CN108319228A - Acceleration-deceleration Control Method in a kind of digital control system trajectory planning - Google Patents

Acceleration-deceleration Control Method in a kind of digital control system trajectory planning Download PDF

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Publication number
CN108319228A
CN108319228A CN201810134489.XA CN201810134489A CN108319228A CN 108319228 A CN108319228 A CN 108319228A CN 201810134489 A CN201810134489 A CN 201810134489A CN 108319228 A CN108319228 A CN 108319228A
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acceleration
control system
deceleration
digital control
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CN108319228B (en
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朱其新
费清琪
刘红俐
蒋全胜
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Suzhou University of Science and Technology
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    • 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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36521—Select by combination of detected force, acceleration, speed, work rate

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

Acceleration-deceleration Control Method in a kind of digital control system trajectory planning of present invention offer, it is assumed that total run time is T when digital control system is processed, and total run time is divided into seven periods, respectively 0~t1、t1~t2、t2~t3、t3~t4、t4~t5、t5~t6、t6~t7, the time interval for defining each period is Ti(i=1,2,3 ..., 7), then T1The corresponding period is 0~t1, T2The corresponding period is t1~t2, T3The corresponding period is t2~t3, T4The corresponding period is t3~t4,T5The corresponding period is t4~t5,T6The corresponding period is t5~t6,T7The corresponding period is t6~t7, the algorithm expression formula used when planning acceleration and deceleration curves model isWherein j (t) is function of the acceleration about time t, jmaxFor the acceleration maximum value in operational process,Acceleration-deceleration Control Method in this digital control system trajectory planning provided by the invention, intersects at the prior art, this control algolithm model is more simple, and jerk curve is more smooth, directly reduces digital control system start and stop.

Description

Acceleration-deceleration Control Method in a kind of digital control system trajectory planning
Technical field
The present invention relates to servo-drive system motion control field, more particularly to acceleration and deceleration in a kind of digital control system trajectory planning Method processed.
Background technology
Traditional linear acceleration and deceleration control because under conditions of given position, speed, acceleration positioning time it is optimal due to obtain To extensive use, but discontinuous acceleration frequently can lead to generate when machine is reached home with desired precision at its turning point The excess of stroke and oscillation.Compared with linear acceleration and deceleration controls, smoothness and kinematic accuracy are relatively high for Exponential acceleration and deceleration control.But Control algolithm is complex, and holding time is long, and still has sudden change of acceleration in the start, end of acceleration and deceleration, can be to lathe Generate certain impact.
Current more common S curve acceleration/deceleration control algorithm is as shown in Figure 1, it realizes acceleration in the ideal case Consecutive variations, but the acceleration of Spline smoothing can still make system generate larger impact and oscillation.A kind of paper " Jerk companies Continuous SIN function curve acceleration and deceleration algorithm research " (is published in《Manufacturing technology and lathe》, (12):158-161,2010, Deliver artificial grandson and build benevolence, Hu Chibing, Wang Baomin) propose a kind of continuous SIN function curve acceleration and deceleration of acceleration Method processed is as shown in Fig. 2, be effectively improved the stability of digital control system.But this Acceleration-deceleration Control Method still has not Foot：In even accelerating sections, gear stage and even accelerating sections (even braking section) although Jerk curves it is continuous, it is at turning point plus Accelerating curve is still not smooth enough, and digital control system can be caused to be still within acceleration or abrupt deceleration suddenly here in this way State.
Invention content
Acceleration-deceleration Control Method in a kind of digital control system trajectory planning of present invention offer, for solving the above problems.
In order to achieve the above objectives, Acceleration-deceleration Control Method in a kind of digital control system trajectory planning of present invention offer, it is assumed that number Total run time is T when control system is processed, and total run time is divided into seven periods, respectively 0~t1、t1~t2、t2~ t3、t3~t4、t4~t5、t5~t6、t6~t7, the time interval for defining each period is Ti(i=1,2,3 ..., 7), then T1 The corresponding period is 0~t1, T2The corresponding period is t1~t2, T3The corresponding period is t2~t3, T4The corresponding period For t3~t4,T5The corresponding period is t4~t5,T6The corresponding period is t5~t6,T7The corresponding period is t6~t7, Plan that the algorithm expression formula used when acceleration and deceleration curves model is
Wherein j (t) is letter of the acceleration about time t Number, jmaxFor the acceleration maximum value in operational process,
Preferably, T1=T3=T5=T7。
Preferably, the algorithm expression formula of acceleration is in the acceleration and deceleration curves model
Wherein amaxFor peak acceleration.
Preferably, the algorithm expression formula of the acceleration and deceleration curves model medium velocity is
Wherein VmaxFor digital control system plus Work allows maximum speed, v1,v2,v5,v6T=t is worked as in representative1,t2,t5,t6When instantaneous velocity.
Preferably, the algorithm expression formula of displacement is in the acceleration and deceleration curves model
, wherein s1,s2,s3,s4,s5,s6T=t is worked as in representative1,t2,t3,t4,t5,t6When displacement.
Preferably, there is a in processing in digital control systemmaxOr-amax, and define mesh when digital control system processing Marker displacement is L, works as t=t7When, displacement S7；S7Less than or equal to L.
Acceleration-deceleration Control Method in this digital control system trajectory planning provided by the invention, has the following advantages：
1. compared with existing Exponential acceleration and deceleration control algolithm, this control algolithm model is more simple, is answered in real system Used time can save more algorithm and write the time.
2. compared with the continuous SIN function curve Acceleration-deceleration Control Methods of existing Jerk, adding for this method accelerates Line of writing music is more smooth, directly reduces digital control system start and stop, to reduce the variation pair of acceleration during acceleration and deceleration Impact caused by digital control system and oscillation.
Description of the drawings
Fig. 1 is S curve acceleration/deceleration control algorithm curve in the prior art；
Fig. 2 is the continuous SIN function curve Acceleration-deceleration Control Method curves of Jerk in the prior art；
Fig. 3 is modified SIN function curve acceleration and deceleration model curve provided by the invention；
Fig. 4 is acceleration and deceleration model curve provided by the invention when being unable to reach maximum speed and peak acceleration；
Fig. 5 is acceleration and deceleration model curve provided by the invention when can reach maximum speed and peak acceleration.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention Specific implementation mode be described in detail.
The purpose of the present invention is to provide a kind of modified SIN functions applied to high accuracy servo system trajectory planning The method of curve feed speed control.It is the model of modified SIN function curve acceleration and deceleration curves thus shown in Fig. 3, Wherein jmaxFor the acceleration maximum value in operational process, amaxFor peak acceleration, VmaxAllow maximum speed for processing.It is whole A acceleration and deceleration curves can be divided into symmetrical 7 stages, 0~t1All it is to add boost phase, t1~t2For even boost phase, t2~t3For Subtract boost phase, t3~t4For constant velocity stage, t4~t5For acceleration and deceleration stage, t5~t6For even decelerating phase, t6~t7To slow down Stage, the time interval for defining each stage are Ti, i=1,2,3 ..., 7 (such as 0~t1Section is T1, t1~t2Section is T2, with this Analogize), but because of the symmetry of entire rate curve, we can summarize：T1=T3=T5=T7.Define total run time For T, acceleration, acceleration, speed, displacement are respectively J (t), A (t), V (t) and S (t) about the function of time t, enable t0= 0, function expression of the acceleration about time t is provided first below：
(1) in：(1) formula is integrated successively, we can obtain its acceleration, speed and displacement expression Formula such as formula (2), shown in (3) and (4):Wherein v1、v2、v5、v6T=t is worked as in representative1、t2、t3、t4、t5、t6When instantaneous velocity；s1、 s2、s3、s4、s5、s6T=t is worked as in representative1、t2、t3、t4、t5、t6When displacement.
(1)~(4) are the accelerations of modified SIN function curve acceleration and deceleration curves, acceleration, speed, position The mathematic(al) representation of shifting.
Above-mentioned equation meets such boundary condition：
1. maximum acceleration or maximum deceleration can be reached during acceleration and deceleration.
2. definition displacement of targets is L, work as t=t7When, displacement S7；S7Less than or equal to L.It can so be obtained by formula (2)：I.e.：
T=4T1+2T2+T4 (7)
It in actual trajectory planning, needs to carry out the speed planning under different control conditions, can be obtained by formula (3)：
Actual motion displacement during definition trajectory planning is L, displacement of targets S7, Simulation Parameters are as follows:S7= 0.0245m=24500counts, sample frequency 2000Hz, maximum speed vmaxFor 600mm/s, following two kinds of situations can be divided into It is planned：
(1) as L ＜ S7When, actual motion speed is unable to reach maximum speed at this time, and acceleration is unable to reach maximum acceleration Degree, is arranged L=0.0145m, and simulation result is as shown in Figure 4.
(2) as L >=S7When, actual motion speed can reach maximum speed at this time, and acceleration can reach peak acceleration, L=0.0345m is set, and simulation result is as shown in Figure 5.
Acceleration-deceleration Control Method in this digital control system trajectory planning provided by the invention, has the following advantages：
1. compared with existing Exponential acceleration and deceleration control algolithm, this control algolithm model is more simple, is answered in real system Used time can save more algorithm and write the time.
2. compared with the continuous SIN function curve Acceleration-deceleration Control Methods of existing Jerk, adding for this method accelerates Line of writing music is more smooth, directly reduces digital control system start and stop, to reduce the variation pair of acceleration during acceleration and deceleration Impact caused by digital control system and oscillation.
Obviously, those skilled in the art can carry out invention spirit of the various modification and variations without departing from the present invention And range.If these modifications and changes of the present invention is within the scope of the claims of the present invention and its equivalent technology, then The present invention is also intended to including these modification and variations.

Claims (6)

1. Acceleration-deceleration Control Method in a kind of digital control system trajectory planning, which is characterized in that assuming that digital control system is always transported when processing The row time is T, and total run time is divided into seven periods, respectively 0~t1、t1~t2、t2~t3、t3~t4、t4~t5、 t5~t6、t6~t7, the time interval for defining each period is Ti(i=1,2,3 ..., 7), then T1The corresponding period is 0 ~t1, T2The corresponding period is t1~t2, T3The corresponding period is t2~t3, T4The corresponding period is t3~t4,T5It is corresponding Period be t4~t5,T6The corresponding period is t5~t6,T7The corresponding period is t6~t7, in planning acceleration and deceleration curves The algorithm expression formula used when model isWherein j (t) is plus accelerates Spend the function about time t, jmaxFor the acceleration maximum value in operational process,
2. Acceleration-deceleration Control Method in digital control system trajectory planning as described in claim 1, which is characterized in that T1=T3=T5 =T7。
3. Acceleration-deceleration Control Method in digital control system trajectory planning as described in claim 1, which is characterized in that the acceleration and deceleration The algorithm expression formula of acceleration is in curve modelWherein amaxFor peak acceleration.
4. Acceleration-deceleration Control Method in digital control system trajectory planning as claimed in claim 3, which is characterized in that the acceleration and deceleration The algorithm expression formula of curve model medium velocity is Wherein VmaxBeing processed for digital control system allows maximum speed, v1,v2,v5,v6T=t is worked as in representative1,t2,t5,t6When instantaneous velocity.
5. Acceleration-deceleration Control Method in digital control system trajectory planning as claimed in claim 4, which is characterized in that the acceleration and deceleration The algorithm expression formula of displacement in curve model is
Wherein s1,s2,s3,s4,s5,s6T=t is worked as in representative1,t2,t3,t4,t5,t6When displacement.
6. Acceleration-deceleration Control Method in digital control system trajectory planning as claimed in claim 5, which is characterized in that digital control system exists Occurred a when processingmaxOr-amax, and the displacement of targets defined when digital control system processing is L, works as t=t7When, displacement is S7；S7Less than or equal to L.
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CN110134065A (en) * 2019-05-30 2019-08-16 西安交通大学 A kind of Machining paths on Machine Tools motion planning method based on the prediction of Sine-squared acceleration
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
CN111158318A (en) * 2020-01-16 2020-05-15 江南大学 Flexible acceleration and deceleration planning method for asymmetric quartic curve
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
CN111796558A (en) * 2020-06-08 2020-10-20 五邑大学 Multi-axis linkage real-time dynamic look-ahead trajectory planning method and device and storage medium
CN112255913A (en) * 2020-11-14 2021-01-22 大连理工大学 Flexible speed planning method for optimal flight shooting efficiency
CN112666996A (en) * 2020-12-18 2021-04-16 广州极飞科技有限公司 Method, device and system for controlling motion state and non-volatile storage medium
CN114578764A (en) * 2022-03-02 2022-06-03 盐城工学院 Normal vector square acceleration and deceleration control algorithm
WO2023134746A1 (en) * 2022-01-13 2023-07-20 达闼机器人股份有限公司 Speed control method and apparatus for movable device, and movable device, storage medium and computer program

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CN112255913A (en) * 2020-11-14 2021-01-22 大连理工大学 Flexible speed planning method for optimal flight shooting efficiency
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WO2023134746A1 (en) * 2022-01-13 2023-07-20 达闼机器人股份有限公司 Speed control method and apparatus for movable device, and movable device, storage medium and computer program
CN114578764A (en) * 2022-03-02 2022-06-03 盐城工学院 Normal vector square acceleration and deceleration control algorithm

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