. interpolation cycle number n1Determine, then known by formula (8), subtract accelerating sections interpolation cycle number n 3.3Determine the most therewith.Further according to formula
(13) understand, add accelerating sections and 1. and subtract accelerating sections speed increment summation Δ V 3.accIt is also known that.In order to ensure that inequality (39) becomes
Vertical, it is necessary to 1. to precalculate the velocity amplitude in next cycle the most in real time with even accelerating sections adding accelerating sections, next week once calculated
Phase velocity amplitude is more than maximal rate F, and acceleration and deceleration process will proceed to subtract accelerating sections 3. in next cycle.
1. or even accelerating sections certain current period 2. assuming adding accelerating sections, its acceleration is acur, speed is Vcur,
Initially enter and subtract accelerating sections 3., through the i-th cycle, its acceleration ai, speed ViA following relation is had with cycle i:
In formula (40),Representing actual jerk value, i represents current period number, i ∈ [0, n3], i is integer；Therefore
Subtracting the maximum speed value reached after 3. accelerating sections terminates is:
Therefore 1. or even accelerating sections any period 2. can be calculated possibility to the accelerating sections that adds in acceleration region I
The maximal rate reached, entrance subtract accelerating sections 3. after, maximal rate V of S-shaped speed planning overall processmKeep constant.?
Add accelerating sections 1. or even accelerating sections 2. in, maximal rate V that the most next cycle is likely to be breachedmExceed maximal rate F, then
3. the entrance of next cycle subtracts accelerating sections.Owing to formula (42) amount of calculation is bigger, thus given below go out simpler computational methods, push away
Lead process as follows:
(1) set a computation of Period up to maximal rate as Vm', then have:
In formula (43), V 'curRepresented the current speed value in a upper cycle, and V 'cur=Vm-acur。
(2) formula (42) is deducted formula (43), and abbreviation must add accelerating sections 1. middle VmComputing formula be:
(3) in like manner, even accelerating sections 2. middle VmComputing formula be:
Vm=Vm'+acur (45)
Compared with formula (42), the formula of formula (44) and (45) recursive form is used to calculate VmAmount of calculation can be reduced.
From formula (3) and (4), add accelerating sections 1. with even accelerating sections current acceleration 2. and the computing formula of velocity amplitude
Respectively as shown in formula (46) and (47):
(3) actual deceleration point prediction
Add before the interpolation applying to high speed and high precision processing that the sigmoid curve Acceleration-deceleration Control Method that the present invention proposes is taked
How deceleration control mode, simultaneously take account of the shortcoming that the point of the actual deceleration after discretization is the most misaligned with theoretical deceleration point
Calculate actual deceleration point exactly and become the successful key point of this control method.Can accurately arrive in order to ensure final motion
The target location set, judges actual deceleration point, under once knowing by calculating deceleration distance in real time with path Distance Remaining
One interpolation cycle Distance Remaining is less than deceleration distance, then next interpolation cycle will be transferred to decelerating area III.Current plus-minus
The speed stage residing for process is different, and the implication of deceleration distance also has difference, therefore deceleration distance carries out following provisions:
A) current acceleration and deceleration process be in add accelerating sections 1. or even accelerating sections 2. time, in order to ensure the continuous of acceleration
Property, distance (the accelerating and decelerating part displacement L 5. that now deceleration distance of indication is passed by except including decelerating area III5+ even deceleration
Section displacement L 6.6+ subtract braking section displacement L 7.7Beyond), also should include subtracting accelerating sections displacement L 3.3。
B) except above-mentioned a) in addition to situation, deceleration distance refers to distance (the accelerating and decelerating part position 5. passed by decelerating area III
Move L5+ even braking section displacement L 6.6+ subtract braking section displacement L 7.7)。
Therefore, calculate deceleration distance and can be divided into two parts:
(1) distance passed by decelerating area III
The distance passed by decelerating area III includes accelerating and decelerating part displacement L 5.5, even braking section displacement L 6.6With deceleration
Section displacement L 7.7, below divide three steps to calculate one by one:
1) accelerating and decelerating part displacement L 5. is calculated5
From formula (3), (4) and (6), accelerating and decelerating part deceleration a 5.i, speed Vi, and displacement LiComputing formula is:
By accelerating and decelerating part interpolation cycle number n 5.5Substitute into above formula, can obtain:
2) even braking section displacement L 6. is calculated6
In like manner, from formula (3), (4) and (6), even braking section deceleration a 6.i, speed Vi, and displacement LiCalculate public affairs
Formula is:
By even braking section interpolation cycle number n 6.6Substitute into above formula, can obtain:
3) calculating subtracts braking section displacement L 7.7
In like manner, from formula (3), (4) and (6), braking section deceleration a 7. is subtractedi, speed Vi, and displacement LiCalculate public affairs
Formula is:
Braking section interpolation cycle number n 7. will be subtracted7Substitute into above formula, can obtain:
Therefore deceleration distance LdecCan be calculated by following formula:
Respectively by the L in formula (49), (51) and (53)5、L6And L7Substituting into, formula (54) is rewritable is:
Formula (55) is it can be seen that deceleration distance LdecAmount of calculation the biggest.By the velocity analysis of decelerating area III is found
The speed in first cycle of decelerating phase isThe speed of second period is3rd cycle
Speed isPenultimate period velocity isThe speed in third last cycle isThe speed in fourth from the last cycle isTherefore the 1st of the decelerating phase the, 2 ...,
N-th7Cycle and inverse the 2nd, 3 ..., (n7+ 1) cycle every speed is separately summed, each be added and be equal to fe+
Vm, then for LdecCalculating, can have simpler method, derivation given below:
Motion stage each to decelerating area III is repartitioned: front n7The individual cycle be accelerating and decelerating part 5., (n7+ 1) to (n7+
n6) cycle be even braking section 6., (n7+n6+ 1) to (2*n7+n6) for subtracting braking section 7., last cycle is for terminating speed fe。
Front n can be obtained by formula (49)7The accelerating and decelerating part in individual cycle deceleration 5.SpeedAnd displacementComputing formula is:
Can be obtained by formula (49) and (56):
In like manner, by even braking section deceleration a 6.i, speed Vi, and displacement LiComputing formula is:
By even braking section interpolation cycle number n 6.6Substitution formula (58), can obtain even braking section deceleration 6.SpeedAnd displacementFor:
WillSubstitution formula (59), simultaneously takes account of in formula (56)Therefore can obtain
By in formula (49)WithConsider in formula (51) simultaneouslyCan obtain:
Can be obtained by formula (51), (59) and (57):
Finally, braking section deceleration a 7. is subtractedi, speed Vi, and displacement LiComputing formula is:
Braking section interpolation cycle number n 7. will be subtracted7Substitution formula (63), can subtract braking section displacement 7. is:
Can be obtained by formula (61), (62) and (64):
ConsiderCan be obtained by formula (53) simultaneously:
By formula (66), and by formula (56)Substitute into, can obtain in formula (59)For:
By in formula (64), (66) and formula (56)Can obtain:
Deceleration distance L can be obtained by formula (65), (67) and (68)decFor:
Contrast (55) and (69) understand, and the deceleration distance using formula (69) to calculate decelerating area III will greatly reduce meter
Calculation amount, saves the operation time of processor.
(2) accelerating sections displacement L 3. is subtracted3
In view of the seriality of acceleration, when acceleration and deceleration process be in add accelerating sections 1. or even accelerating sections 2. time, slow down
Distance, in addition to the distance that decelerating area III is walked, also should include subtracting accelerating sections displacement L 3.3.Therefore add to be given down
2. 1. accelerating sections calculate L with even accelerating sections3Derivation:
1) from formula (3), the accekeration a in accelerating sections the i-th cycle 3. is subtractediFor:
2) formula (70) is integrated ball summation and can subtract the velocity amplitude V in accelerating sections the i-th cycle 3.iFor:
3) formula (71) is integrated ball summation and can subtract the displacement L in accelerating sections the i-th cycle 3.iFor:
4) by n3Substitution formula (72) can obtain, the whole displacement L subtracting accelerating sections 3.3For:
5) L is calculated by formula (73)3Operand is bigger, the derivation of reduced mechanical model given below:
If the L that the previous acceleration cycle obtains3For:
Add accelerating sections 1. to have:
Therefore formula (73) deducts formula (74), and wushu (75) substitutes into, and can add accelerating sections 1. middle L3Computing formula simplify
For:
In like manner, 2. even accelerating sections has:
Therefore formula (73) deducts formula (74), and wushu (77) substitutes into, and can obtain even accelerating sections 2. middle L3Computing formula simplify
For:
L3=L'3+acur×n3 (78)
Compared with formula (73), use the recurrence formula of formula (76) and (78) to calculate respectively and add accelerating sections 1. with even accelerating sections 2.
L3To greatly reduce amount of calculation.
(4) Distance Remaining compensates
In the sigmoid curve Acceleration-deceleration Control Method speed planning that the present invention proposes, draw through the above-mentioned speed planning stage
Point, up to maximal rate calculate and deceleration point prediction, establish acceleration and deceleration algorithm speed planning basic blank, not only calculate
Add accelerating sections 1., even accelerating sections 2., subtract accelerating sections 3., accelerating and decelerating part 5., even braking section 6. with subtract braking section 7. six different
The actual interpolation cycle number n in stagei, also realize, by the calculating real-time judge actual deceleration point to deceleration distance, making actual subtracting
Speed point is ahead of theoretical deceleration point, this make artificially actual deceleration point can make in advance speed planning after terminating braking section,
Distance Remaining will be equal to 0, needs to compensate Distance Remaining in decelerating area III.
If Distance Remaining is Lr, current range ability is Lcur, then for a certain cycle of any stage, exist with
Lower relational expression:
Lr=L-Lcur-Ldec (79)
In formula (79), L represents motion total displacement amount, and current range ability can be calculated by following formula:
In formula (80), niRepresenting each motion stage interpolation cycle number, i represents each motion stage of speed planning process, i
=1～7, i are integer；VjRepresent each motion stage niEach velocity amplitude, j represents each motion stage interpolation cycle number
All values, j=1～ni, j is integer.
As the above analysis, there is theory and subtract in the speed planning process of the sigmoid curve Acceleration-deceleration Control Method proposed
Speed point is misaligned with actual deceleration point and needs to process surplus LrProblem.
From formula (79), if motion total displacement amount L is very big, then calculate obtained LrThe biggest (Lr>Vm),
In order to reduce the compensation cycle of Distance Remaining as far as possible, simultaneously again due to divided stages during, at the uniform velocity section interpolation cycle number 4.
n4It is not designated, at the uniform velocity section therefore can be utilized to compensate.Along with at the uniform velocity section interpolation cycle number n4Often increase a cycle,
LcurIncrease maximal rate V therewithmDistance, therefore Distance Remaining LrIt is compensated and constantly reduces.When Distance Remaining is little
In maximum speed value Vm, enter decelerating area III, at the uniform velocity section interpolation cycle number n 4.4The most finally determine.
L in decelerating area IIIrV can not be more thanm, by formula (69) if it can be seen that n7Increase by 1 (n5Also can increase accordingly
1), deceleration distance correspondingly increases (Vm+fe), it is impossible to increase an acceleration and deceleration cycle and one simultaneously and subtract deceleration periods
Realize LrCompensation；If by increasing an even deceleration periods, surplus being inserted in even moderating process equably, when
Right even braking section deceleration value 3. to do corresponding adjustment, but is not necessarily just met in Practical Calculation.Formula (69) is in vacation
One of 7. if 5. accelerating and decelerating part and obtains in the case of subtracting decelerating phase 7. symmetry, if 5. or subtracting braking section at accelerating and decelerating part
Inserting a cycle, formula (69) will be false, and whole calculating process will become complicated, and amount of calculation increases.Comprehensive above reason,
The present invention uses in decelerating area III any stage suitable position LrDisposably insert the processing method of compensation.Through upper
State analysis and understand 0≤Lr≤VmIf, Distance Remaining LrIn maximal rate VmWith minimum operation speed feBetween, then in braking section
Compensate.If Distance Remaining LrIt is less than terminating speed fe, then by LrLast period of motion that is added to mends
Repay.
(5) online change target location algorithm
The online target location that changes is that thought based on finite state machine realizes, and all of state includes: accelerating region
Territory I, at the uniform velocity region II, decelerating area III and inverse motion compensation four kinds, and change target location form online and be divided into: target position
Greatly and target location diminishes two kinds (target location is constant, then carry out, it is not necessary to deal with) by initial planning to put change.According to changing mesh
Stage of triggering residing for cursor position is different with the form changing target location, and corresponding processing mode is also by difference, given below
The processing procedure of various situations:
(1) the first situation: target location becomes big
1) when acceleration region I triggers and changes position signalling, directly new target location is assigned to current goal position,
And keep current state；
2) when at the uniform velocity region II triggers and changes position signalling, directly new target location is assigned to current goal position
Put, if present speed is less than target velocity, then redirects acceleration region I and be accelerated；If present speed is equal to target velocity, then protect
Hold current state；
3), when triggering change position signalling in decelerating area III, directly new target location is assigned to current goal position
Put, redirect acceleration region I simultaneously and be accelerated.
(2) the second situation: target location diminishes
Target location diminishes, it is possible that heterodromous situation, now need to calculate as follows path residue away from
From Lremain:
Lremain=Lr+(Lnew×D-Ls)-Le(81)
In formula (81), LrRepresent the Distance Remaining before changing final position, refer to formula (79)；LnewRepresent new terminal
Coordinate；D represents and changes the direction of displacement of targets before target location, if forward, takes 1, the most then takes-1；LsMove starting point in situ to sit
Mark, LeThe terminal point coordinate moved in situ.
1)Lremain<0
No matter it is presently in state, jumps to decelerating area III without exception and slow down, when speed is kept to 0, if new mesh
Cursor position arrives not yet, then jump to Contrary compensation；
2)Lremain>0
If when acceleration region I and at the uniform velocity region II triggering change position signalling, jumping to decelerating area III and slow down
Process；If trigger change position signalling in decelerating area III, then jump to Contrary compensation.
(6) online change target velocity algorithm
The thought that online change target velocity is again based on finite state machine realizes, and all of state includes: add
Speed region I, at the uniform velocity region II, III 3 kinds, decelerating area, and change target velocity form online and be divided into: target velocity becomes big and mesh
Mark speed diminishes two kinds (target velocity is constant, then carry out, it is not necessary to deal with) by initial planning.Online change target velocity is necessary
Ensure the accurate arrival in final position, otherwise ignore speed change request, therefore response speed change request is conditional on.According to changing target
Residing for speed trigger the stage and change target velocity form different, corresponding processing mode also by difference, given below respectively
The processing procedure of the situation of kind:
(1) the first situation: target velocity becomes big
1) when acceleration region I triggers and changes rate signal, directly new target velocity is set to target velocity, keeps
Original state state is constant；
2) when at the uniform velocity region II or decelerating area III trigger and change position signalling, need to calculate and accelerate to newly from present speed
The distance of target velocity and decelerate to originally terminate the distance of speed from new target velocity, if Distance Remaining is enough, then jump
Rotate into and be accelerated into acceleration region I, otherwise ignore speed change request.
(2) the second situation: target velocity diminishes
Acceleration region I or at the uniform velocity region II or decelerating area III are triggered when changing rate signal, all need to recalculate deceleration
Distance, deceleration distance now includes decelerating to the distance of new target velocity from present speed and new target velocity decelerates to
Originally terminating the distance of speed, and if Distance Remaining is enough, then entered decelerating area III and carry out deceleration process, otherwise ignoring speed change please
Ask.
Compared with prior art, the invention have the advantages that and advantage
(1) accelerating curve that the sigmoid curve Acceleration-deceleration Control Method that the present invention proposes obtains is continuous, without sudden change, speed
Line smoothing, stable movement, impact little, can meet that high speed and high precision processing is short to the operation time, stable movement, speed are smooth, nothing
The requirement of the acceleration and deceleration characteristics such as impact and precision height.
(2) the sigmoid curve Acceleration-deceleration Control Method that the present invention proposes can arrange asymmetric jerk value JaccAdd with subtracting
Velocity amplitude Jdec；May also set up asymmetric acceleration A value and deceleration value D；May also set up asymmetric starting velocity fsAnd knot
Shu Sudu fe, and fsAnd feDesirable nonzero value.User can be configured according to different lathes, it is also possible to according to the rule provided
Carry out parameter configuration to obtain optimum efficiency, there is good flexibility and motility.
(3) the sigmoid curve Acceleration-deceleration Control Method operand that the present invention proposes is less.Derive subtracting of simple possible respectively
Speed distance LdecThe recursive calculative formula, maximal rate VmThe recursive calculative formula and subtract acceleration distance L3The recursive calculative formula, greatly
Reduce algorithm computing time-consuming.
(4) present invention has carried out online change target velocity with online to the sigmoid curve Acceleration-deceleration Control Method proposed
Change final position Function Extension so that lathe can move to target location with speed faster, then with relatively low velocity essence
Standard navigates to target location, greatly saves the dry running time of equipment, enhances the function of digital control system and to improve it flexible
Property, the application demand of more users group can be met.
(5) present invention online change target velocity and the sigmoid curve feed speed control in final position in real time to being proposed
Method has been successfully applied in the number of devices Ore-controlling Role such as SMT chip mounter, bonder, point gum machine, obtains good economic benefit.
Accompanying drawing explanation
Fig. 1 is sigmoid curve Acceleration-deceleration Control Method speed planning schematic diagram；
Fig. 2 is acceleration region I acceleration discretization schematic diagram；
Fig. 3 is decelerating area III deceleration discretization schematic diagram；
Fig. 4 is sigmoid curve Acceleration-deceleration Control Method actual deceleration point prediction schematic diagram；
Fig. 5 is that sigmoid curve Acceleration-deceleration Control Method Distance Remaining compensates schematic diagram；
Fig. 6 is sigmoid curve Acceleration-deceleration Control Method implementing procedure figure；
Fig. 7 is that sigmoid curve Acceleration-deceleration Control Method initializes and divided stages flow chart；
Fig. 8 is online change target location algorithm finite state machine schematic diagram；
Fig. 9 is online change target velocity algorithm finite state machine schematic diagram；
Figure 10 emulates by the sigmoid curve Acceleration-deceleration Control Method displacement curve proposed, rate curve and accelerating curve
Figure；
Figure 11 emulates by the sigmoid curve Acceleration-deceleration Control Method displacement curve proposed, rate curve and accelerating curve
Figure；
Figure 12 emulates by the sigmoid curve Acceleration-deceleration Control Method displacement curve proposed, rate curve and accelerating curve
Figure；
Figure 13 emulates by the sigmoid curve Acceleration-deceleration Control Method displacement curve proposed, rate curve and accelerating curve
Figure；
Figure 14 changes final position algorithm displacement curve, speed online by the sigmoid curve Acceleration-deceleration Control Method proposed
Curve and accelerating curve analogous diagram；
Figure 15 changes target velocity algorithm displacement curve, speed online by the sigmoid curve Acceleration-deceleration Control Method proposed
Curve and accelerating curve analogous diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in embodiment of the present invention, the technical scheme in embodiment of the present invention is carried out clearly
Chu, it is fully described by, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole realities
Execute mode.Based on the embodiment in the present invention, those of ordinary skill in the art are institute under not making creative work premise
The every other embodiment obtained, belongs to the scope of protection of the invention.
It is illustrated in figure 1 the speed planning schematic diagram of sigmoid curve Acceleration-deceleration Control Method.S-shaped proposed by the invention adds
The process of method for slowing-down control can be divided into acceleration region I, at the uniform velocity region II and decelerating area III.Acceleration region I includes acceleration
Section 1., even accelerating sections 2. and subtract accelerating sections 3.；In like manner decelerating area III also can be divided into accelerating and decelerating part 5., 6. even braking section and subtract
Speed section is 7.；4. whole at the uniform velocity region is then made up of at the uniform velocity section.The input parameter of control method includes motion total displacement L, initial speed
Degree fs, maximal rate F, terminate speed fe, peak acceleration A, maximum deceleration D, acceleration Jacc, subtract acceleration JdecWith adopt
Sample cycle Ts。
In Fig. 1, (a), (b), (c) and (d) respectively displacement curve schematic diagram, rate curve schematic diagram, accelerating curve show
It is intended to and adds acceleration curve schematic diagram.(a), (b) in Fig. 1, the vertical coordinate unit of (c) and (d) be followed successively by pulse (pulse),
pulse/Ts(pulse/sampling period),(pulse/sampling period2) and(pulse/sampling period3).T is
Time coordinate, tiRepresent the transition point moment of each motion stage；τiRepresent using the starting point of each motion stage as time zero
Local time's coordinate, i.e. τi=t-ti-1；JiRepresent plus/minus acceleration amplitude；fiRepresent the speed that each stage end point reaches
Angle value；The maximum speed value that F can arrive after representing the accelerated district of motor process, TiRepresent that each motion stage operation time (is
Sampling period TsIntegral multiple)；siRepresent the displacement moved at the end of each motion stage；L represents the total displacement of motion path
Amount；LiThe displacement moved in representing each motion stage；I represents each motion stage of speed planning process, and i=1～7, i are whole
Number.
Meet with the time according to S curve acceleration and deceleration motion equation, plus/minus speed a (t), speed f (t) and displacement s (t)
Formula (1):
In formula (1), plus/minus acceleration j (ti) it is the piecewise function with the time as variable:
(2) formula is integrated, plus/minus speed a (t can be obtainedi) about the piecewise function formula of time:
Time integral can be derived speed f (t by formula (3)i):
In like manner, displacement equation s (ti) by formula (4), time integral can be tried to achieve:
In each motion stage, moving displacement amount computing formula can be calculated by below equation group:
In formula, LiRepresenting moving displacement amount in each motion stage, i represents each motion stage of speed planning process, i=
1～7, i are integer.
It is illustrated in figure 2 acceleration region I acceleration discretization schematic diagram.Before carrying out acceleration and deceleration divided stages, in order to
Simplify and calculate, it will be assumed that plus/minus speed is decreased to 0 institute from 0 time increasing to maximum demand and plus/minus speed from maximum
The time needed is equal, it may be assumed that
When being accelerated region I acceleration sliding-model control, we can put aside the restriction of maximal rate F, and false
If adding accelerating sections interpolation cycle number n 1.1With subtract accelerating sections interpolation cycle number n 3.3Meet:
n3=n1-1 (8)
Interpolation cycle number (n due to each motion stage of acceleration region I1、n2、n3) it is necessary for sampling period TsWhole
Several times, simultaneously in order to ensure that the jerk value being actually reached and accekeration not can exceed that the setting value that user is original, therefore
Calculate n1Time need to round up process:
Then calculate and add accelerating sections and 1. and subtract accelerating sections speed increment summation 3.:
Rethink that the impact of maximal rate F understands, from starting velocity fsIncrease to the maximal rate increment of the permission of F:
ΔVamax=F-fs (14)
Formula (13) and (14) result of calculation is utilized to can get the criterion that can peak acceleration A arrive:
If Δ Vacc≥ΔVamax, then peak acceleration A is unreachable；Otherwise peak acceleration A up to.By A it is below
No calculating respectively up to 2 kinds of situations adds accelerating sections interpolation cycle number 1., even accelerating sections interpolation cycle number 2. and subtracts accelerating sections
3. interpolation cycle number.
a)ΔVacc≥ΔVamax, A is unreachable
Add accelerating sections actual interpolation cycle number 1.
In order to ensure the interpolation cycle number after quantifyingFor sampling period TsIntegral multiple, to actual acceleration and reality
Border carries out, up to accekeration, process of reruning:
Situation unreachable for A, actual interpolation cycle number result of calculation of each stage is:
b)ΔVacc＜ Δ Vamax, A up to
Even accelerating sections speed increment 2. is:
n2×A (18)
Speed increment summation behind accelerated region I:
ΔVamax=(n1+n2)×A (19)
If na=n1+n2, then formula (19) is rewritable is:
ΔVamax=na×A (20)
naActual value be:
To actual acceleration Areal, add accelerating sections periodicity 1.And jerk valueCarry out rounding and Corrections Division
Manage:
For A up to situation, actual interpolation cycle number result of calculation of each stage is:
It is illustrated in figure 3 decelerating area III deceleration discretization schematic diagram.In like manner, if accelerating and decelerating part periodicity n 5.5With
Subtract braking section periodicity n 7.7Meet:
n7=n5-1 (25)
To accelerating and decelerating part interpolation cycle number n 5.5Round up for:
In like manner, in decelerating area III, 5. accelerating and decelerating part and subtracts braking section speed increment summation Δ V 7.decFor:
Consider maximal rate F and terminate speed feRestriction, maximal rate increment Delta V allowed in decelerating area IIIdmax
For:
ΔVdmax=F-fe (28)
In like manner, by formula (27) and (28) result of calculation can obtain maximum deceleration D whether up to criterion:
If Δ Vdec≥ΔVdmax, then acceleration and deceleration process peak acceleration D is unreachable；Otherwise peak acceleration D can
Reach.Following discussion the most respectively:
a)ΔVdec≥ΔVdmax, D is unreachable
Utilizing formula (27) result of calculation, formula (28) is rewritable is:
Therefore subtract accelerating sections actual interpolation cycle number 5.For:
Actual subtract accekerationWith reality up to deceleration value DrealIt is modified to:
Therefore situation unreachable for D, actual interpolation cycle number result of calculation of each stage is:
b)ΔVdec＜ Δ Vdmax, D up to
Even braking section speed increment 6. is: n6×D
Can be obtained by formula (27), in decelerating area III, speed increment summation is:
ΔVdmax=(n5+n6)×D (33)
If nd=n5+n6, formula (33) is rewritable is:
ΔVdmax=nd×D (34)
To realityRound up:
The most respectively to reality up to deceleration value DrealWith accelerating and decelerating part periodicity 5.Revise and round into:
In like manner, actual accekeration is subtractedCan rerun into:
So far, for D up to situation, actual interpolation cycle number result of calculation of each stage is:
It is illustrated in figure 4 sigmoid curve Acceleration-deceleration Control Method actual deceleration point prediction schematic diagram.The carried S-shaped of the present invention is bent
There is the actual deceleration point D' after discretization and theoretical problem misaligned for deceleration point D, curve in Fig. 4 in line Acceleration-deceleration Control Method
DE is theoretical deceleration curve, but due to after quantifying present speed and motion total displacement L tend not to exactly integral multiple relation, because of
This, always have the current residual distance in certain cycle to be less than current speed value more than 0, if next cycle is again with current speed value
In one cycle of interpolation, i.e. arrive D ", by D " E " curve deceleration, if still performing to add by each stage interpolation cycle number of original planning
Slow down, finally move arrive final position will be greater than user original value is set.So must take to enter deceleration area in advance
The way in territory, as shown in Figure 4, actual deceleration point is D', and D'E' curve is actual deceleration curve.Know based on above-mentioned analysis, real
Border deceleration point D' calculates one of key factor of being whole algorithm success or failure in real time.
The current stage residing for acceleration and deceleration process is different, and the implication of deceleration distance is the most different, therefore enters deceleration distance
Row following provisions:
A) current acceleration and deceleration process be in add accelerating sections 1. or even accelerating sections 2. time, in order to ensure the continuous of acceleration
Property, distance (the accelerating and decelerating part displacement L 5. that now deceleration distance of indication is passed by except including decelerating area III5+ even deceleration
Section displacement L 6.6+ subtract braking section displacement L 7.7Beyond), also should include subtracting accelerating sections displacement L 3.3。
B), in the case of except other described in a), deceleration distance refers to the distance passed by decelerating area III, and (accelerating and decelerating part is 5.
Displacement L5+ even braking section displacement L 6.6+ subtract braking section displacement L 7.7)。
Therefore, calculate deceleration distance and can be divided into two parts:
(1) distance passed by decelerating area III
1) accelerating and decelerating part displacement L 5. is calculated5
By (3), (4) and (6), and by accelerating and decelerating part periodicity n 5.5Substitution can obtain:
2) even braking section displacement L 6. is calculated6
In like manner, by formula (3), (4) and (6), and by even braking section periodicity n 6.6Substitution can obtain:
3) calculating subtracts braking section displacement L 7.7
In like manner, by formula (3), (4) and (6), and braking section periodicity n 7. will be subtracted7Substitution can obtain:
Deceleration distance L can be obtained by formula (49), (51) and (53)dec:
Formula (55) is it can be seen that deceleration distance LdecAmount of calculation the biggest.By the velocity analysis of decelerating area III is found
The speed in III first cycles of decelerating area isThe speed of second period is3rd cycle
Speed bePenultimate period velocity isThe speed in third last cycle isThe speed in fourth from the last cycle isTherefore the 1st of decelerating area III the,
2 ..., n-th7Cycle and inverse the 2nd, 3 ..., (n7+ 1) cycle every is separately summed, and the result obtained is all fe+
Vm, then for LdecCalculating, can have simpler method, derivation given below:
Motion stage each to decelerating area III is repartitioned, front n7The individual cycle be accelerating and decelerating part 5., (n7+ 1) to (n7+
n6) cycle be even braking section 6., (n7+n6+ 1) to (2*n7+n6) for subtracting braking section 7., last cycle is for terminating speed fe。
Front n can be obtained by formula (49)7The accelerating and decelerating part in individual cycle acceleration 5.SpeedAnd displacementComputing formula is:
Can be obtained by formula (49) and (56):
In like manner, by even braking section deceleration ai, speed Vi, and displacement LiComputing formula is:
By even braking section periodicity n 6.6Substitution formula (58), can obtain even braking section deceleration 6.SpeedWith
DisplacementFor:
WillSubstitution formula (59), simultaneously takes account of in formula (56)Therefore can obtain
By in formula (49)WithConsider in formula (51) simultaneouslyCan obtain:
Can be obtained by formula (51), (59) and (57):
Finally, braking section deceleration a 7. is subtractedi, speed Vi, and displacement LiComputing formula is:
Braking section periodicity n 7. will be subtracted7Substitution formula (63), can subtract braking section displacement 7. is:
Can be obtained by formula (61), (62) and (64):
ConsiderCan be obtained by formula (53) simultaneously:
By formula (66), and by formula (56)Substitute into, can obtain in formula (59)For:
By in formula (64), (66) and formula (56)Can obtain:
Deceleration distance L can be obtained by formula (65), (67) and (68)decFor:
(2) accelerating sections displacement L 3. is subtracted3
In view of the seriality of acceleration, when acceleration and deceleration process be in add accelerating sections 1. or even accelerating sections 2. time, slow down
Distance LdecIn addition to including the distance that decelerating area III is walked, also should include subtracting accelerating sections displacement L 3.3.Therefore with under respectively
Be given add accelerating sections 1. with even accelerating sections 2. process calculate L3Derivation:
1) from formula (3), the accekeration a in accelerating sections the i-th cycle 3. is subtractediFor:
2) formula (70) is integrated summation and can subtract the velocity amplitude V in accelerating sections the i-th cycle 3.iFor:
3) formula (71) is integrated summation and can subtract the displacement L in accelerating sections the i-th cycle 3.iFor:
4) by n3Substitution formula (72) can obtain, the whole displacement L subtracting accelerating sections 3.3For:
5) L is calculated by formula (73)3Operand is bigger, the derivation of reduced mechanical model given below:
If the L that the previous acceleration cycle obtains3For:
Add accelerating sections 1. to have:
Therefore formula (73) deducts formula (74), and wushu (75) substitutes into, and can add accelerating sections L 1.3Computing formula simplify
For:
In like manner, 2. even accelerating sections has:
Therefore formula (73) deducts formula (74), and wushu (77) substitutes into, and can obtain even accelerating sections L 2.3Computing formula simplify
For:
L3=L'3+acur×n3 (78)
Sigmoid curve Acceleration-deceleration Control Method Distance Remaining compensates schematic diagram as shown in Figure 5.Understand based on above-mentioned analysis, carry
Advance into decelerating area III and will cause Distance Remaining LrNeed to compensate in moderating process, and need the Distance Remaining compensated
LrMeet:
0≤Lr＜ Vm
If Distance Remaining is Lr, current range ability is Lcur, then for a certain cycle of any stage, exist with
Lower relational expression:
Lr=L-Lcur-Ldec (79)
Current range ability LcurFor:
From formula (79), if motion total displacement L is very big, then calculate obtained LrThe biggest (Lr>Vm), for
Reduce the compensation cycle of Distance Remaining as far as possible, simultaneously again due to divided stages during, at the uniform velocity section periodicity n 4.4No
It is designated, at the uniform velocity section therefore can be utilized 4. to compensate.Along with at the uniform velocity section periodicity n 4.4Often increase a cycle, Lcur
Increase maximal rate V therewithmDistance, therefore Distance Remaining LrIt is compensated and constantly reduces.When Distance Remaining is less than
Big velocity amplitude Vm, enter decelerating area III and carry out deceleration process, at the uniform velocity section periodicity n 4.4The most finally determine.
Use the suitable position of any stage in decelerating area III to LrDisposably insert the processing method of compensation.
0≤L is understood through above-mentioned analysisr≤VmIf, Distance Remaining LrIn maximal rate VmWith minimum operation speed feBetween, then slowing down
Compensate in Duan.If Distance Remaining LrIt is less than terminating speed fe, then by LrLast period of motion that is added to is carried out
Compensate.
Sigmoid curve Acceleration-deceleration Control Method implementing procedure figure as shown in Figure 6.Flow process and the step implemented include:
(1) initialization and the divided stages of algorithm is carried out according to the parameter of user's input；
(2) L is judgedremain
1) if Lremain>0
If a) Vm>F
If i) n3> 0, jump to subtract accelerating sections (5)；
Ii) otherwise, at the uniform velocity section (6) is jumped to.
B) otherwise, need to be to current acceleration AcurCompare with peak acceleration A size:
If i) Acur> A, jump to even accelerating sections (4)；
Ii) otherwise jump to add accelerating sections (3).
2) otherwise, need to be to n5、n6、n7Value judge:
If a) n5> 0, enter accelerating and decelerating part；Otherwise judge n6Whether more than 0；
If b) n6> 0, enter even braking section；Otherwise judge n7Whether more than 0；
If c) n7> 0, enter and subtract braking section；Otherwise enter ending segment planning (13)；
(3) accelerating sections is added 1.: update current acceleration value Acur, current speed value Vcur、n1、n3, calculate L3And Vm, redirect
To (10)；
(4) even accelerating sections is 2.: update current jerk value Jacc, current acceleration value Acur, current speed value Vcur、n2、
Calculate L3And Vm, jump to (10)；
(5) accelerating sections is subtracted 3.: update current acceleration value Acur, current speed value Vcur、n1、n3, jump to (10)；
(6) at the uniform velocity section is 4.: update current jerk value Jacc, current acceleration value Acur, current speed value Vcur、n4, meter
Calculate Lremain, jump to (12)；
(7) accelerating and decelerating part is 5.: update current acceleration value Acur, current speed value Vcur、n5, jump to (11)；
(8) even braking section is 6.: update current jerk value Jdec, current acceleration value Acur, current speed value Vcur、n6,
Jump to (11)；
(9) braking section is subtracted 7.: update current acceleration value Acur, current speed value Vcur、n7, jump to (11)；
(10) deceleration distance L is calculateddec, Distance Remaining Lremain、n5、n6、n7And Jdec, jump to (12)；
(11) V is judgedcur>LremainWhether condition meets, if meeting, then carries out surplus compensation；Otherwise jump to (12)；
(12) current location L is updatedcur, jump to (1)；
(13) ending segment planning: rerun Distance Remaining Lremain, and determine whether:
1) if Lremain>fe, update current speed value Vcur, rerun Distance Remaining Lremain, then update present position values
Lcur, jump to (13)；
2) otherwise, disposable compensation Distance Remaining, jump to (14)；
(14) algorithm terminates.
It is illustrated in figure 7 sigmoid curve Acceleration-deceleration Control Method to initialize and divided stages flow chart.The flow process implemented and step
Suddenly include:
(1) user inputs parameter initialization；
(2) Distance Remaining L is judgedremainWith starting velocity fsSize:
1) if Lremain>fs, update Vcur、Vm、Lremain, jump to (3)；
2) otherwise, L is updatedcurAnd Vcur, jump to (6)；
(3) to maximum feed speed F and starting velocity fsCarry out size to compare:
1) if F≤fs, need to be to Distance Remaining LremainWith present speed VcurSize compares:
If i) Lremain>Vcur, correction of reruningLdecn5、n6、n7And Jdec、
Ldec、Lr；
If (i) Lr < 0, enter ending segment planning, jump to (6).
(ii) otherwise, assignment Distance Remaining L againremain、n5、n6、n7And Jdec, jump to (4)；
Ii) otherwise, ending segment planning is jumped to.
2) otherwise, rerun correctionLdecn5、n6、n7And Jdec、Ldec、Lr；
If i) Lr < 0, jump to ending segment planning.
Ii) otherwise, assignment Distance Remaining L againremain、n5、n6、n7And Jdec, jump to (5)；
(4) need to be to Distance Remaining LremainWith present speed VcurSize compares:
1) if Lremain>Vcur, enter at the uniform velocity region II, jump to (6)；
2) otherwise, enter decelerating area III, jump to (6)；
(5) A is recalculatedrealWithAnd update A and Jacc, enter acceleration region I, jump to (6)；
(6) initialize and divided stages terminates.
It is illustrated in figure 8 online change target location algorithm finite state machine schematic diagram.This algorithm is based on finite state
The thought of machine realizes, and as shown in Figure 8, has 4 kinds of states: acceleration region I, at the uniform velocity region II, decelerating area III and reversely transport
Dynamic compensation.Different with the form changing target location according to the stage of triggering changed residing for target location, corresponding processing mode
Also by difference, concrete triggering stage and processing mode include:
(1) when acceleration region I triggers and changes target location request, processing step has:
The Distance Remaining L that path is total is calculated by formula (81)remain:
1) target location diminishes:
If i) Lremain< 0, update current goal position, rerun deceleration distance Ldec, rerun Distance Remaining Lr=Lremain-
Ldec, rerun n5、n6、n7、Jdec, current state jumps to inverse motion compensation；
Ii) otherwise, updating current goal position, current state jumps to decelerating area III；
2) target location becomes big: directly updating current goal position, current state is constant.
(2) when at the uniform velocity region II triggers and changes target location request, processing step has:
The Distance Remaining L that path is total is calculated by formula (81)remain:
1) target location diminishes:
If i) Lremain< 0, update current goal position, current state jumps to inverse motion compensation；
Ii) otherwise, updating current goal position, rerun deceleration distance Ldec, rerun Distance Remaining Lr=Lremain-Ldec, weight
Calculate n5、n6、n7、Jdec, current state jumps to decelerating area III；
2) target location becomes big:
If i) Vcur=F, updates current goal position, and current state is constant.
Ii) otherwise, updating current goal position, rerun Lr=Lremain-Vcur, rerun Jacc, current state jumps to slow down
Region I；
(3), when triggering the request of change target location in decelerating area III, processing step has:
The Distance Remaining L that path is total is calculated by formula (81)remain:
1) target location diminishes:
If i) Lremain< 0, update current goal position, current state jumps to inverse motion compensation.
Ii) request of change target location is ignored.
2) target location becomes big: update current goal position, rerun Lr=Lremain-Vcur, rerun Jacc, current state is jumped
Go to decelerating area I.
It is illustrated in figure 9 online change target velocity algorithm finite state machine schematic diagram.Online change target velocity is same
Being that thought based on finite state machine realizes, all of state includes: acceleration region I, at the uniform velocity region II, decelerating area
Ⅲ.Different with the form changing target velocity according to the stage of triggering changed residing for target velocity, corresponding processing mode also will
Difference, the processing procedure of various situations given below:
(1) target velocity becomes big:
1) if being currently at acceleration region I, updating target velocity, current state is constant；
2) if being currently at the uniform velocity region II, calculating present speed and accelerating to distance L of fresh target speed1, then calculate
Decelerate to terminate speed f from new target velocityeDistance L2, finally calculate current residual distance Lr=L-Lcur-L1-L2
If i) Lr> 0, rerun deceleration distance Ldec, rerun n5、n6、n7、Jdec, jump to acceleration region I；
Ii) otherwise, ignoring change target velocity request, current state is constant；
3) if being currently at decelerating area III, calculating present speed and accelerating to distance L of fresh target speed1, then calculate
Decelerate to terminate speed f from new target velocityeDistance L2, finally calculate current residual distance Lr=L-Lcur-L1-L2
If i) Lr> 0, rerun deceleration distance Ldec, rerun n5、n6、n7、Jdec, jump to decelerating area III；
Ii) otherwise, ignoring change target velocity request, current state is constant；
(2) target velocity diminishes:
Calculate present speed and decelerate to distance L of fresh target speed1, then calculate from new target velocity decelerate to terminate speed
Degree feDistance L2, finally calculate current residual distance Lr=L-Lcur-L1-L2
If i) Lr> 0, rerun deceleration distance Ldec, rerun n5、n6、n7、Jdec, jump to acceleration region I；
Ii) otherwise, ignoring change target velocity request, current state is constant.
Figure 10 emulates by the sigmoid curve Acceleration-deceleration Control Method displacement curve proposed, rate curve and accelerating curve
Figure.Control method input parameter is provided that L=2000 pulse, F=100 pulse/sampling period, fs=0 pulse/sampling week
Phase, fe=0 pulse/sampling period, A=10 pulse/sampling period2, D=10 pulse/sampling period2, Jacc=2 pulses/sampling
Cycle3, Jdec=2 pulses/sampling period3, sampling period Ts=1 millisecond.As can be seen from Figure 10, due to motion total displacement L long enough,
Therefore user setup (subtract) speed A (D) the most greatly and maximal rate F can reach, be provided with symmetry acceleration A and deceleration
Degree D, is provided with the jerk value of symmetry simultaneously and subtracts accekeration；Sigmoid curve acceleration and deceleration shown in analogous diagram include completely
7 segmentation sigmoid curve acceleration and deceleration processes: add accelerating sections 1., even accelerating sections 2., subtract accelerating sections 3., at the uniform velocity section 4., accelerating and decelerating part
5., 7. 6. even braking section and subtract braking section；What the sigmoid curve Acceleration-deceleration Control Method proposed from the figure not difficult to find obtained adds
Rate curve is continuous, nothing sudden change, and rate curve is smooth, stable movement, impacts little, can meet high speed and high precision processing to when running
Between short, stable movement, speed are smooth, without the requirement of the acceleration and deceleration characteristics such as impact and precision be high.
Figure 11 emulates by the sigmoid curve Acceleration-deceleration Control Method displacement curve proposed, rate curve and accelerating curve
Figure.Control method input parameter is provided that L=1000 pulse, F=100 pulse/sampling period, fs=0 pulse/sampling week
Phase, fe=0 pulse/sampling period, A=10 pulse/sampling period2, D=10 pulse/sampling period2, Jacc=2 pulses/sampling
Cycle3, Jdec=2 pulses/sampling period3, sampling period Ts=1 millisecond.As can be seen from Figure 11, owing to motion total displacement L is moderate,
(subtract) greatly speed A (D) up to, and maximum target speed F is unreachable, is provided with acceleration A and deceleration D of symmetry, simultaneously
It is provided with the jerk value of symmetry and subtracts accekeration；Know that proposed sigmoid curve Acceleration-deceleration Control Method obtains from analogous diagram
The accelerating curve arrived is continuous, nothing sudden change, and rate curve is smooth.
Figure 12 emulates by the sigmoid curve Acceleration-deceleration Control Method displacement curve proposed, rate curve and accelerating curve
Figure.Method processed input parameter is provided that L=400 pulse, F=100 pulse/sampling period, fs=0 pulse/sampling period, fe
=0 pulse/sampling period, A=10 pulse/sampling period2, D=10 pulse/sampling period2, Jacc=2 pulses/sampling period3,
Jdec=2 pulses/sampling period3, sampling period Ts=1 millisecond.As can be seen from Figure 12, less, the most greatly due to motion total displacement L
(subtracting) speed A (D) and maximum target speed F are the most unreachable, are provided with acceleration A and deceleration D of symmetry, and to be provided with right simultaneously
Claim jerk value and subtract accekeration；The acceleration that proposed sigmoid curve Acceleration-deceleration Control Method obtains is known from analogous diagram
Line of writing music is continuous, nothing sudden change, and rate curve is smooth.
Figure 13 emulates by the sigmoid curve Acceleration-deceleration Control Method displacement curve proposed, rate curve and accelerating curve
Figure.Method processed input parameter is provided that L=3000 pulse, F=100 pulse/sampling period, fs=1 pulse/sampling period,
fe=2 pulses/sampling period, A=20 pulse/sampling period2, D=10 pulse/sampling period2, Jacc=5 pulses/sampling week
Phase3, Jdec=2 pulses/sampling period3, sampling period Ts=1 millisecond.Knowable to the analogous diagram of Figure 13, due to motion total displacement L
Long enough, thus user setup (subtract) speed A (D) the most greatly and maximum target speed F is all up, control method input use
Asymmetric A and D and asymmetric JaccAnd Jdec；Additionally starting velocity fsWith end speed feAll being not zero, user can basis
Different lathes is configured, it is also possible to carries out parameter configuration to obtain optimum efficiency according to the rule provided, has good
Flexibility and motility.The accelerating curve that emulation obtains is continuous, nothing sudden change, and rate curve is smooth.
Figure 14 changes final position algorithm displacement curve, speed online by the sigmoid curve Acceleration-deceleration Control Method proposed
Curve and accelerating curve analogous diagram.Method processed input parameter is provided that the L=3000 pulse of former final position, F=50 arteries and veins
Punching/sampling period, fs=0 pulse/sampling period, fe=0 pulse/sampling period, A=5 pulse/sampling period2, D=5 pulse/
Sampling period2, Jacc=1 pulse/sampling period3, Jdec=1 pulse/sampling period3, sampling period Ts=1 millisecond, at the uniform velocity rank
Section triggers when changing final position, new final position L1=2000 pulses.As can be seen from Figure 14, the terminal position that user originally set
Putting L=3000 pulse, then current kinetic is in the uniform motion stage when, user triggers the request of change final position,
Require that changing new final position is L1=2000 pulses, owing to current location now has been over 2000 pulses, therefore control
When system processed receives the change final position request of user, processing procedure is as follows: first, at once decelerates to 0 from present speed,
Then carry out Contrary compensation process, the most reversely accelerate to new final position.Displacement curve, rate curve and acceleration from figure
Line chart of writing music understands, and knowable to analogous diagram, the accelerating curve obtained is continuous, nothing sudden change, and rate curve is smooth, the S i.e. proposed
It is feasible that sigmoid curves Acceleration-deceleration Control Method changes final position algorithm online；This algorithm can meet user and exist numerical control device
Motor process changes the requirement in final position, extends the function of digital control system and improves its motility, can meet more use
The application demand of family group.
Figure 15 changes target velocity algorithm displacement curve, speed online by the sigmoid curve Acceleration-deceleration Control Method proposed
Curve and accelerating curve analogous diagram.Method processed input parameter is provided that final position L=3000 pulse, F=100 pulse/
Sampling period, fs=0 pulse/sampling period, fe=0 pulse/sampling period, A=10 pulse/sampling period2, D=10 pulse/
Sampling period2, Jacc=2 pulses/sampling period3, Jdec=2 pulses/sampling period3, sampling period Ts=1 millisecond, for the first time
Triggering change target velocity at boost phase is f1=60, it is f that second time triggers change target velocity constant velocity stage2=40.From
Figure 15 understands, and user is former sets the target velocity F=100 pulse/sampling period first set, the ongoing process of current kinetic,
User triggers 2 times the request changing target velocity the most respectively in different phase.Touch owing to changing target velocity request for the first time
When sending out, current kinetic is in boost phase, therefore can be by new target velocity indirect assignment, therefore the rate curve from figure can
Knowing, the maximum target speed reached is 60 rather than the 100 of original setting；It is current that second time changes the request of target velocity
Motion is in constant velocity stage (f1=60) it is to trigger, owing to Distance Remaining not yet enough decelerates to new from present speed (60)
Target velocity (40) and decelerate to terminate the distance needed for speed from new target velocity (40), therefore proceed to respond to again change
The request of target velocity.
Knowable to analogous diagram, the accelerating curve obtained is continuous, nothing sudden change, and rate curve is smooth, and the sigmoid curve of proposition adds
It is feasible that method for slowing-down control changes target velocity algorithm online, can realize being varied multiple times the request of speed；This algorithm can be expired
Numerical control device is changed the requirement of target velocity by foot user in motor process, extends the function of digital control system and improves its spirit
Activity, can meet the application demand of more users group.
Claims (10)
1. an online change target velocity and the S-shaped Acceleration-deceleration Control Method of position, it is characterised in that input ginseng for user
Number: motion total displacement L, starting velocity fs, maximal rate F, terminate speed fe, peak acceleration A, maximum deceleration D, add acceleration
Degree Jacc, subtract acceleration JdecWith interpolation sampling period Ts, proceed as follows:
(1) first carry out initializing and divided stages process:
Take acceleration region I, at the uniform velocity region II and decelerating area III syllogic divided stages processing mode that sigmoid curve is carried out
Plus/minus speed dispersionization processes, specific as follows:
1) whether acceleration region I acceleration sliding-model control process, be calculated up to criterion point situation according to peak acceleration A
Add accelerating sections 1., 2. even accelerating sections and subtract accelerating sections actual interpolation cycle number 3. and be respectively n1、n2、n3；
2) whether decelerating area III deceleration sliding-model control process, calculate up to criterion point situation according to maximum deceleration D
To accelerating and decelerating part 5., 6. even braking section and subtract braking section actual interpolation cycle number 7. and be respectively n5、n6、n7；
3) 1. precalculate the most in real time from the beginning of present speed and current acceleration with even accelerating sections, through over subtraction according to adding accelerating sections
Accelerating sections 3. after maximum speed value V that can arrivem, calculate Distance Remaining L the most in real timer, once predict and meet V simultaneouslym＞
F and Lr>VmCondition, then next cycle enter at the uniform velocity section 4., along with at the uniform velocity section periodicity n 4.4Often increase a cycle, when
Front displacement LcurIncrease maximal rate V therewithmDistance, Distance Remaining LrConstantly reduce；Work as Lr<VmTime enter decelerating area
III carries out deceleration process, at the uniform velocity section periodicity n 4.4Determine；
(2) then carry out actual deceleration point prediction, judge actual subtracting by calculating deceleration distance in real time with path Distance Remaining
Speed point, current acceleration and deceleration process be in add accelerating sections 1. or even accelerating sections 2. time, in order to ensure the seriality of acceleration, now
The distance that the deceleration distance of indication is passed by except including decelerating area III i.e. accelerating and decelerating part displacement L 5.5, even braking section 6.
Displacement L6With subtract braking section displacement L 7.7In addition, also should include subtracting accelerating sections displacement L 3.3；
(3) carry out according to the integral relation between plus/minus acceleration j (t), plus/minus speed a (t), speed f (t) and displacement s (t)
The real-time interpolation of each segment calculates, and the current shift value of real-time update, velocity amplitude, accekeration and Distance Remaining value；Simultaneously
Real-time interpolation carries out end point judging process before calculating, to ensure the accurate arrival in final position.
Online change target velocity the most according to claim 1 and the S-shaped Acceleration-deceleration Control Method of position, its feature exists
Relationship below is there is in: described plus/minus speed a (t), speed f (t) and displacement s (t) and time:
In formula (1), t is time coordinate, tiRepresenting the transition point moment of each motion stage, i represents each fortune of speed planning process
In the dynamic stage, i=1～7, i are integer；Each motion rank described refer to motor process and are divided into 7 motion stages, it may be assumed that acceleration
Section 1., even accelerating sections 2., subtract accelerating sections 3., at the uniform velocity section 4., accelerating and decelerating part 5., even braking section 6. and subtract braking section 7.；τiRepresent
Local time's coordinate with the starting point of each motion stage as time zero, i.e. τi=t-ti-1, i represents that speed planning process is each
Individual motion stage, i=1～7, i are integer；
Plus/minus acceleration j (ti) it is the piecewise function with the time as variable:
In formula (2), JiRepresenting the plus/minus acceleration of each motion stage, i represents each motion stage of speed planning process, i=0
～7, i is integer, wherein J2=J4=J6=0；
Plus/minus speed a (ti) it is the piecewise function with the time as variable, meet formula (3):
In formula (3), A and D represents the peak acceleration and maximum deceleration that user inputs respectively；
Described speed f (ti) it is the piecewise function with the time as variable, meet formula (4):
In formula (4), fiRepresenting the velocity amplitude that each motion stage end point reaches, i represents each motion rank of speed planning process
Section, i=0～7, i are integer；F represents the maximum speed value that the accelerated region of motor process can arrive after accelerating, herein equal to defeated
The maximal rate entered；TiRepresent the movement time of each motion stage, TiFor sampling period TsIntegral multiple, i represents speed planning
Each motion stage of process, i=0～7, i are integer；
Described displacement s (ti) it is the piecewise function with the time as variable, meet formula (5):
In formula (5), siRepresenting the displacement moved at the end of each motion stage, i represents each motion rank of speed planning process
Section, i=0～7, i are integer；L represents motion total displacement；In order to subsequent calculations is convenient, provide moving displacement amount in each stage
Computing formula can be calculated by below equation group:
Online change target velocity the most according to claim 2 and the S-shaped Acceleration-deceleration Control Method of position, its feature exists
In: the limit of maximum acceleration/deceleration within them is to obtain from the maximum moment and the power limit driving motor, reflects numerical control servo system
The maximum acceleration and deceleration ability of system；And the flexibility of maximum plus/minus acceleration reflection digital control servo system, with acceleration time T1、T3、T5
And T7It is inversely proportional to；Assume plus/minus speed from 0 time increasing to maximum demand and plus/minus speed needed for maximum is decreased to 0
Time be equal, then be made up of vertical below equation:
In formula (7), JaccAnd JdecRepresent the jerk value of acceleration region I and decelerating area III respectively subtracts accekeration.
Online change target velocity the most according to claim 2 and the S-shaped Acceleration-deceleration Control Method of position, its feature exists
In: the input of S-shaped Acceleration-deceleration Control Method allows to arrange asymmetric acceleration A and deceleration D；Or input asymmetric adding
Acceleration JaccWith subtract acceleration Jdec；Or asymmetric starting velocity f is setsAnd fe, and fsAnd feDesirable nonzero value.
Online change target velocity the most according to claim 2 and the S-shaped Acceleration-deceleration Control Method of position, its feature exists
In: described acceleration region I sliding-model control process is specific as follows:
Acceleration region I include adding accelerating sections 1., even accelerating sections 2. and subtract accelerating sections 3.；If adding accelerating sections interpolation cycle number n 1.1
Interpolation cycle number n 3. is accelerated with subtracting3There is following relation: n3=n1-1 (8)
By formula (7) to n1Round up:
Calculate and add accelerating sections and 1. and subtract accelerating sections speed increment summation 3.:
Calculate from starting velocity fsIncrease to the maximum permission speed increment of F: Δ Vamax=F-fs (14)
Thus derive peak acceleration A whether up to criterion: if Δ Vacc≥ΔVamax, then acceleration and deceleration process is the most greatly
Speed A is unreachable；Otherwise peak acceleration A up to；
a)ΔVacc≥ΔVamax, A is unreachable
Calculate and add accelerating sections actual interpolation cycle number 1.
Be modified actual acceleration and actual acceleration and rerun process:
It is calculated even accelerating sections and 2. and subtracts accelerating sections 3. interpolation cycle number:
b)ΔVacc<ΔVamax, A up to
Calculate even accelerating sections speed increment 2.: n2×A (18)
Speed increment summation Δ V behind accelerated region I can be obtained by formula (13)amax: Δ Vamax=(n1+n2)×A (19)
If na=n1+n2, then formula (19) is rewritable is: Δ Vamax=na×A (20)
Then naActual value can be calculated as:
Actual acceleration Areal, add accelerating sections actual interpolation cycle number 1.With actual jerk value
Therefore actual even accelerating sections actual interpolation cycle number 2. can be obtainedWith subtract accelerating sections actual interpolation cycle number 3.
Online change target velocity the most according to claim 2 and the S-shaped Acceleration-deceleration Control Method of position, its feature exists
In: decelerating area III sliding-model control process is specific as follows:
Decelerating area III include accelerating and decelerating part 5., even braking section 6. and subtract braking section 7.；If the interpolation cycle that accelerating and decelerating part is 5.
Number n5With subtract braking section interpolation cycle number n 7.7Meet following relation: n7=n5-1 (25)
According to formula (7) to n5Round up:
Calculate accelerating and decelerating part and 5. and subtract braking section speed increment summation Δ V 7.dec:
Calculate and decelerate to terminate speed f from maximal rate FeMaximal rate increment Delta V alloweddmax: Δ Vdmax=F-fe (28)
By formula (27) and (28) result of calculation can obtain maximum deceleration D whether up to criterion: if Δ Vdec≥ΔVdmax, then
Acceleration and deceleration process maximum deceleration D is unreachable；Otherwise maximum deceleration D up to；
a)ΔVdec≥ΔVdmax, D is unreachable
Utilizing formula (27) result of calculation, formula (28) is rewritable is:
Calculate accelerating and decelerating part actual interpolation cycle number 5.
UtilizeRevise with formula (29) and actual subtract accekeration
Revise actual up to deceleration value Dreal:
Calculate even braking section and 6. and subtract braking section actual interpolation cycle number 7.:
b)ΔVdec<ΔVdmax, D up to
Calculate even braking section speed increment 6.: n6×D
By formula (27) can behind decelerating area III speed increment summation Δ Vdmax: Δ Vdmax=(n5+n6)×D (33)
If nd=n5+n6, formula (33) is rewritable is: Δ Vdmax=nd×D (34)
Then ndActual value can be calculated as:
Actual deceleration degree Dreal, accelerating and decelerating part actual interpolation cycle number 5.Accekeration is subtracted with actual
For D up to situation, actual interpolation cycle number result of calculation of each stage is:
Online change target velocity the most according to claim 2 and the S-shaped Acceleration-deceleration Control Method of position, its feature exists
In: described up to maximal rate VmCalculate specific as follows:
In order to ensure subtract accelerating sections 3. at the end of, maximal rate V reachedmMaximal rate F given less than or equal to user,
I.e. inequality is set up: Vm≤ F (39),
V in formula (39)mRepresent from the beginning of present speed and current acceleration, the maximum speed that can arrive in over subtraction accelerator
Angle value；In order to ensure that inequality (39) is set up, it is necessary to 1. calculate next cycle the most in real time with even accelerating sections adding accelerating sections in advance
Velocity amplitude, next the period velocity value once calculated be more than maximal rate F, acceleration and deceleration process will proceed to subtract in next cycle
Accelerating sections is 3.；
1. or even accelerating sections certain current period 2. assuming adding accelerating sections, its acceleration is acur, speed is Vcur, start
3. entrance subtracts accelerating sections, through the i-th cycle, and its acceleration ai, speed ViA following relation is had with cycle i:
In formula (40),Representing actual jerk value, i represents current period number, i ∈ [0, n3], i is integer；Therefore subtract and add
The maximum speed value that speed section is reached after 3. terminating is:
Owing to formula (42) amount of calculation is bigger, therefore derive simpler computational methods:
1) accelerating sections 1. middle V is addedmComputing formula be:
2) even accelerating sections 2. middle VmComputing formula be: Vm=V 'm+acur (45)。
Online change target velocity the most according to claim 2 and the S-shaped Acceleration-deceleration Control Method of position, its feature exists
Actual deceleration point is judged by calculating deceleration distance and path Distance Remaining in real time in: described actual deceleration point prediction, one
Denier knows that next interpolation cycle Distance Remaining is less than deceleration distance, then next interpolation cycle will be transferred to decelerating area III,
Specific as follows:
Current acceleration and deceleration process be in add accelerating sections 1. or even accelerating sections 2. time, in order to ensure the seriality of acceleration, now
The distance that the deceleration distance of indication is passed by except including decelerating area III i.e. accelerating and decelerating part displacement L 5.5, even braking section 6.
Displacement L6With subtract braking section displacement L 7.7In addition, also should include subtracting accelerating sections displacement L 3.3；
1) deceleration distance LdecCan be calculated by following formula:
Finally obtain the deceleration distance L after simplificationdecIterative computation formula is:
2) accelerating sections displacement L 3. is subtracted3Reduced mechanical model:
A) accelerating sections L 1. is added3Iterative computation formula:
L' in formula (76)3Represented value L in a upper cycle3；
B) even accelerating sections L 2.3Iterative computation formula: L3=L'3+acur×n3 (78)
L' in formula (78)3Represented value L in a upper cycle3。
Online change target velocity the most according to claim 2 and the S-shaped Acceleration-deceleration Control Method of position, its feature exists
In: described Distance Remaining compensation way takes the mode of the correct position disposable compensation in decelerating area III any stage
Realize, specific as follows:
By the calculating real-time judge actual deceleration point to deceleration distance, actual deceleration point is made to be ahead of theoretical deceleration point, this
Making actual deceleration point can make speed planning in advance after terminating braking section artificially, Distance Remaining will be equal to 0, at deceleration area
Territory III needs to compensate Distance Remaining；If Distance Remaining is Lr, current range ability is Lcur, then for any stage
For a certain cycle, there is relationship below: Lr=L-Lcur-Ldec (79)
In formula (79), L represents motion total displacement amount, and current range ability can be calculated by following formula:
In formula (80), niRepresenting each motion stage interpolation cycle number, i represents each motion stage of speed planning process, i=1～
7, i is integer；VjRepresent each motion stage niEach velocity amplitude, j represents all taking of each motion stage interpolation cycle number
Value, j=1～ni, j is integer；If motion total displacement amount L is very big, then calculate obtained LrThe biggest (Lr>Vm), for
Reduce the compensation cycle of Distance Remaining as far as possible, simultaneously again due to divided stages during, at the uniform velocity section interpolation cycle number n 4.4
It is not designated, at the uniform velocity section therefore can be utilized to compensate；Along with at the uniform velocity section interpolation cycle number n4Often increase a cycle,
LcurIncrease maximal rate V therewithmDistance, therefore Distance Remaining LrIt is compensated and constantly reduces；When Distance Remaining is little
In maximum speed value Vm, enter decelerating area III；0≤L is understood through above-mentioned analysisr≤VmIf, Distance Remaining LrIn maximal rate Vm
With minimum operation speed feBetween, then compensate in braking section；If Distance Remaining LrIt is less than terminating speed fe, then
By LrLast period of motion that is added to compensates.
Online change target velocity the most according to claim 2 and the S-shaped Acceleration-deceleration Control Method of position, its feature exists
In: the described online target location that changes is that thought based on finite state machine realizes, and all of state includes: accelerating region
Territory I, at the uniform velocity region II, decelerating area III and inverse motion compensation four kinds；Continuous several times can be realized and change target location request；
The described online target velocity that changes realizes based on finite state machine, and all of state includes: acceleration region I, even
Speed region II, III 3 kinds, decelerating area；The online target velocity that changes must assure that the accurate arrival of target location, otherwise ignores change
Speed request, therefore response speed change request is conditional on；Continuous several times can be realized and change target velocity request.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610116683.6A CN106168790B (en) | 2016-02-29 | 2016-02-29 | S-shaped acceleration and deceleration control method for changing target speed and position on line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610116683.6A CN106168790B (en) | 2016-02-29 | 2016-02-29 | S-shaped acceleration and deceleration control method for changing target speed and position on line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106168790A true CN106168790A (en) | 2016-11-30 |
| CN106168790B CN106168790B (en) | 2020-08-18 |
Family
ID=57358875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610116683.6A Expired - Fee Related CN106168790B (en) | 2016-02-29 | 2016-02-29 | S-shaped acceleration and deceleration control method for changing target speed and position on line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106168790B (en) |
Cited By (61)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945042A (en) * | 2017-03-29 | 2017-07-14 | 浙江工业大学 | A kind of discrete S types curve speed control method of manipulator |
| CN107351087A (en) * | 2017-08-29 | 2017-11-17 | 成都乐创自动化技术股份有限公司 | A kind of crawl response control mehtod and system |
| CN107390695A (en) * | 2017-08-10 | 2017-11-24 | 三海洋重工有限公司 | A kind of crane movements method for planning track and device |
| CN107671859A (en) * | 2017-10-20 | 2018-02-09 | 山东大学 | Moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration |
| CN107741731A (en) * | 2017-10-16 | 2018-02-27 | 深圳市合信自动化技术有限公司 | Error processing method caused by a kind of S curve computational accuracy |
| CN107765648A (en) * | 2017-10-13 | 2018-03-06 | 山东大学 | A kind of feed speed method and device for planning of CNC processing |
| CN108153246A (en) * | 2017-12-26 | 2018-06-12 | 哈工大机器人（合肥）国际创新研究院 | A kind of parameter adaptive S-shaped speed planning interpolating method based on command speed |
| CN108319300A (en) * | 2018-03-07 | 2018-07-24 | 深圳市雷赛软件技术有限公司 | The progress control method and device of executing agency |
| CN108345274A (en) * | 2017-01-25 | 2018-07-31 | 发那科株式会社 | The control device and control method for the lathe that control main shaft is operated synchronously with feed shaft |
| CN108380838A (en) * | 2018-02-27 | 2018-08-10 | 首钢京唐钢铁联合有限责任公司 | A kind of casting speed control method of continuous casting |
| CN108388206A (en) * | 2018-03-07 | 2018-08-10 | 深圳市汇川技术股份有限公司 | The real-time dynamic programming method of feed speed and system |
| CN108628259A (en) * | 2018-07-12 | 2018-10-09 | 卢俊 | A kind of brill attacks central rigid tapping acceleration and deceleration motion control method |
| WO2018195689A1 (en) * | 2017-04-24 | 2018-11-01 | 深圳配天智能技术研究院有限公司 | S-type velocity planning method, device and system, and robot and numerical control machine tool |
| CN108829044A (en) * | 2018-07-27 | 2018-11-16 | 山东大学 | There is the S curve deceleration planning method of negative value in a kind of reply whole story speed |
| CN108847807A (en) * | 2018-06-28 | 2018-11-20 | 广州视源电子科技股份有限公司 | Planing method, device, equipment and the storage medium of the motion profile of motor |
| CN108958169A (en) * | 2018-07-27 | 2018-12-07 | 山东大学 | A kind of PVT control method based on S curve |
| CN109240359A (en) * | 2018-08-29 | 2019-01-18 | 浙江工业大学 | A kind of chip mounter head suction nozzle picks and places the speed planning method of element |
| WO2019019707A1 (en) * | 2017-07-28 | 2019-01-31 | 珞石（山东）智能科技有限公司 | Non-zero original state s-type stop curve velocity rule and online resolving method thereof |
| CN109596850A (en) * | 2017-09-30 | 2019-04-09 | 深圳迈瑞生物医疗电子股份有限公司 | The control method and sample analyser of sample loading disk |
| CN109861621A (en) * | 2019-03-08 | 2019-06-07 | 杭州中冠瀚明科技有限公司 | The high accuracy positioning hovering method and control system of cementing machine trolley |
| CN109991934A (en) * | 2019-03-10 | 2019-07-09 | 天津大学 | A kind of time optimal online S type deceleration planning method |
| CN110000794A (en) * | 2019-05-06 | 2019-07-12 | 江苏集萃智能制造技术研究所有限公司 | A kind of asymmetric speed planning method of clean cut system based on cooperation robot |
| CN110023856A (en) * | 2017-01-10 | 2019-07-16 | 韩华泰科株式会社 | The method and computing device of motion outline are generated by using S type curve |
| CN110175339A (en) * | 2018-09-20 | 2019-08-27 | 北京神工科技有限公司 | A kind of the optimal time distribution method and device of the acceleration and deceleration of S type |
| CN110244789A (en) * | 2019-05-21 | 2019-09-17 | 南京理工大学 | A method of reducing hopper walking impact |
| CN110286653A (en) * | 2019-06-14 | 2019-09-27 | 杭州爱科科技股份有限公司 | Speed calculation method for arbitrary curve movement S feed speed control |
| CN110365280A (en) * | 2018-04-03 | 2019-10-22 | 东元电机股份有限公司 | Motor control system and its method |
| CN110377065A (en) * | 2018-08-24 | 2019-10-25 | 天津京东深拓机器人科技有限公司 | Method for control speed, device and computer readable storage medium |
| CN110450166A (en) * | 2019-08-22 | 2019-11-15 | 上海新时达机器人有限公司 | Turning acceleration optimization method and device based on sigmoid curve robot transition trajectory planning |
| CN111045461A (en) * | 2019-12-19 | 2020-04-21 | 浙江博尼时尚控股集团有限公司 | Continuous small line segment discrete speed control method of cutting bed |
| CN111060150A (en) * | 2019-12-05 | 2020-04-24 | 南京航空航天大学 | Motion carrier monitoring method based on MEMS acceleration sensor and air pressure sensor |
| CN111158318A (en) * | 2020-01-16 | 2020-05-15 | 江南大学 | Flexible acceleration and deceleration planning method for asymmetric quartic curve |
| CN111245332A (en) * | 2020-01-18 | 2020-06-05 | 南京岸鸣智能科技有限公司 | Motor speed control method and control system |
| CN111381554A (en) * | 2018-12-26 | 2020-07-07 | 发那科株式会社 | Control method, control device, and program recording medium |
| CN111487930A (en) * | 2020-04-24 | 2020-08-04 | 东莞市精驰软件有限公司 | Motion control system, method and device based on symmetric graph replacement technology, machine tool and storage medium |
| CN111482601A (en) * | 2020-03-27 | 2020-08-04 | 陕西天元智能再制造股份有限公司 | Coaxial powder feeding 3D laser printing control method for inhibiting acceleration and deceleration printing of high points |
| CN111562766A (en) * | 2020-05-08 | 2020-08-21 | 重庆科技学院 | Cross sliding table performance simulation control method and system, storage medium and computer |
| CN112078631A (en) * | 2020-08-31 | 2020-12-15 | 通号城市轨道交通技术有限公司 | Train speed control method and system |
| CN112255913A (en) * | 2020-11-14 | 2021-01-22 | 大连理工大学 | Flexible speed planning method for optimal flight shooting efficiency |
| CN112277273A (en) * | 2020-10-10 | 2021-01-29 | 深圳市山龙智控有限公司 | Advanced speed changing method and device based on mechanical arm of injection molding machine |
| CN112327954A (en) * | 2020-11-14 | 2021-02-05 | 大连理工大学 | High-precision positioning method for linear motor controlled by asymmetric S-shaped speed curve |
| CN112476438A (en) * | 2020-12-11 | 2021-03-12 | 深圳市越疆科技有限公司 | Mechanical arm obstacle avoidance method and device, mechanical arm and robot |
| CN112532146A (en) * | 2020-11-16 | 2021-03-19 | 深圳市科曼医疗设备有限公司 | Acceleration and deceleration motion control method, device, equipment and medium |
| CN113031525A (en) * | 2021-03-03 | 2021-06-25 | 福州大学 | Polynomial acceleration and deceleration motion control method and device applied to numerical control machining |
| CN113031508A (en) * | 2019-12-09 | 2021-06-25 | 北京精雕科技集团有限公司 | Machine tool soft limiting implementation method combining position protection and speed protection |
| CN113156894A (en) * | 2021-04-07 | 2021-07-23 | 东莞普莱信智能技术有限公司 | Speed planning method for chip packaging control and chip packaging control device |
| CN113186665A (en) * | 2021-04-02 | 2021-07-30 | 浙江工业大学 | Smooth speed planning control method of sewing servo motor |
| CN113307164A (en) * | 2021-06-01 | 2021-08-27 | 中联重科股份有限公司 | Steady speed regulation control method and device, rotation system, crane and electronic equipment |
| CN113359620A (en) * | 2021-06-15 | 2021-09-07 | 深圳市旗众智能科技有限公司 | Soft limit control method for shaft motion and open type motion controller based on RTX64 |
| CN113467466A (en) * | 2021-07-22 | 2021-10-01 | 珠海格力电器股份有限公司 | Industrial robot control method and device and industrial robot |
| CN113671898A (en) * | 2020-05-14 | 2021-11-19 | 大族激光科技产业集团股份有限公司 | Numerical control machining method, system, computer device and storage medium |
| CN113885443A (en) * | 2020-07-01 | 2022-01-04 | 大族激光科技产业集团股份有限公司 | Linear acceleration and deceleration control method based on segmented filtering and acceleration limiting |
| CN114019904A (en) * | 2021-11-09 | 2022-02-08 | 深圳市英威腾电气股份有限公司 | Motion control method, system and device |
| CN114077226A (en) * | 2020-08-11 | 2022-02-22 | 大族激光科技产业集团股份有限公司 | S-shaped curve speed planning method, control terminal and computer readable storage medium |
| CN114200892A (en) * | 2021-11-01 | 2022-03-18 | 苏州谋迅智能科技有限公司 | Method and device for smooth output of interactive input device, storage medium and device |
| CN114212631A (en) * | 2021-11-04 | 2022-03-22 | 深圳市海浦蒙特科技有限公司 | Elevator operation control method and device, elevator and computer readable storage medium |
| CN115016559A (en) * | 2022-08-04 | 2022-09-06 | 深圳市杰美康机电有限公司 | Full closed loop multi-path planning line feeding method and device |
| CN115993854A (en) * | 2023-03-21 | 2023-04-21 | 上海果纳半导体技术有限公司 | SMIF (SMIF) open-close device control method, SMIF open-close device control device and storage medium |
| CN116020031A (en) * | 2023-03-27 | 2023-04-28 | 广州国家实验室 | Constant volume control method, system and device for breathing machine and storage medium |
| CN116483025A (en) * | 2023-04-23 | 2023-07-25 | 赛诺威盛科技(北京)股份有限公司 | Data acquisition system and method in flying focus mode, electronic equipment and medium |
| CN116577994A (en) * | 2023-06-25 | 2023-08-11 | 英孚康（浙江）工业技术有限公司 | Redundant fault-tolerant asymmetric S-shaped flexible speed curve self-adaptive planning method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050077857A1 (en) * | 2003-09-05 | 2005-04-14 | Siemens Aktiengesellschaft | Method for controlling a rotation speed of a slave drive, a corresponding controller and a corresponding machine |
| CN1971457A (en) * | 2005-11-25 | 2007-05-30 | 中国科学院沈阳计算技术研究所有限公司 | Speed control method used for numerical control machine |
| CN102722140A (en) * | 2012-06-21 | 2012-10-10 | 中国科学院数学与系统科学研究院 | Multi-period corner small straight-line segment interpolation method based on S curve acceleration/deceleration control |
| CN103713581A (en) * | 2013-12-12 | 2014-04-09 | 南京工程学院 | Method for realizing S curve acceleration and deceleration of motion control system |
-
2016
- 2016-02-29 CN CN201610116683.6A patent/CN106168790B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050077857A1 (en) * | 2003-09-05 | 2005-04-14 | Siemens Aktiengesellschaft | Method for controlling a rotation speed of a slave drive, a corresponding controller and a corresponding machine |
| CN1971457A (en) * | 2005-11-25 | 2007-05-30 | 中国科学院沈阳计算技术研究所有限公司 | Speed control method used for numerical control machine |
| CN102722140A (en) * | 2012-06-21 | 2012-10-10 | 中国科学院数学与系统科学研究院 | Multi-period corner small straight-line segment interpolation method based on S curve acceleration/deceleration control |
| CN103713581A (en) * | 2013-12-12 | 2014-04-09 | 南京工程学院 | Method for realizing S curve acceleration and deceleration of motion control system |
Non-Patent Citations (1)
| Title |
|---|
| 郑仲谦等: "基于加减速时间控制的S形速度规划新算法研究", 《机电工程》 * |
Cited By (87)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110023856A (en) * | 2017-01-10 | 2019-07-16 | 韩华泰科株式会社 | The method and computing device of motion outline are generated by using S type curve |
| CN110023856B (en) * | 2017-01-10 | 2022-12-13 | 韩华株式会社 | Method and computing device for generating motion profile by using S-shaped curve |
| CN108345274A (en) * | 2017-01-25 | 2018-07-31 | 发那科株式会社 | The control device and control method for the lathe that control main shaft is operated synchronously with feed shaft |
| CN108345274B (en) * | 2017-01-25 | 2020-04-14 | 发那科株式会社 | Control device and control method for machine tool for controlling synchronous operation of main shaft and feed shaft |
| CN106945042B (en) * | 2017-03-29 | 2019-05-28 | 浙江工业大学 | A kind of discrete S type curve speed control method of manipulator |
| CN106945042A (en) * | 2017-03-29 | 2017-07-14 | 浙江工业大学 | A kind of discrete S types curve speed control method of manipulator |
| WO2018195689A1 (en) * | 2017-04-24 | 2018-11-01 | 深圳配天智能技术研究院有限公司 | S-type velocity planning method, device and system, and robot and numerical control machine tool |
| WO2019019707A1 (en) * | 2017-07-28 | 2019-01-31 | 珞石（山东）智能科技有限公司 | Non-zero original state s-type stop curve velocity rule and online resolving method thereof |
| CN107390695A (en) * | 2017-08-10 | 2017-11-24 | 三海洋重工有限公司 | A kind of crane movements method for planning track and device |
| CN107351087A (en) * | 2017-08-29 | 2017-11-17 | 成都乐创自动化技术股份有限公司 | A kind of crawl response control mehtod and system |
| CN109596850A (en) * | 2017-09-30 | 2019-04-09 | 深圳迈瑞生物医疗电子股份有限公司 | The control method and sample analyser of sample loading disk |
| CN107765648A (en) * | 2017-10-13 | 2018-03-06 | 山东大学 | A kind of feed speed method and device for planning of CNC processing |
| CN107741731A (en) * | 2017-10-16 | 2018-02-27 | 深圳市合信自动化技术有限公司 | Error processing method caused by a kind of S curve computational accuracy |
| CN107741731B (en) * | 2017-10-16 | 2020-02-14 | 深圳市合信自动化技术有限公司 | Error processing method caused by S-curve calculation precision |
| CN107671859B (en) * | 2017-10-20 | 2018-11-02 | 山东大学 | Moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration |
| CN107671859A (en) * | 2017-10-20 | 2018-02-09 | 山东大学 | Moving target Dynamic Tracking, system and device based on S curve acceleration and deceleration |
| CN108153246A (en) * | 2017-12-26 | 2018-06-12 | 哈工大机器人（合肥）国际创新研究院 | A kind of parameter adaptive S-shaped speed planning interpolating method based on command speed |
| CN108380838A (en) * | 2018-02-27 | 2018-08-10 | 首钢京唐钢铁联合有限责任公司 | A kind of casting speed control method of continuous casting |
| CN108319300A (en) * | 2018-03-07 | 2018-07-24 | 深圳市雷赛软件技术有限公司 | The progress control method and device of executing agency |
| CN108388206A (en) * | 2018-03-07 | 2018-08-10 | 深圳市汇川技术股份有限公司 | The real-time dynamic programming method of feed speed and system |
| CN110365280A (en) * | 2018-04-03 | 2019-10-22 | 东元电机股份有限公司 | Motor control system and its method |
| CN108847807A (en) * | 2018-06-28 | 2018-11-20 | 广州视源电子科技股份有限公司 | Planing method, device, equipment and the storage medium of the motion profile of motor |
| CN108628259B (en) * | 2018-07-12 | 2021-03-12 | 贵阳合众精密机械制造有限公司 | Acceleration and deceleration movement control method for rigid tapping of drilling and tapping center |
| CN108628259A (en) * | 2018-07-12 | 2018-10-09 | 卢俊 | A kind of brill attacks central rigid tapping acceleration and deceleration motion control method |
| CN108829044B (en) * | 2018-07-27 | 2020-12-08 | 山东大学 | S-curve acceleration and deceleration planning method for coping with negative values of starting and ending speeds |
| CN108958169B (en) * | 2018-07-27 | 2021-04-06 | 山东大学 | PVT control method based on S curve |
| CN108829044A (en) * | 2018-07-27 | 2018-11-16 | 山东大学 | There is the S curve deceleration planning method of negative value in a kind of reply whole story speed |
| CN108958169A (en) * | 2018-07-27 | 2018-12-07 | 山东大学 | A kind of PVT control method based on S curve |
| CN110377065A (en) * | 2018-08-24 | 2019-10-25 | 天津京东深拓机器人科技有限公司 | Method for control speed, device and computer readable storage medium |
| CN109240359A (en) * | 2018-08-29 | 2019-01-18 | 浙江工业大学 | A kind of chip mounter head suction nozzle picks and places the speed planning method of element |
| CN109240359B (en) * | 2018-08-29 | 2021-05-18 | 浙江工业大学 | Speed planning method for picking and placing components by suction nozzle of chip mounter head |
| CN110175339A (en) * | 2018-09-20 | 2019-08-27 | 北京神工科技有限公司 | A kind of the optimal time distribution method and device of the acceleration and deceleration of S type |
| CN110175339B (en) * | 2018-09-20 | 2023-01-10 | 北京神工科技有限公司 | Optimal time distribution method and device for S-type acceleration and deceleration |
| CN111381554A (en) * | 2018-12-26 | 2020-07-07 | 发那科株式会社 | Control method, control device, and program recording medium |
| CN109861621A (en) * | 2019-03-08 | 2019-06-07 | 杭州中冠瀚明科技有限公司 | The high accuracy positioning hovering method and control system of cementing machine trolley |
| CN109991934A (en) * | 2019-03-10 | 2019-07-09 | 天津大学 | A kind of time optimal online S type deceleration planning method |
| CN110000794A (en) * | 2019-05-06 | 2019-07-12 | 江苏集萃智能制造技术研究所有限公司 | A kind of asymmetric speed planning method of clean cut system based on cooperation robot |
| CN110244789B (en) * | 2019-05-21 | 2022-11-25 | 南京理工大学 | Method for reducing walking impact of material box |
| CN110244789A (en) * | 2019-05-21 | 2019-09-17 | 南京理工大学 | A method of reducing hopper walking impact |
| CN110286653A (en) * | 2019-06-14 | 2019-09-27 | 杭州爱科科技股份有限公司 | Speed calculation method for arbitrary curve movement S feed speed control |
| CN110450166A (en) * | 2019-08-22 | 2019-11-15 | 上海新时达机器人有限公司 | Turning acceleration optimization method and device based on sigmoid curve robot transition trajectory planning |
| CN110450166B (en) * | 2019-08-22 | 2022-10-14 | 上海新时达机器人有限公司 | Corner acceleration optimization method and device based on S-shaped curve robot transition track planning |
| CN111060150B (en) * | 2019-12-05 | 2021-04-20 | 南京航空航天大学 | Motion carrier monitoring method based on MEMS acceleration sensor and air pressure sensor |
| CN111060150A (en) * | 2019-12-05 | 2020-04-24 | 南京航空航天大学 | Motion carrier monitoring method based on MEMS acceleration sensor and air pressure sensor |
| CN113031508A (en) * | 2019-12-09 | 2021-06-25 | 北京精雕科技集团有限公司 | Machine tool soft limiting implementation method combining position protection and speed protection |
| CN111045461A (en) * | 2019-12-19 | 2020-04-21 | 浙江博尼时尚控股集团有限公司 | Continuous small line segment discrete speed control method of cutting bed |
| CN111045461B (en) * | 2019-12-19 | 2023-05-16 | 浙江博尼时尚控股集团有限公司 | Continuous small line segment discrete speed control method for cutting bed |
| CN111158318A (en) * | 2020-01-16 | 2020-05-15 | 江南大学 | Flexible acceleration and deceleration planning method for asymmetric quartic curve |
| CN111158318B (en) * | 2020-01-16 | 2022-10-18 | 江南大学 | Flexible acceleration and deceleration planning method for asymmetric quartic curve |
| CN111245332A (en) * | 2020-01-18 | 2020-06-05 | 南京岸鸣智能科技有限公司 | Motor speed control method and control system |
| CN111482601A (en) * | 2020-03-27 | 2020-08-04 | 陕西天元智能再制造股份有限公司 | Coaxial powder feeding 3D laser printing control method for inhibiting acceleration and deceleration printing of high points |
| CN111487930A (en) * | 2020-04-24 | 2020-08-04 | 东莞市精驰软件有限公司 | Motion control system, method and device based on symmetric graph replacement technology, machine tool and storage medium |
| CN111562766A (en) * | 2020-05-08 | 2020-08-21 | 重庆科技学院 | Cross sliding table performance simulation control method and system, storage medium and computer |
| CN113671898A (en) * | 2020-05-14 | 2021-11-19 | 大族激光科技产业集团股份有限公司 | Numerical control machining method, system, computer device and storage medium |
| CN113671898B (en) * | 2020-05-14 | 2023-12-08 | 大族激光科技产业集团股份有限公司 | Numerical control machining method, system, computer equipment and storage medium |
| CN113885443B (en) * | 2020-07-01 | 2023-11-21 | 大族激光科技产业集团股份有限公司 | Linear acceleration and deceleration control method based on piecewise filtering and jerk limiting |
| CN113885443A (en) * | 2020-07-01 | 2022-01-04 | 大族激光科技产业集团股份有限公司 | Linear acceleration and deceleration control method based on segmented filtering and acceleration limiting |
| CN114077226B (en) * | 2020-08-11 | 2023-10-27 | 大族激光科技产业集团股份有限公司 | S-shaped curve speed planning method, control terminal and computer readable storage medium |
| CN114077226A (en) * | 2020-08-11 | 2022-02-22 | 大族激光科技产业集团股份有限公司 | S-shaped curve speed planning method, control terminal and computer readable storage medium |
| CN112078631A (en) * | 2020-08-31 | 2020-12-15 | 通号城市轨道交通技术有限公司 | Train speed control method and system |
| CN112078631B (en) * | 2020-08-31 | 2022-08-12 | 通号城市轨道交通技术有限公司 | Train speed control method and system |
| CN112277273A (en) * | 2020-10-10 | 2021-01-29 | 深圳市山龙智控有限公司 | Advanced speed changing method and device based on mechanical arm of injection molding machine |
| CN112327954A (en) * | 2020-11-14 | 2021-02-05 | 大连理工大学 | High-precision positioning method for linear motor controlled by asymmetric S-shaped speed curve |
| CN112255913A (en) * | 2020-11-14 | 2021-01-22 | 大连理工大学 | Flexible speed planning method for optimal flight shooting efficiency |
| CN112532146A (en) * | 2020-11-16 | 2021-03-19 | 深圳市科曼医疗设备有限公司 | Acceleration and deceleration motion control method, device, equipment and medium |
| CN112476438A (en) * | 2020-12-11 | 2021-03-12 | 深圳市越疆科技有限公司 | Mechanical arm obstacle avoidance method and device, mechanical arm and robot |
| CN113031525A (en) * | 2021-03-03 | 2021-06-25 | 福州大学 | Polynomial acceleration and deceleration motion control method and device applied to numerical control machining |
| CN113186665B (en) * | 2021-04-02 | 2022-09-06 | 浙江工业大学 | Smooth speed planning control method of sewing servo motor |
| CN113186665A (en) * | 2021-04-02 | 2021-07-30 | 浙江工业大学 | Smooth speed planning control method of sewing servo motor |
| CN113156894A (en) * | 2021-04-07 | 2021-07-23 | 东莞普莱信智能技术有限公司 | Speed planning method for chip packaging control and chip packaging control device |
| CN113156894B (en) * | 2021-04-07 | 2021-10-01 | 东莞普莱信智能技术有限公司 | Speed planning method for chip packaging control and chip packaging control device |
| CN113307164A (en) * | 2021-06-01 | 2021-08-27 | 中联重科股份有限公司 | Steady speed regulation control method and device, rotation system, crane and electronic equipment |
| CN113359620B (en) * | 2021-06-15 | 2022-03-15 | 深圳市旗众智能科技有限公司 | Soft limit control method for shaft motion and open type motion controller based on RTX64 |
| CN113359620A (en) * | 2021-06-15 | 2021-09-07 | 深圳市旗众智能科技有限公司 | Soft limit control method for shaft motion and open type motion controller based on RTX64 |
| CN113467466A (en) * | 2021-07-22 | 2021-10-01 | 珠海格力电器股份有限公司 | Industrial robot control method and device and industrial robot |
| CN114200892A (en) * | 2021-11-01 | 2022-03-18 | 苏州谋迅智能科技有限公司 | Method and device for smooth output of interactive input device, storage medium and device |
| CN114212631A (en) * | 2021-11-04 | 2022-03-22 | 深圳市海浦蒙特科技有限公司 | Elevator operation control method and device, elevator and computer readable storage medium |
| CN114212631B (en) * | 2021-11-04 | 2023-11-14 | 深圳市海浦蒙特科技有限公司 | Elevator operation control method and device, elevator and computer readable storage medium |
| CN114019904A (en) * | 2021-11-09 | 2022-02-08 | 深圳市英威腾电气股份有限公司 | Motion control method, system and device |
| CN115016559A (en) * | 2022-08-04 | 2022-09-06 | 深圳市杰美康机电有限公司 | Full closed loop multi-path planning line feeding method and device |
| CN115993854A (en) * | 2023-03-21 | 2023-04-21 | 上海果纳半导体技术有限公司 | SMIF (SMIF) open-close device control method, SMIF open-close device control device and storage medium |
| CN116020031A (en) * | 2023-03-27 | 2023-04-28 | 广州国家实验室 | Constant volume control method, system and device for breathing machine and storage medium |
| CN116020031B (en) * | 2023-03-27 | 2023-06-27 | 广州国家实验室 | Constant volume control method, system and device for breathing machine and storage medium |
| CN116483025A (en) * | 2023-04-23 | 2023-07-25 | 赛诺威盛科技(北京)股份有限公司 | Data acquisition system and method in flying focus mode, electronic equipment and medium |
| CN116483025B (en) * | 2023-04-23 | 2024-03-22 | 赛诺威盛科技(北京)股份有限公司 | Data acquisition system and method in flying focus mode, electronic equipment and medium |
| CN116577994A (en) * | 2023-06-25 | 2023-08-11 | 英孚康（浙江）工业技术有限公司 | Redundant fault-tolerant asymmetric S-shaped flexible speed curve self-adaptive planning method |
| CN116577994B (en) * | 2023-06-25 | 2024-02-27 | 英孚康（浙江）工业技术有限公司 | Redundant fault-tolerant asymmetric S-shaped flexible speed curve self-adaptive planning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106168790B (en) | 2020-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106168790A (en) | A kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position | |
| CN107234617B (en) | Obstacle avoidance path planning method guided by artificial potential field irrelevant to obstacle avoidance task | |
| CN110109491A (en) | Continuous S curve acceleration and deceleration motion control method, system and electronic equipment | |
| CN102540978B (en) | High-speed processing-oriented surface quality preferred spline real-time interpolation method | |
| CN104678899A (en) | Curve velocity planning method and device, as well as numerical control machining path data processing method | |
| CN109683615B (en) | Speed look-ahead method for continuous motion path of robot and robot controller | |
| CN107844058B (en) | Motion curve discrete dynamic planning method | |
| CN109765887A (en) | A kind of automatic Pilot control method | |
| CN109163728B (en) | Dynamic environment obstacle avoidance method, controller and robot | |
| CN110347167A (en) | A kind of speed planning method and speed planning system | |
| CN108262747B (en) | Motion trajectory planning method and device, robot and storage medium | |
| CN102809945B (en) | Movement planning method for numerical control processing, movement planner and application thereof | |
| CN104135212A (en) | Flexibility motion control IP (Intellectual Property) core and implementation method thereof | |
| CN103533246A (en) | Control method of automatic-tracking dome camera | |
| CN113296496B (en) | Gravity self-adaptive step length bidirectional RRT path planning method based on multiple sampling points | |
| CN109991934B (en) | Time-optimal online S-type acceleration and deceleration planning method | |
| CN109048091A (en) | Laser cutting speed planing method, device, storage medium and computer equipment | |
| CN111597702A (en) | Rocket landing trajectory planning method and device | |
| CN111897327B (en) | Multi-mobile robot control/dispatch model acquisition method and device and electronic equipment | |
| CN110377065A (en) | Method for control speed, device and computer readable storage medium | |
| CN116795120A (en) | Mobile robot hybrid path planning method with improved A-algorithm and dynamic window method | |
| CN104950821A (en) | Numerical control system velocity planning method based on fractional calculus | |
| CN112363505B (en) | Articulated sweeper speed planning method and system based on target distance | |
| CN114625134A (en) | Rapid control method for ship navigation situation | |
| CN108847807B (en) | Method, device and equipment for planning motion trail of motor and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200818 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |