CN110377065B - Speed control method, apparatus and computer readable storage medium - Google Patents

Speed control method, apparatus and computer readable storage medium Download PDF

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CN110377065B
CN110377065B CN201810970000.2A CN201810970000A CN110377065B CN 110377065 B CN110377065 B CN 110377065B CN 201810970000 A CN201810970000 A CN 201810970000A CN 110377065 B CN110377065 B CN 110377065B
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acceleration
preset time
target
deceleration
speed
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CN110377065A (en
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余卫勇
张强
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement

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Abstract

The disclosure provides a speed control method, a speed control device and a computer readable storage medium, and relates to the technical field of computers. The present disclosure can be derived from the starting point at an arbitrary initial acceleration and initial velocity at the targetIn the case of the method, the absolute value J of the jerk of the target is redetermined by using the distance from the starting point to the end point B And controlling the target to J B 0 or-J B The jerk moves from the start point to the end point in the shortest time so that the target reaches the end point with zero acceleration and a specified moving speed. Therefore, under the condition that the distance from the starting point to the end point is short, the motion state of the target can be planned in real time, the acceleration motion curve of the target is continuous, the speed motion curve of the target is smooth, and the stability of the target in the motion process is ensured.

Description

Speed control method, apparatus and computer readable storage medium
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a speed control method, apparatus, and computer-readable storage medium.
Background
With the wide application of industrial robots in the aspects of carrying, glaze spraying, arc welding and the like, the market puts higher and higher requirements on the speed, the acceleration and the motion stability of the robots. The robot is required to avoid sudden change of position, speed and acceleration as much as possible in the moving process. Abrupt changes in position, speed or acceleration can result in jerky motion and thus impact wear on mechanical joints, since abrupt changes in motion require infinite power and require a motor to output a large torque. Thus, a motion with a mechanical impact may cause damage to the robot motor and even to the entire robot control system. On the other hand, the speed planning model error, the robot sensor error, the speed planning model calculation error and some sudden factors in the actual scene may cause that the mobile robot cannot issue corresponding instructions to the servo according to the preset speed planning (i.e. offline speed planning). Therefore, the real-time speed planning (i.e. online speed planning) can meet the requirements of practical application better. Therefore, speed planning is a key technology of the industrial robot, and the stability and the real-time controllability of the motion of the robot are important technical indexes for evaluating the motion performance of the robot.
Disclosure of Invention
The invention solves the technical problem of how to plan the motion state of the target in real time under the condition that the distance from the starting point to the end point is short, so that the target starts from the starting point at any initial acceleration and initial speed, reaches the end point at zero acceleration and a specified motion speed, and an acceleration motion curve is continuous and a velocity motion curve is smooth in the motion process of the target, thereby ensuring the stability of the target in the motion process.
According to an aspect of an embodiment of the present invention, there is provided a speed control method including: when the target starts from the starting point at any initial acceleration and initial speed, the absolute value J of the jerk of the target is redetermined by using the distance from the starting point to the end point B (ii) a Control target with J B 0 or-J B The jerk moves from the start point to the end point in the shortest time so that the target reaches the end point with zero acceleration and a specified moving speed.
In some embodiments, at the initial acceleration a of the target 0 Under the condition of not less than zero, the first jerk absolute value J of the target is redetermined by utilizing the distance from the starting point to the end point B1 (ii) a Control target starting at-J B1 For acceleration to
Figure BDA0001775892310000021
Then J B1 0 or-J B1 For decelerating the jerk to a final speed v e 。
In some embodiments, at the initial acceleration a of the target 0 Under the condition of not less than zero, the first jerk absolute value J of the target is redetermined by utilizing the distance from the starting point to the end point B1 (ii) a Control target from starting point with J B1 0 or-J B1 For accelerating acceleration to end velocity v e 。
In some embodiments, if
Figure BDA0001775892310000022
Wherein a is B Representing the absolute value of the maximum limit acceleration of the target, controlling the target to be-J within a first preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a second preset time B1 Acceleration and deceleration are carried out for a third preset time with-a B Performing uniform deceleration for the fourth time with J B1 Reducing and decelerating; if it is
Figure BDA0001775892310000023
The control target takes-J for a fifth preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a sixth preset time B1 Performing acceleration and deceleration by J within a seventh preset time B1 Deceleration is performed.
In some embodiments, if
Figure BDA0001775892310000024
The control target is driven by J within the eighth preset time B1 Performing acceleration at-J for the ninth preset time B1 Carrying out reduction and acceleration; if it is
Figure BDA0001775892310000025
The control target is driven by J within the tenth preset time B1 Performing acceleration with a within an eleventh preset time B Performing uniform acceleration for a twelfth preset time at-J B1 The deceleration and acceleration are performed.
In some embodiments, at the initial acceleration a of the target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by utilizing the distance from the starting point to the end point B2 (ii) a Control target from starting point with J B2 Acceleration is decelerated to
Figure BDA0001775892310000026
Then J B2 0 or-J B2 For accelerating acceleration to end velocity v e 。
In some embodiments, at the initial acceleration a of the target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by utilizing the distance from the starting point to the end point B2 (ii) a Control target from starting point with J B2 0 or-J B2 For decelerating to a terminal velocity v for jerk e 。
In some embodiments, if
Figure BDA0001775892310000031
The control target is controlled to be J within the thirteenth preset time B2 Performing deceleration by J within the fourteenth preset time B2 Performing acceleration with a within a fifteenth preset time B Performing uniform acceleration at-J within the sixteenth preset time B2 Carrying out reduction and acceleration; if it is
Figure BDA0001775892310000032
The control target is controlled to be J within the seventeenth preset time B2 Reducing the speed by J within the eighteenth preset time B2 Performing acceleration at-J within a nineteenth preset time B2 And performing reduction and acceleration.
In some embodiments, if
Figure BDA0001775892310000033
The control target is at-J for the twentieth preset time B2 Accelerating and decelerating by J within twenty-first preset time B2 Reducing and decelerating; if it is
Figure BDA0001775892310000034
The control target is at-J for a twenty-second preset time B2 Acceleration and deceleration are carried out, and the speed is controlled to be-a within the twenty third preset time B Uniformly decelerating at J within the twenty fourth preset time B2 And reducing the speed.
According to another aspect of an embodiment of the present invention, there is provided a speed control apparatus including: a jerk determination module configured to re-determine an absolute jerk value J of the target using a course from the start point to the end point when the target starts from the start point at an arbitrary initial acceleration and initial velocity B (ii) a A motion control module configured to control a target to J B 0 or-J B The jerk is moved from the start point to the end point in the shortest time so that the target reaches the end point with zero acceleration and a specified moving speed.
In some embodiments, the jerk determination module is configured to: at the initial acceleration a of the target 0 Not less than zeroThe first jerk absolute value J of the target is redetermined using the starting point to ending point course B1 (ii) a The motion control module is configured to: control target from starting point at-J B1 For acceleration to
Figure BDA0001775892310000035
Then J B1 0 or-J B1 For decelerating to a terminal velocity v for jerk e 。
In some embodiments, the jerk determination module is configured to: at the initial acceleration a of the target 0 Under the condition of not less than zero, the first jerk absolute value J of the target is redetermined by utilizing the distance from the starting point to the end point B1 (ii) a The motion control module is configured to: control target from starting point with J B1 0 or-J B1 For accelerating acceleration to end velocity v e 。
In some embodiments, the motion control module is configured to: if it is
Figure BDA0001775892310000041
Wherein a is B Representing the absolute value of the maximum limit acceleration of the target, the target is controlled to be at-J within a first preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a second preset time B1 Acceleration and deceleration are carried out for a third preset time with-a B Performing uniform deceleration by J in the fourth time B1 Reducing and decelerating; if it is
Figure BDA0001775892310000042
The control target takes-J for a fifth preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a sixth preset time B1 Acceleration and deceleration are carried out for a seventh preset time of J B1 And reducing the speed.
In some embodiments, the motion control module is configured to: if it is
Figure BDA0001775892310000043
The control target is controlled to be J within the eighth preset time B1 Performing acceleration at-J within a ninth preset time B1 Carrying out reduction and acceleration; if it is
Figure BDA0001775892310000044
The control target is controlled to be J within the tenth preset time B1 Performing acceleration with a within an eleventh preset time B Performing uniform acceleration for a twelfth preset time at-J B1 And performing reduction and acceleration.
In some embodiments, the jerk determination module is configured to: initial acceleration a at target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by using the distance from the starting point to the end point B2 (ii) a The motion control module is configured to: control target from starting point with J B2 Acceleration is decelerated to
Figure BDA0001775892310000045
Then J B2 0 or-J B2 For accelerating acceleration to end velocity v e 。
In some embodiments, the jerk determination module is configured to: at the initial acceleration a of the target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by utilizing the distance from the starting point to the end point B2 (ii) a The motion control module is configured to: control target from starting point with J B2 0 or-J B2 For decelerating the jerk to a final speed v e 。
In some embodiments, the motion control module is configured to: if it is
Figure BDA0001775892310000046
The control target is controlled to be J within the thirteenth preset time B2 Performing deceleration by J within a fourteenth preset time B2 Performing acceleration for a fifteenth preset time B Performing uniform acceleration at-J within the sixteenth preset time B2 Carrying out reduction and acceleration; if it is
Figure BDA0001775892310000047
The control target is controlled to be J within the seventeenth preset time B2 Performing deceleration at eighteenthWithin a preset time, the dosage is J B2 Performing acceleration at-J within a nineteenth preset time B2 The deceleration and acceleration are performed.
In some embodiments, the motion control module is configured to: if it is
Figure BDA0001775892310000051
The control target is at-J for the twentieth preset time B2 Acceleration and deceleration are carried out within twenty-first preset time by J B2 Reducing and decelerating; if it is
Figure BDA0001775892310000052
The control target is at-J for the twenty-second preset time B2 Acceleration and deceleration are carried out, and the speed is controlled to be-a within the twenty third preset time B Performing uniform deceleration at J within the twenty-fourth preset time B2 And reducing the speed.
According to still another aspect of an embodiment of the present invention, there is provided another speed control apparatus including: a memory; and a processor coupled to the memory, the processor configured to perform the foregoing speed control method based on instructions stored in the memory.
According to yet another aspect of embodiments of the present invention, there is provided a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, which when executed by a processor, implement a speed control method as described above.
The method can plan the motion state of the target in real time under the condition that the distance from the starting point to the end point is short, so that the target starts from the starting point at any initial acceleration and initial speed, reaches the end point at zero acceleration and a specified motion speed, and the acceleration motion curve is continuous and the velocity motion curve is smooth in the motion process of the target, thereby ensuring the stability of the target in the motion process.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 shows a schematic acceleration curve of an S-shaped speed curve.
Fig. 2A shows an acceleration curve for a first acceleration.
Fig. 2B shows an acceleration curve for a second acceleration.
Fig. 2C shows an acceleration curve for a third acceleration.
Fig. 3A shows an acceleration curve for a first deceleration.
Fig. 3B shows an acceleration curve for a second deceleration.
Fig. 3C shows an acceleration curve for a third deceleration.
Fig. 4A shows the acceleration curve for case 3 a).
Fig. 4B shows the acceleration curve for case 3B).
Fig. 4C shows the acceleration curve for the case 3C).
Fig. 4D shows the acceleration curve for case 3D).
Fig. 5A shows the acceleration curve for case 5A).
Fig. 5B shows the acceleration curve for case 5B).
Fig. 5C shows the acceleration curve for the case 5C).
Fig. 5D shows the acceleration curve for case 5D).
Fig. 6 is a schematic structural diagram of a speed control device according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram showing a speed control apparatus according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The inventor researches to find that the existing speed planning schemes mainly have two types.
One is a trapezoidal velocity profile. The speed curve is characterized in that the absolute value of the acceleration is a constant value set artificially in the acceleration and deceleration processes. However, the trapezoidal velocity curve is less smooth. The acceleration curve corresponding to the trapezoidal speed curve is in a step shape, the change rate of the acceleration in a pulse form can be generated at the jump position of the acceleration, the impact can be brought to the running robot, and the service life of the robot equipment can be shortened.
The other is an S-shaped speed profile. The S-shaped velocity profile enables control of the rate of change of acceleration. The acceleration curve of the S-shaped velocity curve is continuous and smoothly transits at the velocity junction, so the S-shaped velocity curve is a velocity control method capable of limiting the angular velocity jump. However, all existing S-shaped speed curve planning schemes are based on the assumption that the distance from the starting point to the important point is large, and therefore the application range of the S-shaped speed curve planning schemes is limited to a certain extent. In the present disclosure, a case where the above-described assumption condition is satisfied is hereinafter referred to as a normal case, and a case where the assumption condition is not satisfied is referred to as an emergency case.
Aiming at the problem corresponding to the emergency situation, the inventor provides a speed control method, which can enable an S-shaped speed curve planning scheme to be applied when the distance from a starting point to an important point is small. As described in detail below.
Firstly, a model is established to analyze the technical problem. An Automatic Guided Vehicle (AGV) is set to start at an initial position O and travel along a line OE to an end point E. The following preconditions exist:
1) At the point OAcceleration of a 0 Velocity v 0 Acceleration at point E is 0 and velocity v e ；
2) The maximum limit acceleration and the maximum limit speed of the AGV are respectively a B And v B (ii) a The maximum acceleration and the maximum speed actually achieved by the AGV in operation are respectively a m And v m ；
3) The maximum limiting absolute value of the Jerk factor is J MaxB (ii) a In the operation process, the Jerk factor only takes values in-J, 0, J; the Jerk factor is at-J unless in case of emergency B ,0,J B Middle value, and J is less than or equal to J B ≤J MaxB ；
4) The distance from point O to point E is S OE 。
The problems are that: when the target starts from the starting point at any initial acceleration and initial speed, the absolute value J of the jerk of the target is redetermined by using the distance from the starting point to the end point B Controlling the target to J B 0 or-J B The jerk moves from the start point to the end point in the shortest time so that the target reaches the end point with zero acceleration and a specified moving speed.
Fig. 1 shows a schematic acceleration curve diagram of an S-shaped speed curve. The curve consists of eight segments:
in the first stage, the acceleration is in the negative direction, the absolute value of the acceleration is gradually reduced, and the acceleration is in T 1 The time is zero;
in the second stage, the acceleration is in positive direction, the absolute value of the acceleration is gradually increased and is in T 2 Reaches the maximum acceleration a at the moment m ；
In the third stage, the acceleration is in the positive direction and is in T 2 To T 3 Time period of maximum acceleration a of the trolley m Acceleration (maximum acceleration a) m Possibly equal to the maximum limit acceleration a B )；
In the fourth stage, the acceleration is in the positive direction, the absolute value of the acceleration is gradually reduced, and the acceleration is in T 4 The time is zero;
in the fifth stage, the acceleration is zero and is at T 4 To T 5 Time period trolley with maximum limit speed v B Advancing at a constant speed;
a sixth stage in which the acceleration is in the negative direction, the absolute value of the acceleration gradually increases, and the acceleration is at T 6 The moment reaches the maximum acceleration a in the negative direction m ；
A seventh stage in which the acceleration is in the negative direction and is at T 6 To T 7 Maximum limit acceleration a of the time slot trolley in the negative direction m Deceleration (maximum acceleration a) m Possibly equal to the maximum limit acceleration a B )；
The eighth stage, the acceleration is in the negative direction, the absolute value of the acceleration is gradually reduced, and the acceleration is at T 8 The time instant is zero.
Three basic accelerations and three basic decelerations are considered below. The acceleration profile of the AGV throughout its movement can consist of these six basic cases and acceleration equal to zero. Let the AGV move from the temporary start point bt (begin point) to the temporary end point et (end point) using six basic scenarios. Acceleration at the temporary start point bt is a bt Velocity v bt Acceleration at the temporary end point et point is 0 and velocity is v et . The displacement function of the carriage from the temporary start point bt to the temporary end point et is S through three basic accelerations ac (a bt ,v bt ,v et ,J B )，S ac1 () A calculation function representing the distance from the vehicle to the end point during an acceleration process, S ac2 () A calculation function S representing the distance from the car to the end point during two acceleration phases ac3 () The calculation function of the distance from the trolley to the terminal point through the three acceleration processes is shown,
Figure BDA0001775892310000081
representing the acceleration time of the trolley moving to the terminal point through an acceleration process,
Figure BDA0001775892310000082
the acceleration time of the trolley moving to the terminal point through two acceleration processes is shown,
Figure BDA0001775892310000083
and the acceleration time of the trolley moving to the terminal point through three stages of acceleration processes is shown. TrolleyThe displacement function from the temporary start point bt to the temporary end point et by three basic decelerations is S de (a bt ,v bt ,v et ,J B )，S de1 () A calculation function representing the distance from the vehicle to the end point during a deceleration, S de2 () A calculation function S representing the distance from the car to the end point through two deceleration processes de3 () The calculation function of the distance from the trolley to the terminal point through the three deceleration processes is shown,
Figure BDA0001775892310000084
the deceleration time of the trolley moving to the terminal point through a deceleration process is shown,
Figure BDA0001775892310000085
the deceleration time of the trolley moving to the terminal point through two sections of deceleration processes is shown,
Figure BDA0001775892310000086
and the deceleration time of the trolley moving to the terminal point through the three-stage deceleration process is shown. Note that T is 1 To T 8 、
Figure BDA0001775892310000091
To
Figure BDA0001775892310000092
These times are variable physical quantities in the following, and the specific values should be calculated under different conditions by using corresponding formulas.
1) Three basic accelerations
Fig. 2A shows an acceleration curve for a first acceleration.
When the temperature is higher than the set temperature
Figure BDA0001775892310000093
At the time of acceleration of
Figure BDA0001775892310000094
The displacement of the AGV is
Figure BDA0001775892310000095
Fig. 2B shows an acceleration curve of the second acceleration.
When the temperature is higher than the set temperature
Figure BDA0001775892310000096
The second is acceleration. At this time, the acceleration time is divided into two sections,
Figure BDA0001775892310000097
the displacement of the AGV is
Figure BDA0001775892310000098
Fig. 2C shows an acceleration curve for a third acceleration.
When in use
Figure BDA0001775892310000099
And, time, third acceleration. At the moment, the acceleration time is divided into three sections, and the acceleration time is respectively as follows:
Figure BDA00017758923100000910
the displacement of the AGV is
Figure BDA00017758923100000911
From the above analysis, the acceleration distance calculation formula of the trolley can be obtained as follows:
Figure BDA0001775892310000101
2) Three basic decelerations
Fig. 3A shows an acceleration curve for a first deceleration.
When in use
Figure BDA0001775892310000102
The first decelerates. At the time of deceleration is
Figure BDA0001775892310000103
The displacement of the AGV is
Figure BDA0001775892310000104
Fig. 3B shows an acceleration curve for a second deceleration.
When the temperature is higher than the set temperature
Figure BDA0001775892310000105
The second decelerates. The deceleration time is divided into two sections
Figure BDA0001775892310000106
The displacement of the AGV is
Figure BDA0001775892310000107
Fig. 3C shows an acceleration curve for a third deceleration.
When in use
Figure BDA0001775892310000108
While the third decelerates. The deceleration time is divided into three sections
Figure BDA0001775892310000109
The displacement of the AGV is
Figure BDA00017758923100001010
The calculation formula of the deceleration distance of the trolley can be obtained through the analysis as follows:
Figure BDA0001775892310000111
3) Critical value of distance
Recording the critical values of the short paths respectively
Figure BDA0001775892310000112
a 0 Short path critical value when not less than 0
Figure BDA0001775892310000113
The calculation formula of (2) is as follows:
Figure BDA0001775892310000114
a 0 <critical value of short path at 0
Figure BDA0001775892310000115
The calculation formula of (2) is as follows:
Figure BDA0001775892310000116
prior art for
Figure BDA0001775892310000117
If not, no speed planning scheme is given. The following analysis is given
Figure BDA0001775892310000118
If not, how to plan the speed. Those skilled in the art will understand that even if
Figure BDA0001775892310000119
If not, it still needs to satisfy
Figure BDA00017758923100001110
If it is not
Figure BDA00017758923100001111
If the acceleration curve is not satisfied, the acceleration curve is not continuous and the velocity curve is smooth in the target motion process, and the target motion process can not be achieved objectively by starting from the starting point with any initial acceleration and initial velocity, and reaching the end point with zero acceleration and a specified motion velocity. In that
Figure BDA0001775892310000121
In the extreme case of failure, J can be made B ＝J MaxB To ensure that the trolley has the best motion state when passing through the terminalThe quantities approach zero acceleration and a specified speed of motion.
First, judge a 0 The size of (2). If a 0 If not less than 0, entering the second step; otherwise a 0 <And 0, entering the fourth step.
Second, at the initial acceleration a of the target 0 Under the condition of not less than zero, the first jerk absolute value J of the target is redetermined by utilizing the distance from the starting point to the end point B1 . The specific algorithm is exemplified as follows:
2a) Let J1= J B ，J2＝J MaxB ，
Figure BDA0001775892310000122
And selecting a threshold value epsilon 1 ；
2b) Computing
Figure BDA0001775892310000123
2c) Redetermining J by dichotomy B : if it is
Figure BDA0001775892310000124
Let J1= J1, J2= J3,
Figure BDA0001775892310000125
returning to the step 2 b); if it is
Figure BDA0001775892310000126
Let J1= J3, J2= J2,
Figure BDA0001775892310000127
returning to the step 2 b); if it is
Figure BDA0001775892310000128
The bisection is over and J is reset B = J3 and proceeds to the third step.
Third, the control target starts at-J B1 For acceleration to
Figure BDA0001775892310000129
Then J B1 0 or-J B1 For decelerating the jerk to a final speed v e . Specific cases are exemplified as follows:
3a) Fig. 4A shows the acceleration curve for case 3 a). As shown in FIG. 4A, if
Figure BDA00017758923100001210
The control target takes-J for a first preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a second preset time B1 Acceleration and deceleration are carried out for a third preset time with-a B Performing uniform deceleration by J in the fourth time B1 And reducing the speed. Namely:
Figure BDA00017758923100001211
wherein, T 4 For a first predetermined time, T 4 To T 6 For a second predetermined time, T 6 To T 7 For a third predetermined time, T 7 To T 8 Is a fourth preset time. Here, the
Figure BDA0001775892310000131
Determined using the acceleration time calculation formula for the first acceleration case,
Figure BDA0001775892310000132
respectively adopting a deceleration time calculation formula in the third deceleration situation to determine, and then entering the sixth step. If 3 a) does not hold, proceed to 3 b).
3b) Fig. 4B shows the acceleration curve for case 3B). As shown in FIG. 4B, if
Figure BDA0001775892310000133
The control target is controlled to be at-J for a fifth preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a sixth preset time B1 Acceleration and deceleration are carried out for a seventh preset time of J B1 And reducing the speed. Namely:
Figure BDA0001775892310000134
wherein, T 4 For a fifth predetermined time, T 4 To T 6 For the sixth preset time, T 6 To T 8 Is the seventh preset time. Here, the
Figure BDA0001775892310000135
Determined using the acceleration time calculation formula for the first acceleration case,
Figure BDA0001775892310000136
respectively adopting a calculation formula of the deceleration time in the second deceleration situation to determine, and then entering the tenth step. If 3 b) does not hold, then proceed to 3 c).
It will be appreciated by those skilled in the art that in steps 3 a) and 3 b), T is satisfied 1 ＝0,T 3 ＝T 2 ＝T 1 ,T 5 ＝T 4 。
In the third step, it is also possible to control the target from the starting point with J B1 0 or-J B1 For accelerating acceleration to end velocity v e . Specific cases are exemplified as follows:
3c) Fig. 4C shows the acceleration curve for case 3C). As shown in FIG. 4C, if
Figure BDA0001775892310000137
The control target is controlled to be J within the eighth preset time B1 Performing acceleration at-J for the ninth preset time B1 And performing reduction and acceleration. Namely:
Figure BDA0001775892310000138
wherein, T 2 For an eighth preset time, T 2 To T 4 Is the ninth preset time. Here, the
Figure BDA0001775892310000139
Respectively adopting an acceleration time calculation formula in the second acceleration situation to determine, and then entering the tenth step. If 3 c) does not hold, go to 3 d).
3d) Fig. 4D shows the acceleration curve for case 3D). As shown in FIG. 4D, if
Figure BDA00017758923100001310
The control target is controlled to be J within the tenth preset time B1 Performing acceleration with a within an eleventh preset time B Performing uniform acceleration for a twelfth preset time at-J B1 The deceleration and acceleration are performed. Namely:
Figure BDA0001775892310000141
wherein, T 2 For the tenth preset time, T 2 To T 3 Is an eleventh preset time, T 3 To T 4 Is the twelfth preset time. Here, the
Figure BDA0001775892310000142
Respectively adopting an acceleration time calculation formula in the third acceleration situation to determine, and then entering the tenth step.
Fourthly, the absolute value J of the second jerk of the target is redetermined by utilizing the distance from the starting point to the end point B2 . The specific algorithm is exemplified as follows:
4a) Let J1= J B ，J2＝J MaxB ，
Figure BDA0001775892310000143
And selecting a threshold value epsilon 2 ；
4b) Computing
Figure BDA0001775892310000144
4c) Redetermining J by dichotomy B : if it is
Figure BDA0001775892310000145
Let J1= J1, J2= J3,
Figure BDA0001775892310000146
returning to the step 4 b); if it is
Figure BDA0001775892310000147
Let J1= J3, J2= J2,
Figure BDA0001775892310000148
returning to the step4b) (ii) a If it is
Figure BDA0001775892310000149
The bisection is over, reset J B = J3 and proceed to the fifth step.
The fifth step, the control target starts from the starting point with J B2 Acceleration is decelerated to
Figure BDA00017758923100001410
Then J B2 0 or-J B2 For accelerating acceleration to end velocity v e 。
Specific examples are as follows:
5a) Fig. 5A shows the acceleration curve for case 5A). As shown in FIG. 5A, if
Figure BDA00017758923100001411
The control target is set to J within the thirteenth preset time B2 Performing deceleration by J within the fourteenth preset time B2 Performing acceleration with a within a fifteenth preset time B Performing uniform acceleration at-J within the sixteenth preset time B2 And performing reduction and acceleration. Namely:
Figure BDA00017758923100001412
wherein, T 1 For a thirteenth preset time, T 1 To T 2 For a fourteenth preset time, T 2 To T 3 Is a fifteenth preset time, T 3 To T 4 A sixteenth preset time. Here, the
Figure BDA0001775892310000151
Determined using the calculation formula for acceleration time in the first deceleration situation,
Figure BDA0001775892310000152
respectively adopting a calculation formula of the deceleration time in the third acceleration situation to determine, and then entering the sixth step. If 5 a) does not hold, proceed to 5 b).
5b) Fig. 5B shows the acceleration curve for case 5B). As shown in FIG. 5B, if
Figure BDA0001775892310000153
The control target is controlled to be J within the seventeenth preset time B2 Performing deceleration by J within eighteenth preset time B2 Performing acceleration at-J within nineteenth preset time B2 And performing reduction and acceleration. Namely:
Figure BDA0001775892310000154
wherein, T 1 For a seventeenth preset time, T 1 To T 2 Is the eighteenth preset time, T 2 To T 4 The nineteenth preset time. Here, the
Figure BDA0001775892310000155
Determined using the acceleration time calculation formula for the first deceleration case,
Figure BDA0001775892310000156
respectively adopting a calculation formula of the deceleration time in the second deceleration situation to determine, and then entering the sixth step. If 5 b) does not hold, then proceed to 5 c).
In the fifth step, it is also possible to control the target from the starting point by J B2 0 or-J B2 For decelerating to a terminal velocity v for jerk e . Specific examples are as follows:
5c) Fig. 5C shows the acceleration curve for case 5C). As shown in FIG. 5C, if
Figure BDA0001775892310000157
The control target is at-J for the twentieth preset time B2 Acceleration and deceleration are carried out within twenty-first preset time by J B2 Deceleration is performed. Namely:
Figure BDA0001775892310000158
wherein, T 6 For the twentieth preset time, T 6 To T 8 Is twenty-first preset time. Here, the
Figure BDA0001775892310000159
Respectively adopting an acceleration time calculation formula in the second deceleration situation to determine, and then entering the sixth step. If 5 c) does not hold, proceed to 5 d).
5d) Fig. 5D shows the acceleration curve for case 5D). As shown in FIG. 5D, if
Figure BDA00017758923100001510
The control target is at-J for the twenty-second preset time B2 Acceleration and deceleration are carried out within a twenty third preset time as shown in the specification B Performing uniform deceleration at J within the twenty-fourth preset time B2 And reducing the speed. Namely:
Figure BDA0001775892310000161
wherein, T 6 For the twenty-second preset time, T 6 To T 7 For the twenty-third preset time, T 7 To T 8 Is the twenty-fourth preset time. Here, the
Figure BDA0001775892310000162
Respectively adopting an acceleration time calculation formula in the third deceleration situation to determine, and then entering the sixth step.
Tenth, outputting the time interval T of the acceleration change i I =1, 2.., 8, the algorithm ends.
Further, in practical applications, the maximum limit acceleration a of the AGV B And a maximum limit speed v B Or may be preset by a worker. Of course, set a B When it is satisfied with a B Is not more than a BMax ，v B Is not more than v BMax Wherein a is BMax Is the maximum limit acceleration, v, that the AGV can objectively reach BMax Is the maximum limit speed that the AGV can objectively reach.
The associated sigmoidal velocity profile is also velocity programmed based on the following assumptions:
(1) If a 0 Is more than or equal to 0, then
Figure BDA0001775892310000163
(2) If a 0 <0, then
Figure BDA0001775892310000164
(3)|a m |≤a B ，|v m |≤v B 。
The above assumptions (1), (2), (3) may not hold when an emergency occurs. At this time, further, the present embodiment may perform the emergency processing of the zeroth step.
Zeroth step, reset
Figure BDA0001775892310000165
a B ＝max{a B ,|a 0 |}，v e ＝sgn(v e )·min{v B ,|v e I where sgn (·) is a sign function.
Thus, even when the above-mentioned assumptions (1), (2), and (3) are not satisfied, the speed planning can be performed, and a corresponding technical effect can be achieved.
The above embodiment provides a speed planning method for an S-shaped speed curve, which can plan the motion state of a target in real time under the condition that the distance from a starting point to an end point is short (or called emergency), so that the target starts from the starting point at any initial acceleration and initial speed, reaches the end point at zero acceleration and a specified motion speed, and an acceleration motion curve is continuous and a speed motion curve is smooth in the motion process of the target, thereby ensuring the stability of the target in the motion process. The embodiment expands the application range of S-shaped speed planning, so that the robot can be ensured to run stably without impact in the moving process, and various emergency situations in practical application can be dealt with.
The speed control apparatus according to an embodiment of the present invention is described below with reference to fig. 6.
Fig. 6 is a schematic structural diagram of a speed control device according to an embodiment of the present invention. As shown in fig. 6, the speed control device 60 in the present embodiment includes:
a jerk determination module 602 configured to determine an acceleration at the target from the start point at an arbitrary initial acceleration and initial velocityIn the case of the method, the absolute value J of the jerk of the target is redetermined by using the distance from the starting point to the end point B ；
A motion control module 604 configured to control a target to J B 0 or-J B The jerk is moved from the start point to the end point in the shortest time so that the target reaches the end point with zero acceleration and a specified moving speed.
In some embodiments, jerk determination module 602 is configured to: at the initial acceleration a of the target 0 Under the condition of not less than zero, the first jerk absolute value J of the target is redetermined by using the distance from the starting point to the end point B1 (ii) a The motion control module 604 is configured to: control target starting at-J B1 For acceleration to
Figure BDA0001775892310000171
Then J B1 0 or-J B1 For decelerating the jerk to a final speed v e 。
In some embodiments, jerk determination module 602 is configured to: at the initial acceleration a of the target 0 Under the condition of not less than zero, the first jerk absolute value J of the target is redetermined by using the distance from the starting point to the end point B1 (ii) a The motion control module 604 is configured to: control target from starting point with J B1 0 or-J B1 For accelerating acceleration to end velocity v e 。
In some embodiments, the motion control module 604 is configured to: if it is
Figure BDA0001775892310000172
Wherein a is B Representing the absolute value of the maximum limit acceleration of the target, the target is controlled to be at-J within a first preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a second preset time B1 Acceleration and deceleration are carried out for a third preset time with-a B Performing uniform deceleration for the fourth time with J B1 Reducing the speed; if it is
Figure BDA0001775892310000173
Then controlTargeting at-J within a fifth preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a sixth preset time B1 Performing acceleration and deceleration by J within a seventh preset time B1 And reducing the speed.
In some embodiments, the motion control module 604 is configured to: if it is
Figure BDA0001775892310000181
The control target is controlled to be J within the eighth preset time B1 Performing acceleration at-J for the ninth preset time B1 Carrying out reduction and acceleration; if it is
Figure BDA0001775892310000182
The control target is controlled to be J within the tenth preset time B1 Performing acceleration with a within an eleventh preset time B Performing uniform acceleration at-J within the twelfth preset time B1 And performing reduction and acceleration.
In some embodiments, jerk determination module 602 is configured to: at the initial acceleration a of the target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by utilizing the distance from the starting point to the end point B2 (ii) a The motion control module 604 is configured to: control target from starting point with J B2 Acceleration is decelerated to
Figure BDA0001775892310000183
Then J B2 0 or-J B2 For accelerating acceleration to end velocity v e 。
In some embodiments, jerk determination module 602 is configured to: at the initial acceleration a of the target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by using the distance from the starting point to the end point B2 (ii) a The motion control module 604 is configured to: control target from starting point with J B2 0 or-J B2 For decelerating to a terminal velocity v for jerk e 。
In some embodiments, the motion control module 604 is configured to: if it is
Figure BDA0001775892310000184
The control target is set to J within the thirteenth preset time B2 Performing deceleration by J within the fourteenth preset time B2 Performing acceleration with a within a fifteenth preset time B Performing uniform acceleration at-J within the sixteenth preset time B2 Carrying out reduction and acceleration; if it is
Figure BDA0001775892310000185
The control target is controlled to be J within the seventeenth preset time B2 Performing deceleration by J within eighteenth preset time B2 Performing acceleration at-J within a nineteenth preset time B2 The deceleration and acceleration are performed.
In some embodiments, the motion control module 604 is configured to: if it is
Figure BDA0001775892310000186
The control target is at-J for the twentieth preset time B2 Acceleration and deceleration are carried out within twenty-first preset time by J B2 Reducing the speed; if it is
Figure BDA0001775892310000187
The control target is at-J for the twenty-second preset time B2 Acceleration and deceleration are carried out within a twenty third preset time as shown in the specification B Uniformly decelerating at J within the twenty fourth preset time B2 And reducing the speed.
The above embodiment provides a speed planning method for an S-shaped speed curve, which can plan the motion state of a target in real time under the condition that the distance from a starting point to an end point is short (or called emergency), so that the target starts from the starting point at any initial acceleration and initial speed, reaches the end point at zero acceleration and a specified motion speed, and an acceleration motion curve is continuous and a speed motion curve is smooth in the motion process of the target, thereby ensuring the stability of the target in the motion process. The embodiment expands the application range of S-shaped speed planning, so that the robot can not only be ensured to run stably without impact in the motion process, but also can cope with various emergency situations in practical application.
Fig. 7 is a schematic structural diagram showing a speed control apparatus according to another embodiment of the present invention. As shown in fig. 7, the speed control device 70 of this embodiment includes: a memory 710 and a processor 720 coupled to the memory 710, the processor 720 configured to execute the speed control method of any of the foregoing embodiments based on instructions stored in the memory 710.
Memory 710 may include, for example, system memory, fixed non-volatile storage media, and the like. The system memory stores, for example, an operating system, an application program, a Boot Loader (Boot Loader), and other programs.
A speed control device 70 may also include an input output interface 730, a network interface 740, a storage interface 750, and the like. These interfaces 730, 740, 750, as well as the memory 710 and the processor 720, may be connected, for example, by a bus 760. The input/output interface 730 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 740 provides a connection interface for various networking devices. The storage interface 740 provides a connection interface for external storage devices such as an SD card and a usb disk.
The invention also includes a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement a speed control method in any of the foregoing embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (16)

1. A speed control method, comprising:
when the target starts from the starting point at any initial acceleration and initial speed, the absolute value J of the jerk of the target is redetermined by using the distance from the starting point to the end point B ；
Control target with J B 0 or-J B For jerk to pass the shortest time from the starting pointMoving to the end point, so that the target reaches the end point at zero acceleration and a specified movement speed;
wherein at the initial acceleration a of the target 0 Under the condition of not less than zero, the first jerk absolute value J of the target is redetermined by using the distance from the starting point to the end point B1 ；
Control target from starting point at-J B1 For acceleration to
Figure FDA0003802096640000011
Then J B1 0 or-J B1 For decelerating to a terminal velocity v for jerk e ；
Or at the initial acceleration a of the target 0 Under the condition of not less than zero, the first jerk absolute value J of the target is redetermined by using the distance from the starting point to the end point B1 ；
Control target from starting point with J B1 0 or-J B1 For accelerating acceleration to end velocity v e 。
2. The speed control method according to claim 1,
if it is
Figure FDA0003802096640000012
Wherein a is B Representing the absolute value of the maximum limit acceleration of the target, controlling the target to be-J within a first preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a second preset time B1 Acceleration and deceleration are carried out for a third preset time with-a B Performing uniform deceleration for the fourth time with J B1 Reducing the speed;
if it is
Figure FDA0003802096640000013
The control target is controlled to be at-J for a fifth preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a sixth preset time B1 Performing acceleration and deceleration by J within a seventh preset time B1 And reducing the speed.
3. The speed control method according to claim 1,
if it is
Figure FDA0003802096640000014
The control target is driven by J within the eighth preset time B1 Performing acceleration at-J for the ninth preset time B1 Carrying out reduction and acceleration;
if it is
Figure FDA0003802096640000021
The control target is driven by J within the tenth preset time B1 Performing acceleration with a within an eleventh preset time B Performing uniform acceleration at-J within the twelfth preset time B1 The deceleration and acceleration are performed.
4. The velocity control method according to claim 1, wherein an initial acceleration a at the target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by utilizing the distance from the starting point to the end point B2 ；
Control target from starting point with J B2 Acceleration is decelerated to
Figure FDA0003802096640000022
Then J B2 0 or-J B2 For accelerating acceleration to end velocity v e 。
5. The speed control method according to claim 1, wherein the initial acceleration a at the target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by using the distance from the starting point to the end point B2 ；
Control target from starting point with J B2 0 or-J B2 For decelerating to a terminal velocity v for jerk e 。
6. The speed control method according to claim 4,
if it is
Figure FDA0003802096640000023
The control target is controlled to be J within the thirteenth preset time B2 Performing deceleration by J within a fourteenth preset time B2 Performing acceleration for a fifteenth preset time B Performing uniform acceleration at-J within the sixteenth preset time B2 Carrying out reduction and acceleration;
if it is
Figure FDA0003802096640000024
The control target is controlled to be J within the seventeenth preset time B2 Reducing the speed by J within the eighteenth preset time B2 Performing acceleration at-J within a nineteenth preset time B2 And performing reduction and acceleration.
7. The speed control method according to claim 5,
if it is
Figure FDA0003802096640000025
The control target is at-J for the twentieth preset time B2 Acceleration and deceleration are carried out within twenty-first preset time by J B2 Reducing and decelerating;
if it is
Figure FDA0003802096640000031
The control target is at-J for a twenty-second preset time B2 Acceleration and deceleration are carried out, and the speed is controlled to be-a within the twenty third preset time B Performing uniform deceleration at J within the twenty-fourth preset time B2 And reducing the speed.
8. A speed control device comprising:
a jerk determination module configured to re-determine an absolute jerk value J of the target using a course from the start point to the end point when the target starts from the start point at an arbitrary initial acceleration and initial velocity B Wherein in the eyeTarget initial acceleration a 0 Under the condition of not less than zero, the first jerk absolute value J of the target is redetermined by utilizing the distance from the starting point to the end point B1 ；
A motion control module configured to control a target to J B 0 or-J B Moving the jerk from a start point to an end point with a minimum time so that the target reaches the end point with zero acceleration and a specified moving speed, wherein the target is controlled from the start point with-J B1 For acceleration to
Figure FDA0003802096640000032
Then J B1 0 or-J B1 For decelerating to a terminal velocity v for jerk e (ii) a Or the control target starts from the starting point with J B1 0 or-J B1 For accelerating acceleration to end velocity v e 。
9. The speed control device of claim 8, wherein the motion control module is configured to:
if it is
Figure FDA0003802096640000033
Wherein a is B Representing the absolute value of the maximum limit acceleration of the target, controlling the target to be-J within a first preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a second preset time B1 Acceleration and deceleration are carried out for a third preset time with-a B Performing uniform deceleration for the fourth time with J B1 Reducing and decelerating;
if it is
Figure FDA0003802096640000034
The control target takes-J for a fifth preset time B1 Performing deceleration and acceleration, and performing deceleration and acceleration at-J within a sixth preset time B1 Performing acceleration and deceleration by J within a seventh preset time B1 And reducing the speed.
10. The speed control device of claim 8, wherein the motion control module is configured to:
if it is
Figure FDA0003802096640000041
The control target is driven by J within the eighth preset time B1 Performing acceleration at-J within a ninth preset time B1 Carrying out reduction and acceleration;
if it is
Figure FDA0003802096640000042
The control target is driven by J within the tenth preset time B1 Performing acceleration for an eleventh preset time with a B Performing uniform acceleration for a twelfth preset time at-J B1 And performing reduction and acceleration.
11. The speed control device of claim 8,
the jerk determination module is configured to: at the initial acceleration a of the target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by using the distance from the starting point to the end point B2 ；
The motion control module is configured to: control target from starting point with J B2 Acceleration is decelerated to
Figure FDA0003802096640000043
Then J B2 0 or-J B2 For accelerating acceleration to end velocity v e 。
12. The speed control device of claim 8,
the jerk determination module is configured to: at the initial acceleration a of the target 0 Under the condition of being less than zero, the absolute value J of the second jerk of the target is redetermined by utilizing the distance from the starting point to the end point B2 ；
The motion control module is configured to: control target from starting point with J B2 0 or-J B2 For decelerating to a terminal velocity v for jerk e 。
13. The speed control device of claim 11, wherein the motion control module is configured to:
if it is
Figure FDA0003802096640000044
The control target is set to J within the thirteenth preset time B2 Performing deceleration by J within a fourteenth preset time B2 Performing acceleration for a fifteenth preset time B Performing uniform acceleration at-J within the sixteenth preset time B2 Carrying out reduction and acceleration;
if it is
Figure FDA0003802096640000045
The control target is controlled to be J within the seventeenth preset time B2 Reducing the speed by J within the eighteenth preset time B2 Performing acceleration at-J within nineteenth preset time B2 And performing reduction and acceleration.
14. The speed control device of claim 12, wherein the motion control module is configured to:
if it is
Figure FDA0003802096640000051
The control target is at-J for the twentieth preset time B2 Acceleration and deceleration are carried out within twenty-first preset time by J B2 Reducing and decelerating;
if it is
Figure FDA0003802096640000052
The control target is at-J for a twenty-second preset time B2 Acceleration and deceleration are carried out, and the speed is controlled to be-a within the twenty third preset time B Uniformly decelerating at J within the twenty fourth preset time B2 Deceleration is performed.
15. A speed control device comprising:
a memory; and
a processor coupled to the memory, the processor configured to execute the speed control method of any of claims 1-7 based on instructions stored in the memory.
16. A computer readable storage medium, wherein the computer readable storage medium stores computer instructions that, when executed by a processor, implement a speed control method according to any one of claims 1 to 7.
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