CN110398993B - 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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Publication number
CN110398993B
CN110398993B CN201810372209.9A CN201810372209A CN110398993B CN 110398993 B CN110398993 B CN 110398993B CN 201810372209 A CN201810372209 A CN 201810372209A CN 110398993 B CN110398993 B CN 110398993B
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acceleration
target
preset time
jerk
speed
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CN110398993A (en
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余卫勇
张强
马晓辉
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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 method can judge the numerical relation between the distance from the starting point to the end point and a preset distance threshold value under the condition that the target has any initial acceleration and initial speed, and judge the numerical relation between the initial speed and the end point speed of the target; and determining a corresponding speed control strategy according to the numerical relation between the distance from the starting point to the end point and a preset distance threshold value and the numerical relation between the initial speed and the end point speed of the target, so that the target moves from the starting point to the end point in the shortest time at constant acceleration, and the target has a specified movement speed and zero acceleration when reaching the end point. Therefore, the motion state of the target is 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, particularly small-load robots, in the aspects of carrying, glaze spraying, arc welding and the like, the market puts forward higher and higher requirements on the speed, acceleration, motion stability, positioning accuracy and the like of the robots. The robot system follows a principle in the motion process, namely, sudden changes of position, speed and acceleration are avoided in the motion process, and if the motion is not stable, impact abrasion on mechanical joints is generated. In fact, the abrupt motion requires infinite power to be achieved, so that the motor must output a large torque. Thus, a motion with a mechanical shock can cause damage to the motor and even the entire control system. Therefore, speed planning is a key technology of the industrial robot, and the stability and the control precision of the motion controller are the most important technical indexes for determining the quality of the whole robot.
Disclosure of Invention
The invention solves the technical problem of how to plan the motion state of a target in real time under the condition of any initial acceleration of the target, and move to a terminal point in the shortest time and in a specific motion state on the premise of ensuring the stable motion of the target.
According to an aspect of an embodiment of the present invention, there is provided a speed control method including: under the condition that the target has any initial acceleration and initial speed, judging the numerical relationship between the distance from the starting point to the end point and a preset distance threshold value, and judging the numerical relationship between the initial speed and the end point speed of the target; and determining a corresponding speed control strategy according to the numerical relation between the distance from the starting point to the end point and a preset distance threshold value and the numerical relation between the initial speed and the end point speed of the target, so that the target moves from the starting point to the end point in the shortest time at constant acceleration, and the target has a specified movement speed and zero acceleration when reaching the end point.
In some embodiments, at the initial acceleration a of the target 0 Under the condition of not less than zero, if the distance from the starting point to the end point is equal to the first distance threshold value, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Accelerate to
Figure BDA0001638819660000021
Then decelerating to the final speed v e Or at an initial speed v different from zero from the starting point 0 Constant jerk J B Acceleration to end velocity v e So that the target is at the end velocity v e And acceleration 0 reaches the end point.
In some embodiments, if
Figure BDA0001638819660000022
Wherein a is B If the maximum limited acceleration of the target is shown, controlling the target to perform deceleration and acceleration with jerk within first preset time, perform acceleration and deceleration with jerk within second preset time, perform uniform deceleration with maximum acceleration within third preset time, and perform deceleration and deceleration with jerk within fourth time; if it is
Figure BDA0001638819660000023
The control target performs deceleration and acceleration with the jerk within a fifth preset time, performs acceleration and deceleration with the jerk within a sixth preset time, and performs deceleration and deceleration with the jerk within a seventh preset time; if it is
Figure BDA0001638819660000024
The control target is accelerated for an eighth preset timeAcceleration is performed, and deceleration is performed with acceleration in the ninth preset time, if
Figure BDA0001638819660000025
The control target performs jerk at a jerk rate for a tenth preset time, jerk at a maximum acceleration for an eleventh preset time, and jerk at a jerk rate for a twelfth preset time.
In some embodiments, the speed control method further comprises: using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A first pass threshold is determined.
In some embodiments, the speed control method further comprises: if the distance from the starting point to the end point is not less than the second distance threshold value, the control target starts from the starting point with the initial speed v which is not zero 0 Constant jerk J B Acceleration to a target maximum limit speed v B Then decelerating to the final speed v e So that the target is at the end velocity v e Acceleration 0 reaches the end point; the control target is accelerated in a thirteenth preset time in an acceleration mode, accelerated in a fourteenth preset time in a maximum acceleration mode, accelerated in a fifteenth preset time in a deceleration mode, moves at a constant speed in a sixteenth preset time, accelerated in a seventeenth preset time in an acceleration mode, decelerated in an eighteenth preset time in a maximum acceleration mode, and decelerated in a nineteenth preset time in a deceleration mode in an acceleration mode.
In some embodiments, the speed control method further comprises: using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum limit speed v B A second path threshold is determined.
In some embodiments, the speed control method further comprises: if the distance from the starting point to the end point is greater than the first distance threshold value and less than the second distance threshold value, continuously adjusting the actual maximum driving speed V of the target max1 So that the target starts from the starting pointInitial velocity v 0 Constant jerk J B Accelerating to actual maximum driving speed V max1 Then decelerating to the final speed v e When the target is moving from the starting point to the end point velocity v e The difference between the travel distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is within a preset range; according to the target actual maximum driving speed V max1 It is determined how the speed control is performed on the target.
In some embodiments, at the initial acceleration a of the target 0 If the distance from the starting point to the end point is equal to the third route threshold value under the condition of less than zero, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Is decelerated to
Figure BDA0001638819660000031
Re-accelerated to the end velocity v e Or at an initial speed v different from zero from the starting point 0 Constant jerk J B Deceleration to end velocity v e So that the target is at the end velocity v e And acceleration 0 reaches the end point.
In some embodiments, if
Figure BDA0001638819660000032
Wherein a is B If the maximum limited acceleration of the target is represented, controlling the target to perform deceleration and deceleration with jerk within the twentieth preset time, perform acceleration and jerk within the twenty-first preset time, perform uniform acceleration with maximum acceleration within the twenty-second preset time, and perform deceleration and acceleration with jerk within the twenty-third preset time; if it is
Figure BDA0001638819660000033
The control target performs deceleration and deceleration with the jerk within the twenty-fourth preset time, performs acceleration and deceleration with the jerk within the twenty-fifth preset time, and performs deceleration and acceleration with the jerk within the twenty-sixth preset time; if it is
Figure BDA0001638819660000034
Then controlAccelerating and decelerating the target at the accelerated speed within twenty-seventh preset time, and decelerating at the accelerated speed within twenty-eighth preset time; if it is
Figure BDA0001638819660000041
The control target performs acceleration and deceleration with jerk within twenty-ninth preset time, performs uniform deceleration with maximum acceleration within thirty preset time, and performs deceleration with jerk within thirty-first preset time.
In some embodiments, the speed control method further comprises: using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A third path threshold is determined.
In some embodiments, the speed control method further comprises: if the distance from the starting point to the end point is not less than the fourth distance threshold value, controlling the target to have the initial speed v which is not zero from the starting point 0 Constant jerk J B Is decelerated to
Figure BDA0001638819660000042
Re-accelerating to the maximum limit speed v of the target B Then decelerates to the terminal velocity v e So that the target is at the end velocity v e Acceleration 0 reaches the end point; the control target performs deceleration with the jerk within a thirty-second preset time, performs acceleration with the jerk within a thirty-third preset time, performs jerk within a thirty-fourth preset time, performs deceleration with the jerk within a thirty-fifth preset time, performs constant motion within a thirty-sixth preset time, performs acceleration and deceleration with the jerk within a thirty-seventh preset time, performs jerk within a thirty-eighth preset time, and performs deceleration with the jerk within a thirty-ninth preset time.
In some embodiments, the speed control method further comprises: using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum limit speed v B A fourth path threshold is determined.
In some embodiments, the speed control method further comprises: if the distance from the starting point to the end point is greater than the first distance threshold value and less than the second distance threshold value, continuously adjusting the actual maximum driving speed V of the target max2 So that the target is at an initial velocity v from the start 0 Constant jerk J B Is decelerated to
Figure BDA0001638819660000043
Then accelerating to the actual maximum driving speed V max2 Then decelerates to the terminal velocity v e When the target is moving from the starting point to the end point velocity v e The difference between the travel distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is within a preset range; according to the target actual maximum driving speed V max2 It is determined how the speed control is performed on the target.
According to another aspect of an embodiment of the present invention, there is provided a speed control apparatus including: the numerical relation judging module is configured to judge the numerical relation between the distance from the starting point to the end point and a preset distance threshold value under the condition that the target has any initial acceleration and initial speed, and judge the numerical relation between the initial speed and the end point speed of the target; and the control strategy determination module is configured to determine a corresponding speed control strategy according to a numerical relation between the distance from the starting point to the end point and a preset distance threshold value and a numerical relation between the initial speed and the end point speed of the target, so that the target moves from the starting point to the end point in the shortest time at a constant acceleration, and the target has a specified movement speed and zero acceleration when reaching the end point.
In some embodiments, the control strategy determination module is configured to: at the initial acceleration a of the target 0 Under the condition of not less than zero, if the distance from the starting point to the end point is equal to a first distance threshold, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Accelerate to
Figure BDA0001638819660000051
Then decelerating to the final speed v e Or at an initial speed v different from zero from the starting point 0 Constant jerk J B Acceleration to end velocity v e So that the target is at the end velocity v e And acceleration 0 reaches the end point.
In some embodiments, the control strategy determination module is configured to: if it is
Figure BDA0001638819660000052
Wherein a is B If the maximum limited acceleration of the target is shown, controlling the target to perform deceleration and acceleration with jerk within first preset time, perform acceleration and deceleration with jerk within second preset time, perform uniform deceleration with maximum acceleration within third preset time, and perform deceleration and deceleration with jerk within fourth time; if it is
Figure BDA0001638819660000053
The control target performs deceleration and acceleration by using the acceleration within a fifth preset time, performs acceleration and deceleration by using the acceleration within a sixth preset time, and performs deceleration and deceleration by using the acceleration within a seventh preset time; if it is
Figure BDA0001638819660000054
The control target is accelerated with jerk for the eighth preset time and decelerated with jerk for the ninth preset time, if so
Figure BDA0001638819660000055
The control target is accelerated in an acceleration rate in a tenth preset time, accelerated in a uniform acceleration rate in an eleventh preset time, and accelerated in a deceleration rate in a twelfth preset time.
In some embodiments, the speed control apparatus further comprises a trip threshold determination module configured to: using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A first pass threshold is determined.
In some embodiments, control strategyThe determination module is further configured to: if the distance from the starting point to the end point is not less than the second distance threshold value, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Acceleration to a target maximum limit speed v B Then decelerating to the final speed v e So that the target is at the end velocity v e Acceleration 0 reaches the end point; the control target is accelerated in a thirteenth preset time in an acceleration mode, accelerated in a fourteenth preset time in a maximum acceleration mode, accelerated in a fifteenth preset time in a deceleration mode, moves at a constant speed in a sixteenth preset time, accelerated in a seventeenth preset time in an acceleration mode, decelerated in an eighteenth preset time in a maximum acceleration mode, and decelerated in a nineteenth preset time in a deceleration mode in an acceleration mode.
In some embodiments, the trip threshold determination module is further configured to: using the initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum limit speed v B A second path threshold is determined.
In some embodiments, the control strategy determination module is further configured to: if the distance from the starting point to the end point is greater than the first distance threshold value and less than the second distance threshold value, continuously adjusting the actual maximum driving speed V of the target max1 So that the target is at an initial velocity v from the start point 0 Constant jerk J B Accelerating to actual maximum driving speed V max1 Then decelerating to the final speed v e When the target is moving from the starting point to the end point velocity v e The difference between the travel distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is within a preset range; according to the target actual maximum driving speed V max1 It is determined how the speed control is performed on the target.
In some embodiments, the control strategy determination module is further configured to: initial acceleration a at target 0 Under the condition of being less than zero, if the distance from the starting point to the end point is equal to a third distance threshold value, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Is decelerated to
Figure BDA0001638819660000061
Re-accelerated to the end velocity v e Or at an initial speed v different from zero from the starting point 0 Constant jerk J B Deceleration to end velocity v e So that the target is at the end velocity v e And acceleration 0 reaches the end point.
In some embodiments, the control strategy determination module is further configured to: if it is
Figure BDA0001638819660000062
Wherein a is B If the maximum limited acceleration of the target is represented, controlling the target to perform deceleration and deceleration with jerk within the twentieth preset time, perform acceleration and jerk within the twenty-first preset time, perform uniform acceleration with maximum acceleration within the twenty-second preset time, and perform deceleration and acceleration with jerk within the twenty-third preset time; if it is
Figure BDA0001638819660000071
The control target performs deceleration and deceleration with the jerk within the twenty-fourth preset time, performs acceleration and deceleration with the jerk within the twenty-fifth preset time, and performs deceleration and acceleration with the jerk within the twenty-sixth preset time; if it is
Figure BDA0001638819660000072
The control target performs acceleration and deceleration with the jerk within twenty-seventh preset time, and performs deceleration with the jerk within twenty-eighth preset time; if it is
Figure BDA0001638819660000073
The control target performs acceleration and deceleration with jerk within twenty-ninth preset time, performs uniform deceleration with maximum acceleration within thirty preset time, and performs deceleration with jerk within thirty-first preset time.
In some embodiments, the trip threshold determination module is further configured to: using the initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A third path threshold is determined.
In some embodiments, the control strategy determination module is further configured to: if the distance from the starting point to the end point is not less than the fourth distance threshold value, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Is decelerated to
Figure BDA0001638819660000074
Re-accelerating to the maximum limit speed v of the target B Then decelerates to the terminal velocity v e So that the target is at the end velocity v e Acceleration 0 reaches the end point; the control target performs deceleration and deceleration with jerk within a thirty-second preset time, performs jerk within a thirty-third preset time, performs jerk within a thirty-fourth preset time, performs deceleration and acceleration with jerk within a thirty-fifth preset time, performs uniform motion within a thirty-sixth preset time, performs acceleration and deceleration with jerk within a thirty-seventh preset time, performs deceleration and deceleration with jerk within a thirty-eighth preset time, and performs deceleration and deceleration with jerk within a thirty-ninth preset time.
In some embodiments, the trip threshold determination module is further configured to: using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum limit speed v B A fourth path threshold is determined.
In some embodiments, the control strategy determination module is further configured to: if the distance from the starting point to the end point is greater than the first distance threshold value and less than the second distance threshold value, continuously adjusting the actual maximum driving speed V of the target max2 So that the target is at an initial velocity v from the start point 0 Constant jerk J B Is decelerated to
Figure BDA0001638819660000081
Then accelerating to the actual maximum driving speed V max2 Then decrease againVelocity to end velocity v e When the target is moving from the starting point to the end point velocity v e The difference between the travel distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is within a preset range; according to the target actual maximum driving speed V max2 It is determined how the speed control is performed on the target.
According to still another aspect of an embodiment of the present invention, there is provided a 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 and the device can plan the motion state of the target in real time under the condition of any initial acceleration of the target, and move to the terminal point in the shortest time and in a specific motion state on the premise of ensuring the stable motion of the target.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, 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 embodiments or the description of the prior art will be briefly described below, 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 the drawings without creative efforts.
Fig. 1 shows a schematic acceleration curve diagram of an S-shaped speed curve.
Fig. 2 shows an acceleration curve of a first acceleration.
Fig. 3 shows an acceleration curve for a second acceleration.
Fig. 4 shows an acceleration curve for a third acceleration.
Fig. 5 shows an acceleration curve for a first deceleration.
Fig. 6 shows an acceleration curve for a second deceleration.
Fig. 7 shows an acceleration curve for a third deceleration.
Fig. 8 is a schematic structural diagram of a speed control device according to an embodiment of the present invention.
Fig. 9 is a schematic structural view 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 speed curve, which is characterized in that the acceleration is a constant value in the acceleration and deceleration processes, and the value of the constant value is a constant set artificially. The trapezoidal speed curve is divided into three simple sections, namely a uniformly accelerated ascending section, a uniform speed section and a uniformly decelerated descending section. The trapezoidal speed curve is poor in stability, the corresponding acceleration curve is in a step shape, so that the change rate of the acceleration in a pulse form can be generated at the jumping position of the acceleration, the robot running is impacted, the service life of robot equipment can be shortened, and when the impact force is large enough, the goods of the load-bearing robot can be even thrown out of the frame. The other is an S-shaped velocity profile, the acceleration profile of which is a continuous piecewise linear function. The S-shaped speed profile is subdivided into seven segments. The S-shaped speed curve is the most widely used speed planning scheme in practical application and can well solve the defects existing in the trapezoidal speed curve. The S-shaped velocity profile enables control of the rate of change of acceleration, and in addition the acceleration profile of the S-shaped velocity profile is continuous and smoothly transitioning at the velocity junction, so the S-shaped velocity profile is a velocity control method that limits vibration. However, the existing S-shaped velocity curve scheme can only perform velocity planning on the initial acceleration of the mobile robot and the initial acceleration equal to 0, which means that the existing S-shaped velocity curve scheme can only perform offline planning, but cannot perform real-time planning, thereby greatly limiting the practicability of the S-shaped velocity curve scheme. Therefore, it is a technical problem to be solved urgently in practical application to provide a speed planning method of an S-shaped speed curve for any initial acceleration.
Firstly, a model is established to analyze the technical problem. An Automated 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) acceleration at O point is 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 The maximum acceleration and the maximum speed of the AGV during operation are respectively a m And v m . Obviously, | a m |≤a B ，|v m |≤v B ；
3) During operation, the Jerk factor is constant at J unless necessary B ；
4) The distance from point O to point E is S OE 。
The problems are that: for an arbitrary initial acceleration a 0 How to give a speed plan of the S-shaped speed curve of the AGV.
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 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 the positive direction, the absolute value of the acceleration is gradually increased, and the acceleration is in T 2 Reaches the maximum momentAcceleration a m ；
Third stage, acceleration is 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;
fifth stage, acceleration is zero and at T 4 To T 5 Time slot car 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 situations. 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 BDA0001638819660000111
representing the acceleration time of the trolley moving to the terminal point through an acceleration process,
Figure BDA0001638819660000112
the acceleration time of the trolley moving to the terminal point through two acceleration processes is shown,
Figure BDA0001638819660000113
and the acceleration time of the trolley moving to the terminal point through three stages of acceleration processes is shown. The displacement function of the trolley from the temporary starting point bt to the temporary end point et through 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 trolley to the terminal 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 BDA0001638819660000114
the deceleration time of the trolley moving to the terminal point through a deceleration process is shown,
Figure BDA0001638819660000115
the deceleration time of the trolley moving to the terminal point through the two deceleration processes is shown,
Figure BDA0001638819660000116
and the deceleration time of the trolley moving to the terminal point through three deceleration processes is shown. Note that T is 1 To T 8 、
Figure BDA0001638819660000117
To
Figure BDA0001638819660000118
These times are variable physical quantities in the following, and the specific values should be calculated under different conditions by using the corresponding formulas.
1) Three basic accelerations
Fig. 2 shows an acceleration curve of a first acceleration.
When in use
Figure BDA0001638819660000119
At the time of acceleration of
Figure BDA00016388196600001110
The displacement of the AGV is
Figure BDA00016388196600001111
Fig. 3 shows an acceleration curve for a second acceleration.
When in use
Figure BDA0001638819660000121
The second is acceleration. At this time, the acceleration time is divided into two sections,
Figure BDA0001638819660000122
the displacement of the AGV is
Figure BDA0001638819660000123
Fig. 4 shows an acceleration curve for a third acceleration.
When in use
Figure BDA0001638819660000124
And, time, third acceleration. At the moment, the acceleration time is divided into three sections, wherein the acceleration time is respectively as follows:
Figure BDA0001638819660000125
the displacement of the AGV is
Figure BDA0001638819660000126
From the above analysis, the acceleration distance calculation formula of the trolley can be obtained as follows:
Figure BDA0001638819660000127
2) three basic decelerations
Fig. 5 shows an acceleration curve for a first deceleration.
When the temperature is higher than the set temperature
Figure BDA0001638819660000128
The first decelerates. When the deceleration time is
Figure BDA0001638819660000129
The displacement of the AGV is
Figure BDA00016388196600001210
Fig. 6 shows an acceleration curve for a second deceleration.
When in use
Figure BDA0001638819660000131
The second deceleration. The deceleration time is divided into two sections
Figure BDA0001638819660000132
The displacement of the AGV is
Figure BDA0001638819660000133
Fig. 7 shows an acceleration curve for a third deceleration.
When in use
Figure BDA0001638819660000134
While the third decelerates. The deceleration time is divided into three sections
Figure BDA0001638819660000135
The displacement of the AGV is
Figure BDA0001638819660000136
The calculation formula of the deceleration distance of the trolley can be obtained through the analysis as follows:
Figure BDA0001638819660000137
3) critical values for short and long paths
The critical values of the short path and the long path are recorded as
Figure BDA0001638819660000138
And
Figure BDA0001638819660000139
a 0 short path critical value (or called as first path threshold value) of more than or equal to 0
Figure BDA00016388196600001310
Is composed of
Figure BDA0001638819660000141
a 0 Long path threshold (or second path threshold) of 0 or more
Figure BDA0001638819660000142
Is composed of
Figure BDA0001638819660000143
a 0 <Short path threshold at 0 (or called third path threshold)
Figure BDA0001638819660000144
Is composed of
Figure BDA0001638819660000145
a 0 <Long path threshold at 0 (or fourth path threshold)
Figure BDA0001638819660000146
Is composed of
Figure BDA0001638819660000147
4) Critical values for short and long paths
If it is
Figure BDA0001638819660000148
It is called short path; if it is
Figure BDA0001638819660000149
It is called the middle path; if it is
Figure BDA00016388196600001410
It is called a long path.
5) The assumption is that:
Figure BDA00016388196600001411
a 0 when the content is more than or equal to 0,
Figure BDA00016388196600001412
a 0 <at the time of 0, the number of the first,
Figure BDA00016388196600001413
the following analysis is for an arbitrary initial acceleration a 0 And the specific flow of the speed planning algorithm of the S-shaped speed curve.
First, input a 0 ,v 0 ,v e ,a B ,v B ,J B ,S OE Judgment of a 0 The size of (2). If a 0 And (4) if not less than 0, entering the second step, otherwise, entering the sixth step.
Second, respectively calculating a 0 Critical value of short path at 0 or more
Figure BDA0001638819660000151
And a long path threshold
Figure BDA0001638819660000152
And entering a third step.
In the third step, if
Figure BDA0001638819660000153
T 1 ＝0,T 3 ＝T 2 ＝T 1 ,T 5 ＝T 4 Entering 3 a); otherwise, entering the fourth step.
3a) If it is
Figure BDA0001638819660000154
Then
Figure BDA0001638819660000155
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 the fourth preset time. Here, the
Figure BDA0001638819660000156
Determined using the acceleration time calculation formula for the first acceleration case,
Figure BDA0001638819660000157
respectively adopting a deceleration time calculation formula in the third deceleration situation to determine, and then entering the tenth step. If 3a) does not hold, proceed to 3 b).
3b) If it is
Figure BDA0001638819660000158
Then
Figure BDA0001638819660000159
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 BDA00016388196600001510
Acceleration time calculation when using the first acceleration caseAs determined by a formula (a) to determine,
Figure BDA00016388196600001511
respectively adopting a calculation formula of the deceleration time in the second deceleration situation to determine, and then entering the tenth step. If 3b) does not hold, then proceed to 3 c).
3c) If it is
Figure BDA00016388196600001512
Then
Figure BDA00016388196600001513
Wherein, T 2 For an eighth preset time, T 2 To T 4 Is the ninth preset time. Here, the
Figure BDA00016388196600001514
Respectively adopting an acceleration time calculation formula in the second acceleration situation to determine, and then entering the tenth step. If 3c) does not hold, go to 3 d).
3d) If it is
Figure BDA00016388196600001515
Then S OE ＝S ac3 (a 0 ,v 0 ,v e ,J B ) Thereby to make
Figure BDA00016388196600001516
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 BDA00016388196600001517
Respectively adopting an acceleration time calculation formula in the third acceleration situation to determine, and then entering the tenth step.
The fourth step, if
Figure BDA0001638819660000161
Enter 4 a); otherwise, the fifth step is entered.
4a) Using a third stepThe calculation method in (1) calculates T 2 ,T 3 ,T 4 Then into 4 b);
4b) calculating out
Figure BDA0001638819660000162
Entering into 4 c;
4c) computing
Figure BDA0001638819660000163
Enter 4 d);
4d) calculating T by the calculation method in the third step 6 ,T 7 ,T 8 And then proceeds to the tenth step.
Wherein, T 1 To T 2 Is the thirteenth preset time, T 2 To T 3 For a fourteenth preset time, T 3 To T 4 Is a fifteenth preset time, T 4 To T 5 Is the sixteenth preset time, T 5 To T 6 For a seventeenth preset time, T 6 To T 7 For eighteenth preset time, T 7 To T 8 The nineteenth preset time.
In the fifth step, if
Figure BDA0001638819660000164
A dichotomy is adopted.
Step 51), let V1 be max (V) 0 ,v e )，V2＝v B ，
Figure BDA0001638819660000165
Selecting a threshold value epsilon;
step 52) of calculating S ac (a 0 ,v 0 ,V max ,J B ) And S de (0,V max ,v e ,J B )；
53), calculating displacement and comparing the displacement;
53a) if S ac (a 0 ,v 0 ,V max ,J B )+S de (0,V max ,v e ,J B )-S OE >E, let V1 be V1 and V2 be V max ,
Figure BDA0001638819660000166
Returning to the step 52);
53b) if S ac (a 0 ,v 0 ,V max ,J B )+S de (0,V max ,v e ,J B )-S OE <E, let V1 be V max ,V2＝V2,
Figure BDA0001638819660000167
Return to step 52).
53c) If S ac (a 0 ,v 0 ,V max ,J B )+S de (0,V max ,v e ,J B )-S OE If | ≦ ε, proceed to step 54).
Step 54), calculating T by using the calculation method in the third step 2 ,T 3 ,T 4 ,T 6 ,T 7 ,T 8 And calculates the displacement. And entering the tenth step.
Sixthly, respectively calculating a 0 <Critical value of short path at 0
Figure BDA0001638819660000171
And long path threshold
Figure BDA0001638819660000172
And entering the seventh step.
Step seven, if
Figure BDA0001638819660000173
Entry 7 a); otherwise, entering the eighth step.
7a) If it is
Figure BDA0001638819660000174
Then
Figure BDA0001638819660000175
Wherein, T 1 For the twentieth preset time, T 1 To T 2 A twenty-first preset time, T 2 To T 3 For the twenty-second preset time, T 3 To T 4 Is the twenty-third preset time. Here, the
Figure BDA0001638819660000176
Determined using the calculation formula for the deceleration time in the first deceleration situation,
Figure BDA0001638819660000177
respectively adopting an acceleration time calculation formula in the third acceleration situation to determine, and then entering the tenth step. If 7a) does not hold, go to 7 b).
7b) If it is
Figure BDA0001638819660000178
Then
Figure BDA0001638819660000179
Wherein, T 1 For the twenty-fourth preset time, T 1 To T 2 For a twenty-fifth preset time, T 2 To T 4 Is twenty-sixth preset time. Here, the
Figure BDA00016388196600001710
Determined using the calculation formula for the deceleration time in the first deceleration situation,
Figure BDA00016388196600001711
respectively adopting an acceleration time calculation formula in the second acceleration situation to determine, and then entering the tenth step. If 7b) does not hold, go to 7 c).
7c) If it is
Figure BDA00016388196600001712
Then the user can use the device to make a visual display,
Figure BDA00016388196600001713
wherein, T 6 For a twenty-seventh preset time, T 6 To T 8 Is the twenty eighth preset time. Here, the
Figure BDA00016388196600001714
Respectively adopt the firstThe calculation formula of the deceleration time in the two deceleration situations is determined, and then the tenth step is carried out. If 7c) does not hold, go to 7 d).
7d) If it is
Figure BDA00016388196600001715
Then the
Figure BDA00016388196600001716
Wherein, T 6 For a twenty-ninth preset time, T 6 To T 7 For the thirtieth preset time, T 7 To T 8 The preset time is thirty-one. Here, the
Figure BDA00016388196600001717
Respectively adopting a deceleration time calculation formula in the third deceleration situation to determine, and then entering the tenth step.
In the eighth step, the first step is carried out,
Figure BDA0001638819660000181
enter 8 a); otherwise, entering the ninth step.
8a) Calculating T by the calculation method in the seventh step 1 ,T 2 ,T 3 ,T 4 Entry 8 b);
8b) computing
Figure BDA0001638819660000182
Entering 8 c);
8c) computing
Figure BDA0001638819660000183
Entering 8 d);
8d) calculating T by the calculation method in the seventh step 6 ,T 7 ,T 8 And entering the tenth step.
Wherein, T 1 For a thirty-second preset time, T 1 To T 2 A thirty-third preset time, T 2 To T 3 For a thirty-fourth preset time, T 3 To T 4 A thirty-fifth preset time, T 4 To T 5 For a thirty-sixth preset time, T 5 To T 6 A thirty-seventh preset time, T 6 To T 7 A thirty-eighth preset time, T 7 To T 8 The preset time is thirty ninth.
The ninth step, if
Figure BDA0001638819660000184
With the dichotomy, the specific steps can refer to the fifth step, and the steps are not given in detail here.
Tenth, outputting the time interval T of the acceleration change i 1, 2.., 8, the algorithm ends.
The embodiment provides a speed planning method for an S-shaped speed curve of any initial acceleration, which can not only ensure that the robot can realize stable and impact-free operation in the motion process, but also meet various requirements in practical application. According to the embodiment, the target can be controlled to move to the end point at constant accelerated speed within the shortest time under the condition of any initial acceleration of the target, and the motion state of the target reaching the end point is the specified motion speed and zero acceleration, so that 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 is smooth, and the stability of the target in the motion process is ensured.
A speed control apparatus according to an embodiment of the present invention will be described with reference to fig. 8.
Fig. 8 is a schematic structural diagram of a speed control device according to an embodiment of the present invention. As shown in fig. 8, the speed control device 80 of the present embodiment includes:
a numerical relation determining module 802, configured to determine a numerical relation between a distance from a starting point to an end point and a preset distance threshold value, and determine a numerical relation between an initial speed and an end point speed of a target, when the target has any initial acceleration and initial speed;
and the control strategy determination module 804 is configured to determine a corresponding speed control strategy according to a numerical relationship between a distance from the starting point to the end point and a preset distance threshold and a numerical relationship between an initial speed and an end point speed of the target, so that the target moves from the starting point to the end point in a shortest time at a constant acceleration, and the target has a specified movement speed and zero acceleration when reaching the end point.
In some embodiments, the control strategy determination module 804 is configured to: at the initial acceleration a of the target 0 Under the condition of not less than zero, if the distance from the starting point to the end point is equal to a first distance threshold, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Accelerate to
Figure BDA0001638819660000191
Then decelerating to the final speed v e Or at an initial speed v different from zero from the starting point 0 Constant jerk J B Acceleration to end velocity v e So that the target is at the end velocity v e And acceleration 0 reaches the end point.
In some embodiments, the control strategy determination module 804 is configured to: if it is
Figure BDA0001638819660000192
Wherein a is B If the maximum limited acceleration of the target is shown, controlling the target to perform deceleration and acceleration with jerk within first preset time, perform acceleration and deceleration with jerk within second preset time, perform uniform deceleration with maximum acceleration within third preset time, and perform deceleration and deceleration with jerk within fourth time; if it is
Figure BDA0001638819660000193
The control target performs deceleration and acceleration with the jerk within a fifth preset time, performs acceleration and deceleration with the jerk within a sixth preset time, and performs deceleration and deceleration with the jerk within a seventh preset time; if it is
Figure BDA0001638819660000194
The control target is accelerated with jerk for the eighth preset time and decelerated with jerk for the ninth preset time, if so
Figure BDA0001638819660000195
The control target performs jerk at a jerk rate for a tenth preset time, jerk at a maximum acceleration for an eleventh preset time, and jerk at a jerk rate for a twelfth preset time.
In some embodiments, the speed control apparatus further comprises a trip threshold determination module 806 configured to: using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A first pass threshold is determined.
In some embodiments, the control strategy determination module 804 is further configured to: if the distance from the starting point to the end point is not less than the second distance threshold value, the control target starts from the starting point with the initial speed v which is not zero 0 Constant jerk J B Acceleration to a target maximum limit speed v B Then decelerating to the final speed v e So that the target is at the end velocity v e Acceleration 0 reaches the end point; the control target is accelerated in a thirteenth preset time in an acceleration mode, accelerated in a fourteenth preset time in a maximum acceleration mode, accelerated in a fifteenth preset time in a deceleration mode, moves at a constant speed in a sixteenth preset time, accelerated in a seventeenth preset time in an acceleration mode, decelerated in an eighteenth preset time in a maximum acceleration mode, and decelerated in a nineteenth preset time in a deceleration mode in an acceleration mode.
In some embodiments, the trip threshold determination module 806 is further configured to: using the initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum limit speed v B A second path threshold is determined.
In some embodiments, the control strategy determination module 804 is further configured to: if the distance from the starting point to the end point is greater than the first distance threshold value and less than the second distance threshold value, continuously adjusting the actual maximum driving speed V of the target max1 So that the target is at an initial velocity v from the start point 0 Constant jerk J B Accelerate to realityMaximum driving speed V max Then decelerating to the final speed v e When the target is moving from the starting point to the end point velocity v e The difference between the travel distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is within a preset range; according to the target actual maximum driving speed V max It is determined how the speed control is performed on the target.
In some embodiments, the control strategy determination module 804 is further configured to: at the initial acceleration a of the target 0 If the distance from the starting point to the end point is equal to the third route threshold value under the condition of less than zero, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Is decelerated to
Figure BDA0001638819660000201
Then accelerated to the final speed v e Or at an initial speed v different from zero from the starting point 0 Constant jerk J B Deceleration to end velocity v e So that the target is at the end velocity v e And acceleration 0 reaches the end point.
In some embodiments, the control strategy determination module 804 is further configured to: if it is
Figure BDA0001638819660000211
Wherein a is B If the maximum limited acceleration of the target is represented, controlling the target to perform deceleration and deceleration with jerk within the twentieth preset time, perform acceleration and jerk within the twenty-first preset time, perform uniform acceleration with maximum acceleration within the twenty-second preset time, and perform deceleration and acceleration with jerk within the twenty-third preset time; if it is
Figure BDA0001638819660000212
The control target performs deceleration and deceleration with the jerk within the twenty-fourth preset time, performs acceleration and deceleration with the jerk within the twenty-fifth preset time, and performs deceleration and acceleration with the jerk within the twenty-sixth preset time; if it is
Figure BDA0001638819660000213
The control target performs acceleration and deceleration with the jerk within twenty-seventh preset time, and performs deceleration with the jerk within twenty-eighth preset time; if it is
Figure BDA0001638819660000214
The control target performs acceleration and deceleration with jerk within twenty-ninth preset time, performs uniform deceleration with maximum acceleration within thirty preset time, and performs deceleration with jerk within thirty-first preset time.
In some embodiments, range threshold determination module 806 is further configured to: using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A third path threshold is determined.
In some embodiments, the control strategy determination module 804 is further configured to: if the distance from the starting point to the end point is not less than the fourth distance threshold value, controlling the target to have the initial speed v which is not zero from the starting point 0 Constant jerk J B Is decelerated to
Figure BDA0001638819660000215
Re-accelerating to the maximum limit speed v of the target B Then decelerates to the terminal velocity v e So that the target is at the end velocity v e Acceleration 0 reaches the end point; the control target performs deceleration with the jerk within a thirty-second preset time, performs acceleration with the jerk within a thirty-third preset time, performs jerk within a thirty-fourth preset time, performs deceleration with the jerk within a thirty-fifth preset time, performs constant motion within a thirty-sixth preset time, performs acceleration and deceleration with the jerk within a thirty-seventh preset time, performs jerk within a thirty-eighth preset time, and performs deceleration with the jerk within a thirty-ninth preset time.
In some embodiments, range threshold determination module 806 is further configured to: using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum speed limit v B A fourth path threshold is determined.
In some embodiments, the control strategy determination module 804 is further configured to: if the distance from the starting point to the end point is greater than the first distance threshold value and less than the second distance threshold value, continuously adjusting the actual maximum driving speed V of the target max2 So that the target is at an initial velocity v from the start point 0 Constant jerk J B Is decelerated to
Figure BDA0001638819660000221
Then accelerating to the actual maximum driving speed V max2 Then decelerates to the terminal velocity v e When the target is moving from the starting point to the end point velocity v e The difference between the travel distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is within a preset range; according to the target actual maximum driving speed V max It is determined how the speed control is performed on the target.
The embodiment provides a speed planning device for an S-shaped speed curve with any initial acceleration, which can not only ensure that the robot can realize stable and impact-free operation in the motion process, but also meet various requirements in practical application. According to the embodiment, the target can be controlled to move to the end point at constant accelerated speed within the shortest time under the condition of any initial acceleration of the target, and the motion state of the target reaching the end point is the specified motion speed and zero acceleration, so that 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 is smooth, and the stability of the target in the motion process is ensured.
Fig. 9 is a schematic structural diagram of a speed control device according to still another embodiment of the present invention. As shown in fig. 9, the speed control device 90 of this embodiment includes: a memory 910 and a processor 920 coupled to the memory 910, the processor 920 being configured to execute a speed control method in any of the embodiments described above based on instructions stored in the memory 910.
Memory 910 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 90 may also include an input output interface 930, a network interface 940, a storage interface 950, and the like. These interfaces 930, 940, 950 and the memory 910 and the processor 920 may be connected, for example, by a bus 960. The input/output interface 930 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 940 provides a connection interface for various networking devices. The storage interface 940 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 has been 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 (26)

1. A speed control method, comprising:
under the condition that the target has any initial acceleration and initial speed, judging the numerical relationship between the distance from the starting point to the end point and a preset distance threshold value, and judging the numerical relationship between the initial speed and the end point speed of the target;
determining a corresponding speed control strategy according to a numerical relation between a distance from a starting point to a terminal point and a preset distance threshold value and a numerical relation between an initial speed and a terminal point speed of a target, so that the target moves from the starting point to the terminal point in a constant acceleration within the shortest time, and the target has a specified movement speed and zero acceleration when reaching the terminal point;
wherein at the initial acceleration a of the target 0 Under the condition of not less than zero, if the distance from the starting point to the end point is equal to the first distance threshold value, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Accelerate to
Figure FDA0003647069400000011
Then decelerating to the final speed v e Or at an initial speed v different from zero from the starting point 0 Constant jerk J B Acceleration to end velocity v e So that the target is at the end velocity v e And acceleration 0 reaches the end point.
2. The speed control method according to claim 1,
if it is
Figure FDA0003647069400000012
Wherein a is B If the maximum limited acceleration of the target is represented, controlling the target to perform deceleration and acceleration with the jerk within a first preset time, perform acceleration and deceleration with the jerk within a second preset time, perform uniform deceleration with the maximum acceleration within a third preset time, and perform deceleration and deceleration with the jerk within a fourth time;
if it is
Figure FDA0003647069400000013
The control target performs deceleration and acceleration with the jerk within a fifth preset time, performs acceleration and deceleration with the jerk within a sixth preset time, and performs deceleration and deceleration with the jerk within a seventh preset time;
if it is
Figure FDA0003647069400000014
The control target performs acceleration at the jerk within an eighth preset time, and performs deceleration at the jerk within a ninth preset time;
if it is
Figure FDA0003647069400000021
The control target is accelerated at the acceleration rate for a tenth preset time, and is accelerated at a tenth preset timeAnd carrying out uniform acceleration at the maximum acceleration within a preset time, and carrying out reduction acceleration at the acceleration within a twelfth preset time.
3. The speed control method of claim 1, further comprising:
using the initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A first pass threshold is determined.
4. The speed control method of claim 1, further comprising:
if the distance from the starting point to the end point is greater than the second distance threshold value, the control target starts from the starting point with an initial speed v which is not zero 0 Constant jerk J B Acceleration to a target maximum limit speed v B Then decelerating to the final speed v e So that the target has an end velocity v e Acceleration 0 reaches the end point;
the control target is accelerated in a thirteenth preset time in the acceleration rate, accelerated in a fourteenth preset time in the maximum acceleration rate, accelerated in a fifteenth preset time in the acceleration rate, moves at a constant speed in a sixteenth preset time, accelerated and decelerated in a seventeenth preset time in the acceleration rate, accelerated and decelerated in an eighteenth preset time in the maximum acceleration rate, and decelerated in a nineteenth preset time in the acceleration rate.
5. The speed control method of claim 4, further comprising:
using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum limit speed v B A second path threshold is determined.
6. The speed control method of claim 4, further comprising:
if the distance from the starting point to the end point is greater than the first distance threshold value and not greater than the second distance threshold value, continuously adjusting the actual maximum driving speed V of the target max1 So that the target is at an initial velocity v from the start 0 Constant jerk J B Accelerating to actual maximum driving speed V max1 Then decelerating to the final speed v e When the target is moving from the starting point to the end point velocity v e The difference between the travel distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is within a preset range;
according to the target actual maximum driving speed V max1 It is determined how the speed control is performed on the target.
7. 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, if the distance from the starting point to the end point is equal to a third distance threshold value, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Is decelerated to
Figure FDA0003647069400000031
Then accelerated to the final speed v e Or at an initial speed v different from zero from the starting point 0 Constant jerk J B Deceleration to end velocity v e So that the target has an end velocity v e And acceleration 0 reaches the end point.
8. The speed control method according to claim 7,
if it is
Figure FDA0003647069400000032
Wherein a is B And if the maximum limited acceleration of the target is represented, controlling the target to perform deceleration and deceleration with the jerk within the twentieth preset time, perform acceleration with the jerk within the twenty-first preset time, perform uniform acceleration with the maximum acceleration within the twenty-second preset time, and perform acceleration with the jerk within the twenty-third preset timeLine reduction and acceleration;
if it is
Figure FDA0003647069400000033
The control target performs deceleration and deceleration with the jerk within a twenty-fourth preset time, performs acceleration and deceleration with the jerk within a twenty-fifth preset time, and performs deceleration and acceleration with the jerk within a twenty-sixth preset time;
if it is
Figure FDA0003647069400000034
The control target performs acceleration and deceleration with the jerk within twenty-seventh preset time, and performs deceleration and deceleration with the jerk within twenty-eighth preset time;
if it is
Figure FDA0003647069400000035
The control target performs acceleration and deceleration with the jerk within twenty-ninth preset time, performs uniform deceleration with the maximum acceleration within thirty preset time, and performs deceleration with the jerk within thirty-eleventh preset time.
9. The speed control method of claim 7, further comprising:
using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A third path threshold is determined.
10. The speed control method of claim 7, further comprising:
if the distance from the starting point to the end point is larger than the fourth distance threshold value, the control target starts from the starting point at the initial speed v which is not zero 0 Constant jerk J B Is decelerated to
Figure FDA0003647069400000041
Then accelerated toMaximum limit speed v of the target B Then the speed is reduced to the terminal speed v e So that the target is at the end velocity v e Acceleration 0 reaches the end point;
the control target performs deceleration and deceleration with the jerk within a thirty-second preset time, performs jerk within a thirty-third preset time, performs jerk within a thirty-fourth preset time, performs jerk within a thirty-fifth preset time, performs deceleration and acceleration with the jerk within a thirty-sixth preset time, performs uniform motion within a thirty-seventh preset time, performs acceleration and deceleration with the jerk within a thirty-eighth preset time, performs jerk within a thirty-eighth preset time, and performs deceleration and deceleration with the jerk within a thirty-ninth preset time.
11. The speed control method of claim 10, further comprising:
using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum speed limit v B A fourth path threshold is determined.
12. The speed control method of claim 10, further comprising:
if the distance from the starting point to the end point is greater than the third distance threshold and not greater than the fourth distance threshold, continuously adjusting the actual maximum driving speed V of the target max2 So that the target is at an initial velocity v from the start point 0 Constant jerk J B Is decelerated to
Figure FDA0003647069400000042
Then accelerating to the actual maximum driving speed V max2 Then decelerates to the terminal velocity v e When the target is moving from the starting point to the end point velocity v e The difference between the travel distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is within a preset range;
according to the target actual maximum driving speedV max2 It is determined how the speed control is performed on the target.
13. A speed control device comprising:
the numerical relation judging module is configured to judge the numerical relation between the distance from the starting point to the end point and a preset distance threshold value under the condition that the target has any initial acceleration and initial speed, and judge the numerical relation between the initial speed and the end point speed of the target;
a control strategy determination module configured to determine a corresponding speed control strategy according to a numerical relationship between a distance from a starting point to an end point and a preset distance threshold and a numerical relationship between an initial speed and an end point speed of a target, so that the target moves from the starting point to the end point in a shortest time at a constant acceleration, and has a specified moving speed and a zero acceleration when reaching the end point, wherein the target has an initial acceleration a at the starting point and a preset acceleration a 0 Under the condition of not less than zero, if the distance from the starting point to the end point is equal to the first distance threshold value, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Accelerate to
Figure FDA0003647069400000051
Then decelerating to the final speed v e Or at an initial speed v different from zero from the starting point 0 Constant jerk J B Acceleration to end velocity v e So that the target is at the end velocity v e And acceleration 0 reaches the end point.
14. The speed control device of claim 13, wherein the control strategy determination module is configured to:
if it is
Figure FDA0003647069400000052
Wherein a is B And if the maximum limit acceleration of the target is represented, controlling the target to perform deceleration and acceleration with the jerk within a first preset time and perform deceleration and acceleration with the jerk within a second preset timeAcceleration and deceleration, wherein uniform deceleration is carried out at the maximum acceleration within third preset time, and deceleration is carried out at the acceleration within fourth time;
if it is
Figure FDA0003647069400000053
The control target performs deceleration and acceleration with the jerk within a fifth preset time, performs acceleration and deceleration with the jerk within a sixth preset time, and performs deceleration and deceleration with the jerk within a seventh preset time;
if it is
Figure FDA0003647069400000054
The control target accelerates with the jerk for an eighth preset time, decelerates with the jerk for a ninth preset time,
if it is
Figure FDA0003647069400000061
The control target performs acceleration with the acceleration rate within a tenth preset time, performs uniform acceleration with the maximum acceleration rate within an eleventh preset time, and performs deceleration with the acceleration rate within a twelfth preset time.
15. The speed control device of claim 13, further comprising a trip threshold determination module configured to:
using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A first pass threshold is determined.
16. The speed control device of claim 13, the control strategy determination module further configured to:
if the distance from the starting point to the end point is greater than the second distance threshold value, the control target starts from the starting point with an initial speed v which is not zero 0 Constant jerk J B Maximum limit of acceleration to targetVelocity v B Then decelerating to the final speed v e So that the target is at the end velocity v e Acceleration 0 reaches the end point;
the control target is accelerated in a thirteenth preset time in the acceleration rate, accelerated in a fourteenth preset time in the maximum acceleration rate, accelerated in a fifteenth preset time in the acceleration rate, does uniform motion in a sixteenth preset time in the acceleration rate, accelerated and decelerated in a seventeenth preset time in the acceleration rate, accelerated and decelerated in an eighteenth preset time in the maximum acceleration rate, and decelerated in a nineteenth preset time in the acceleration rate.
17. The speed control device of claim 16, the trip threshold determination module further configured to:
using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum limit speed v B A second path threshold is determined.
18. The speed control device of claim 16, the control strategy determination module further configured to:
if the distance from the starting point to the end point is greater than the first distance threshold value and not greater than the second distance threshold value, continuously adjusting the actual maximum driving speed V of the target max1 So that the target is at an initial velocity v from the start point 0 Constant jerk J B Accelerating to actual maximum driving speed V max1 Then decelerating to the final speed v e When the target is moving from the starting point to the end point velocity v e The difference between the driving distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is in a preset range;
according to the target actual maximum driving speed V max1 It is determined how the speed control is performed on the target.
19. The speed control device of claim 13, wherein the control strategy determination module is further configured to:
initial acceleration a at target 0 Under the condition of being less than zero, if the distance from the starting point to the end point is equal to a third distance threshold value, the control target starts from the starting point at an initial speed v which is not zero 0 Constant jerk J B Is decelerated to
Figure FDA0003647069400000071
Re-accelerated to the end velocity v e Or at an initial speed v different from zero from the start 0 Constant jerk J B Deceleration to end point velocity v e So that the target is at the end velocity v e And acceleration 0 reaches the end point.
20. The speed control device of claim 19, the control strategy determination module further configured to:
if it is
Figure FDA0003647069400000072
Wherein a is B If the maximum limited acceleration of the target is represented, controlling the target to perform deceleration and acceleration at the jerk within twenty-first preset time, perform acceleration and acceleration at the jerk within twenty-first preset time, perform uniform acceleration at the maximum acceleration within twenty-second preset time, and perform deceleration and acceleration at the jerk within twenty-third preset time;
if it is
Figure FDA0003647069400000073
The control target performs deceleration and deceleration with the jerk within a twenty-fourth preset time, performs acceleration and deceleration with the jerk within a twenty-fifth preset time, and performs deceleration and acceleration with the jerk within a twenty-sixth preset time;
if it is
Figure FDA0003647069400000074
The control target is accelerated and decelerated at the accelerated speed within twenty-seventh preset time and at twenty-eighth preset timeReducing and decelerating at the jerk in the process;
if it is
Figure FDA0003647069400000081
The control target performs acceleration and deceleration with the jerk within twenty-ninth preset time, performs uniform deceleration with the maximum acceleration within thirty preset time, and performs deceleration with the jerk within thirty-eleventh preset time.
21. The speed control device of claim 19, the trip threshold determination module further configured to:
using the initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e A third path threshold is determined.
22. The speed control device of claim 19, the control strategy determination module further configured to:
if the distance from the starting point to the end point is larger than the fourth distance threshold value, the control target starts from the starting point at the initial speed v which is not zero 0 Constant jerk J B Is decelerated to
Figure FDA0003647069400000082
Re-accelerating to the maximum limit speed v of the target B Then the speed is reduced to the terminal speed v e So that the target is at the end velocity v e Acceleration 0 reaches the end point;
the control target performs deceleration and deceleration with the jerk within a thirty-second preset time, performs jerk within a thirty-third preset time, performs jerk within a thirty-fourth preset time, performs jerk within a thirty-fifth preset time, performs deceleration and acceleration with the jerk within a thirty-sixth preset time, performs uniform motion within a thirty-seventh preset time, performs acceleration and deceleration with the jerk within a thirty-eighth preset time, performs jerk within a thirty-eighth preset time, and performs deceleration and deceleration with the jerk within a thirty-ninth preset time.
23. The speed control device of claim 22, the trip threshold determination module further configured to:
using initial acceleration a of the target 0 Initial velocity v 0 Constant jerk J B End point velocity v e Maximum limit speed v B A fourth path threshold is determined.
24. The speed control device of claim 22, the control strategy determination module further configured to:
if the distance from the starting point to the end point is greater than the third distance threshold and not greater than the fourth distance threshold, continuously adjusting the actual maximum driving speed V of the target max2 So that the target is at an initial velocity v from the start point 0 Constant jerk J B Is decelerated to
Figure FDA0003647069400000091
Then accelerating to the actual maximum driving speed V max2 Then decelerates to the terminal velocity v e When the target is moving from the starting point to the end point velocity v e The difference between the travel distance of the state point with the acceleration of 0 and the distance from the starting point to the end point is within a preset range;
according to the target actual maximum driving speed V max2 It is determined how the speed control is performed on the target.
25. 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 1-12 based on instructions stored in the memory.
26. 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 according to any one of claims 1 to 12.
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