CN112532146A - Acceleration and deceleration motion control method, device, equipment and medium - Google Patents
Acceleration and deceleration motion control method, device, equipment and medium Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses an acceleration and deceleration movement control method, which comprises the following steps: in an application scene that the total movement time is not changed and the target movement step number is arbitrary, the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process are calculated according to the acceleration and deceleration movement step number and the acceleration and deceleration movement time, so that an acceleration and deceleration curve matched with the target movement step number is determined, and under the condition that the long stroke and the short stroke meet the overall movement time, the shake of a mechanical assembly is reduced as much as possible, and the motor moves more smoothly. In addition, an acceleration-deceleration-motion control apparatus, a computer device, and a storage medium are also proposed.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to an acceleration and deceleration motion control method, device, equipment and medium.
Background
In the field of industrial motion control of motors, there is an application scenario that a complete motion stroke needs to be completed within a fixed time period, the distance of the motion stroke is not specifically limited, and there may be a difference in each motion control. If the motor adopts a fixed acceleration and deceleration scheme, the acceleration of the motor is too high under the condition of short stroke, so that the shaking of a motor carrying component is too serious, and the motor movement mode is far from the expected control effect, so that the motor is not suitable for the movement stroke with variable distance.
Disclosure of Invention
In view of the above, it is desirable to provide an acceleration/deceleration motion control method, apparatus, device, and medium for smooth motion, which address the above-described problems.
A method of acceleration-deceleration motion control, the method comprising:
acquiring the total movement time and the target movement step number of a motor; wherein, the target movement step number is any step number which is less than or equal to the movement step number threshold value;
acquiring uniform motion time in the total motion time and a target uniform motion speed of the motor in the uniform motion process, and calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed;
calculating the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time; wherein the acceleration of the acceleration change speed and the acceleration of the deceleration change speed have opposite values after the same speed change time length;
and driving the motor to finish the accelerated motion, the uniform motion and the decelerated motion in the total motion time sequence according to the accelerated change speed, the decelerated change speed and the target uniform motion speed.
In one embodiment, the acceleration and deceleration time includes an acceleration time and a deceleration time, and the acceleration time and the deceleration time are the same;
at the initial moment of the acceleration movement, the acceleration change speed is equal to the initial movement speed of the motor;
at the termination moment of the accelerated motion, the accelerated change speed is equal to the target uniform motion speed;
at the initial moment of the deceleration movement, the deceleration change speed is equal to the target uniform movement speed;
at the termination time of the deceleration movement, the deceleration change speed is equal to the initial movement speed.
In one embodiment, before the driving the motor according to the acceleration change speed, the deceleration change speed, and the target uniform motion speed sequentially completes the acceleration motion, the uniform motion, and the deceleration motion in the total motion time sequence, the method further includes:
dividing a change speed composed of the acceleration change speed, the deceleration change speed and the target uniform motion speed into a plurality of speed nodes;
acquiring a node target step number corresponding to each speed node;
the driving the motor to complete the accelerated motion, the uniform motion and the decelerated motion in the total motion time sequence according to the accelerated change speed, the decelerated change speed and the target uniform motion speed includes:
and driving the motor to move the node target steps corresponding to each speed node when the motor sequentially reaches each speed node.
In one embodiment, the driving the motor to move the node target number corresponding to each speed node when reaching each speed node in turn comprises:
acquiring the current movement step number and the residual movement step number of the motor, and judging whether the current movement step number is equal to a first target step number corresponding to a first switching node when the motor reaches the first switching node of the accelerated change speed and the uniform movement speed;
if the current movement step number is equal to the node target step number corresponding to the first switching node, driving the motor to perform the uniform movement at the target uniform movement speed;
and acquiring a second target step number corresponding to a second switching node of the deceleration change speed and the uniform motion speed, and driving the motor to perform deceleration motion at the deceleration change speed when the sum of the residual motion step number and the second target step number is the target motion step number.
In one embodiment, the calculating an acceleration change speed of the motor during acceleration movement and a deceleration change speed of the motor during deceleration movement according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time includes:
acquiring an acceleration speed change node, a uniform speed change node and a deceleration speed change node in the plurality of nodes; wherein, the speed increasing and changing movement is carried out among the speed increasing and changing nodes, the speed decreasing and changing movement is carried out among the speed decreasing and changing nodes, and the movement steps of the speed increasing and changing movement, the speed increasing and changing movement and the speed decreasing and changing movement are equal to the speed increasing and decreasing movement steps;
acquiring node time length ratios of the speed increasing and changing node, the speed uniform changing node and the speed reducing and changing node, and calculating a first jerk in the speed increasing and changing motion process and a second jerk in the speed reducing and changing motion process according to the node time length ratios;
and determining the acceleration change speed of the motor in the acceleration motion process and the deceleration change speed of the motor in the deceleration motion process according to the first jerk and the second jerk.
In one embodiment, after the determining the acceleration change speed of the motor during the acceleration motion and the deceleration change speed of the motor during the deceleration motion according to the first jerk and the second jerk, the method further comprises:
calculating the maximum acceleration in the acceleration change speed and the deceleration change speed according to the first jerk, the second jerk and the node time length ratio;
acquiring an acceleration threshold value, and judging whether the maximum acceleration is greater than the acceleration threshold value;
if the maximum acceleration is larger than the acceleration threshold, reducing the uniform motion time, and executing the step of calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed and the subsequent steps.
In one embodiment, the obtaining a uniform motion time of the total motion time includes:
calculating the shortest motion time of the motor according to the target uniform motion speed and the target motion steps;
and determining the uniform motion time to be any time less than the shortest motion time.
An acceleration-deceleration motion control apparatus, the apparatus comprising:
the acquisition module is used for acquiring the total movement time and the target movement steps of the motor; wherein, the target movement step number is any step number which is less than or equal to the movement step number threshold value;
the step number calculating module is used for acquiring the uniform motion time in the total motion time and the target uniform motion speed of the motor in the uniform motion process, and calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed;
the speed calculation module is used for calculating the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time; wherein the acceleration of the acceleration change speed and the acceleration of the deceleration change speed have opposite values after the same speed change time length;
and the driving module is used for driving the motor to complete the accelerated motion, the uniform motion and the decelerated motion in the total motion time sequence according to the accelerated change speed, the decelerated change speed and the target uniform motion speed.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
acquiring the total movement time and the target movement step number of a motor; wherein, the target movement step number is any step number which is less than or equal to the movement step number threshold value;
acquiring uniform motion time in the total motion time and a target uniform motion speed of the motor in the uniform motion process, and calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed;
calculating the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time; wherein the acceleration of the acceleration change speed and the acceleration of the deceleration change speed have opposite values after the same speed change time length;
and driving the motor to finish the accelerated motion, the uniform motion and the decelerated motion in the total motion time sequence according to the accelerated change speed, the decelerated change speed and the target uniform motion speed.
An acceleration-deceleration motion control apparatus comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
acquiring the total movement time and the target movement step number of a motor; wherein, the target movement step number is any step number which is less than or equal to the movement step number threshold value;
acquiring uniform motion time in the total motion time and a target uniform motion speed of the motor in the uniform motion process, and calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed;
calculating the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time; wherein the acceleration of the acceleration change speed and the acceleration of the deceleration change speed have opposite values after the same speed change time length;
and driving the motor to finish the accelerated motion, the uniform motion and the decelerated motion in the total motion time sequence according to the accelerated change speed, the decelerated change speed and the target uniform motion speed.
The invention provides an acceleration and deceleration movement control method, an acceleration and deceleration movement control device, acceleration and deceleration movement control equipment and a medium, in an application scene that the total movement time is not changed and the target movement step number is arbitrary, the acceleration change speed of a motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process are calculated according to the acceleration and deceleration movement step number and the acceleration and deceleration movement time, so that an acceleration and deceleration curve matched with the target movement step number is determined, and under the condition that long and short strokes meet the overall movement time, the jitter of mechanical components is reduced as much as possible, and the motor movement is smoother.
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, 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.
Wherein:
FIG. 1 is a schematic flow chart of a method for controlling acceleration and deceleration movements according to an embodiment;
FIG. 2 is a schematic diagram of the number of steps taken by the motor to move different objects in one embodiment;
FIG. 3 is a schematic representation of the s-shaped motion velocity in one embodiment;
FIG. 4 is a schematic diagram comparing an acceleration and deceleration motion control method with a conventional motion control method;
FIG. 5 is a schematic diagram of an embodiment of an acceleration/deceleration motion control apparatus;
fig. 6 is a block diagram showing the structure of the acceleration/deceleration motion control apparatus in one embodiment.
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. 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.
As shown in fig. 1, fig. 1 is a schematic flow chart of a control method of acceleration and deceleration motions in an embodiment, where the steps provided by the control method of acceleration and deceleration motions in this embodiment include:
and 102, acquiring the total movement time and the target movement steps of the motor.
The application scenario of this embodiment is to drive the stepping motor to complete a movement stroke (including from start to stop) for a specific distance within a fixed time period, so that the total movement time T is the preset fixed time period. Referring to fig. 2, point a is a movement starting point of the stepping motor, and point Bn is a termination point when the stepping motor moves by the threshold of the number of movement steps within the total movement time T without serious jitter. The target moving step number is any one of the step numbers smaller than or equal to the moving step number threshold, for example, the motor moving step number corresponding to any one of positions B0-B4 in fig. 2.
And step 104, acquiring the uniform motion time in the total motion time and the target uniform motion speed of the motor in the uniform motion process, and calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed.
In this example, the motion stroke of the motor includes acceleration and deceleration motions (acceleration motion and deceleration motion), and a uniform motion, and the total motion time therefore includes a uniform motion time and an acceleration and deceleration motion time, and the sum of the two is equal to the total motion time. Correspondingly, the target movement step number comprises a constant speed movement step number and an acceleration and deceleration movement step number, and the sum of the constant speed movement step number and the acceleration and deceleration movement step number is equal to the target movement step number. In this embodiment, it is necessary to ensure that the driving motor finishes the steps of the acceleration and deceleration movement within the time of the acceleration and deceleration movement and finishes the steps of the uniform movement within the time of the uniform movement, so that the purpose of driving the stepping motor to finish the movement stroke of a specific distance within a fixed time period in this embodiment can be achieved. In order to make the motion stroke range of the motor larger, the target uniform motion speed selected in this embodiment is the maximum motion speed of the motor, and the driving motor is always maintained at the maximum motion speed during the uniform motion process.
For example, assume that the total movement time T of the motor is 8 seconds, the target movement step number N is 10000, and the uniform movement speed Vmax is 1500pps (pulse per second). In one embodiment, the steps of the uniform motion and the steps of the acceleration and deceleration motion are as follows: firstly, the shortest motion time Tmin of the motor is calculated according to the target uniform motion speed Vmax and the target motion step number N, namely, the motor is driven to move at the target uniform motion speed Vmax in the whole motion process, and the Tmin is obtained to be 10000/1500 and is approximately equal to 6.67 s. Correspondingly, the shortest acceleration and deceleration movement time is about 1.33s, but the actual acceleration and deceleration movement time must be longer than the shortest acceleration and deceleration movement, otherwise, the problem of over serious motor jitter occurs. Therefore, the acceleration and deceleration movement time can be increased according to a specific ratio or a specific numerical value, or an integer larger than the shortest acceleration and deceleration movement is set, for example, the acceleration and deceleration movement time is set to be 2 seconds, the corresponding uniform movement time is 6 seconds, and the uniform movement step number in the target movement step number
9000, and Na is 1000.
And 106, taking the residual time obtained by subtracting the uniform motion time from the total motion time as acceleration and deceleration motion time, and calculating the acceleration change speed of the motor in the acceleration motion process and the deceleration change speed of the motor in the deceleration motion process according to the acceleration and deceleration motion step number and the acceleration and deceleration motion time.
Referring to fig. 3, the acceleration change speed and the deceleration change speed in the present embodiment adopt an S-shaped speed control scheme. In order to further reduce the difficulty of calculating the speed, in this embodiment, the acceleration of the acceleration change speed and the acceleration of the deceleration change speed are equal and opposite after the same speed change duration, that is, the overall speed change trend of the acceleration change motion and the deceleration change speed is symmetrical. Furthermore, the duration of the acceleration time 0-t2 and the deceleration time t3-t6 are the same.
Referring to the torque-frequency curve of the motor, when the motor speed is less than a certain value, the torque of the motor does not change much, and in order to drive the motor to rotate faster, the motor will accelerate from a speed point satisfying the proper torque, so that an initial speed V0 exists in fig. 3. As can be seen from fig. 3, in order to ensure that the motor moves as smoothly as possible, at the initial time of the acceleration movement, the acceleration change speed is equal to the initial movement speed of the motor, and at the end time of the acceleration movement, the acceleration change speed is equal to the target uniform movement speed. At the initial time of the deceleration movement, the deceleration change speed is equal to the target uniform movement speed, and at the end time of the deceleration movement, the deceleration change speed is equal to the initial movement speed. From this we can determine the speed of the acceleration and deceleration rates at the initial and end times.
Further, as shown in fig. 3, the present embodiment divides the change speed composed of the acceleration change speed, the deceleration change speed, and the target uniform motion speed into a plurality of speed nodes, and obtains an acceleration change node, a uniform change node, and a deceleration change node in the acceleration change speed and the deceleration change speed. In the acceleration change speed, the plus shift node is the node at times 0 and t0, the level shift node is the node at times t0 and t1, and the minus shift node is the node at times t1 and t 2. In the deceleration change speed, the plus shift node is the node at times t3 and t4, the level shift node is the node at times t4 and t5, and the minus shift node is the node at times t5 and t 6. The acceleration and the speed change are carried out between the acceleration and the speed change nodes, namely the acceleration is increased continuously; carrying out uniform variable speed movement between the uniform variable speed nodes, namely movement with constant acceleration; the speed reducing and changing movement is carried out between the speed reducing and changing nodes, namely the movement with the acceleration continuously reduced. The motion steps of the acceleration and deceleration motion, the uniform speed change motion and the deceleration motion are equal to the steps of the acceleration and deceleration motion, and are expressed as follows:
for example, in a specific embodiment, it is determined that the node time length ratio of the plus shift node, the even shift node, and the minus shift node is 4: 1: 4 and the differences between V0, V1, V2, Vmax are equal, i.e.
(Vmax-V0). The first jerk h in the process of the speed-changing motion can be obtained by combining the above formulas1And reducing the second jerk h during the shifting movement2However, since the time lengths of the plus shift movement and the minus shift movement are the same, the calculated first jerk is equal to the second jerk. From which the acceleration change speed during the acceleration movement and the deceleration change speed during the deceleration movement can be determined.
Wherein the expression of the acceleration change speed is as follows:
the expression of the deceleration change speed is as follows:
further, the acceleration is an important factor affecting the occurrence of motor vibration, and in the present embodiment, the vibration of the motor is suppressed, and the maximum acceleration of the motor is required not to be too large. Jerk is the rate of change of acceleration, so the maximum acceleration in this embodiment is h1t0 or h2t 1. Acquiring an acceleration threshold Amax of the motor, judging whether the maximum acceleration is greater than the acceleration threshold Amax, if the maximum acceleration is greater than the acceleration threshold Amax, reducing the uniform motion time, namely correspondingly increasing the acceleration and deceleration motion time, for example, increasing the acceleration and deceleration motion time set in the above from 2 seconds to 2.5 seconds, and re-executing the step 104 and the subsequent steps until the obtained maximum acceleration can meet the condition that the acceleration is less than the acceleration threshold Amax.
And step 108, driving the motor to complete the accelerated motion, the uniform motion and the decelerated motion in sequence in the total motion time according to the accelerated change speed, the decelerated change speed and the target uniform motion speed.
And for the currently calculated acceleration and deceleration curve, storing the correspondingly calculated motor speed value and the target node step number of the motor to be rotated into each speed node divided in the curve. When the real-time speed meets the speed value of each speed node, the current movement step number and the residual movement step number of the motor are obtained, whether the current movement step number meets the node target step number or not and whether the residual movement step number can meet the residual stroke or not are judged, if the current movement step number and the residual movement step number meet the residual stroke, the motor is continuously driven to move according to the acceleration and deceleration curve, and the motor moves the node target step number corresponding to each speed node when sequentially reaching each speed node.
In the switching stage of the accelerated motion, the uniform motion and the decelerated motion, when the motor reaches a first switching node of the accelerated change speed and the uniform motion speed, judging whether the current motion step number is equal to a first target step number corresponding to the first switching node, and if the current motion step number is equal to a node target step number corresponding to the first switching node, driving the motor to perform the uniform motion at the target uniform motion speed. And acquiring a second target step number corresponding to a second switching node of the deceleration change speed and the uniform motion speed, and when the sum of the residual motion step number and the second target step number is the target motion step number, driving the motor to perform deceleration motion at the deceleration change speed.
Referring to fig. 4, compared with the conventional motor motion control scheme (shown by curve a), the acceleration and deceleration motion control scheme (shown by curve B) does not have the condition of sudden speed change, and the whole motor motion process is smoother.
According to the acceleration and deceleration motion control method, in an application scene that the total motion time is not changed and the target motion step number is arbitrary, the acceleration change speed of the motor in the acceleration motion process and the deceleration change speed of the motor in the deceleration motion process are calculated according to the acceleration and deceleration motion step number and the acceleration and deceleration motion time, so that an acceleration and deceleration curve matched with the target motion step number is determined, and under the condition that the long stroke and the short stroke meet the overall motion time, the shake of a mechanical assembly is reduced as much as possible, and the motion of the motor is smoother.
In one embodiment, as shown in fig. 5, there is provided an acceleration-deceleration-motion control apparatus including:
an obtaining module 502, configured to obtain total motion time of the motor and a target motion step number; wherein, the target movement step number is any step number which is less than or equal to the movement step number threshold value;
the step number calculating module 504 is configured to obtain a uniform motion time in the total motion time and a target uniform motion speed of the motor in the uniform motion process, and calculate a uniform motion step number and an accelerated/decelerated motion step number in the target motion step number according to the uniform motion time and the target uniform motion speed;
a speed calculating module 506, configured to calculate an acceleration change speed of the motor in an acceleration motion process and a deceleration change speed of the motor in a deceleration motion process according to the acceleration and deceleration motion step number and the acceleration and deceleration motion time by using a remaining time obtained by subtracting the uniform motion time from the total motion time as the acceleration and deceleration motion time; wherein, the acceleration of the acceleration change speed and the acceleration of the deceleration change speed have opposite values after the same speed change time length;
and the driving module 508 is configured to drive the motor to complete the accelerated motion, the uniform motion, and the decelerated motion in sequence in the total motion time according to the accelerated change speed, the decelerated change speed, and the target uniform motion speed.
In an application scene that the total movement time is not changed and the target movement step number is arbitrary, the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process are calculated according to the acceleration and deceleration movement step number and the acceleration and deceleration movement time, so that an acceleration and deceleration curve matched with the target movement step number is determined, and under the condition that the long stroke and the short stroke meet the overall movement time, the shake of a mechanical assembly is reduced as much as possible, and the movement of the motor is smoother.
In one embodiment, the acceleration and deceleration motion control apparatus further comprises a node division module configured to: dividing a change speed consisting of an acceleration change speed, a deceleration change speed and a target uniform motion speed into a plurality of speed nodes; acquiring a node target step number corresponding to each speed node; the driving module 508 is further specifically configured to drive the motor to move the node target step number corresponding to each speed node when the motor sequentially reaches each speed node.
In an embodiment, the driving module 508 is further specifically configured to: acquiring the current movement step number and the residual movement step number of the motor, and judging whether the current movement step number is equal to a first target step number corresponding to a first switching node or not when the motor reaches the first switching node of the acceleration change speed and the uniform movement speed; if the current movement step number is equal to the node target step number corresponding to the first switching node, the driving motor performs uniform movement at the target uniform movement speed; and acquiring a second target step number corresponding to a second switching node of the deceleration change speed and the uniform motion speed, and when the sum of the residual motion step number and the second target step number is the target motion step number, driving the motor to perform deceleration motion at the deceleration change speed.
In one embodiment, the speed calculation module 506 is further specifically configured to: acquiring an acceleration speed change node, a uniform speed change node and a deceleration speed change node in a plurality of nodes; acquiring node time length ratios of an adding variable speed node, a uniform variable speed node and a subtracting variable speed node, and calculating a first jerk in the adding variable speed motion process and a second jerk in the subtracting variable speed motion process according to the node time length ratios; and determining the acceleration change speed of the motor in the acceleration motion process and the deceleration change speed of the motor in the deceleration motion process according to the first jerk and the second jerk.
In one embodiment, the speed calculation module 506 is further specifically configured to: calculating the maximum acceleration in the acceleration change speed and the deceleration change speed according to the first jerk, the second jerk and the node time length ratio; acquiring an acceleration threshold, and judging whether the maximum acceleration is greater than the acceleration threshold; if the maximum acceleration is larger than the acceleration threshold, reducing the uniform motion time, and executing the steps of calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed and the subsequent steps.
In an embodiment, the step number calculating module 504 is further specifically configured to: calculating the shortest motion time of the motor according to the target uniform motion speed and the target motion steps; and determining the uniform motion time as any time less than the shortest motion time.
Fig. 6 shows an internal structural view of the acceleration-deceleration-motion control apparatus in one embodiment. As shown in fig. 6, the acceleration/deceleration motion control apparatus includes a processor, a memory, and a network interface connected through a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the acceleration/deceleration motion control apparatus stores an operating system and may also store a computer program that, when executed by a processor, causes the processor to implement an acceleration/deceleration motion control method. The internal memory may also have a computer program stored therein, which when executed by the processor, causes the processor to perform the acceleration and deceleration motion control method. Those skilled in the art will appreciate that the configuration shown in fig. 6 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the acceleration and deceleration motion control apparatus to which the present application is applied, and that a particular acceleration and deceleration motion control apparatus may include more or fewer components than those shown, or may combine certain components, or have a different arrangement of components.
An acceleration-deceleration motion control apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring the total movement time and the target movement step number of a motor; wherein, the target movement step number is any step number which is less than or equal to the movement step number threshold value; acquiring uniform motion time in the total motion time and target uniform motion speed of a motor in the uniform motion process, and calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed; calculating the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time; wherein, the acceleration of the acceleration change speed and the acceleration of the deceleration change speed have opposite values after the same speed change time length; and driving the motor to finish the accelerated motion, the uniform motion and the decelerated motion in sequence in the total motion time according to the accelerated change speed, the decelerated change speed and the target uniform motion speed.
In one embodiment, the acceleration and deceleration movement time includes an acceleration movement time and a deceleration movement time, and the acceleration movement time and the deceleration movement time are the same; at the initial moment of the acceleration movement, the acceleration change speed is equal to the initial movement speed of the motor; at the termination moment of the accelerated motion, the accelerated change speed is equal to the target uniform motion speed; at the initial moment of the deceleration movement, the deceleration change speed is equal to the target uniform movement speed; at the termination time of the deceleration movement, the deceleration change speed is equal to the initial movement speed.
In one embodiment, before the driving motor sequentially performs the acceleration motion, the uniform motion and the deceleration motion according to the acceleration change speed, the deceleration change speed and the target uniform motion speed in the total motion time, the method further includes: dividing a change speed consisting of an acceleration change speed, a deceleration change speed and a target uniform motion speed into a plurality of speed nodes; acquiring a node target step number corresponding to each speed node; according to the acceleration change speed, the deceleration change speed and the target uniform motion speed, the driving motor completes acceleration motion, uniform motion and deceleration motion in the total motion time sequence, comprising: and the driving motor moves the node target steps corresponding to each speed node when reaching each speed node in sequence.
In one embodiment, the driving motor moving the node target number of steps corresponding to each speed node when arriving at each speed node in turn comprises: acquiring the current movement step number and the residual movement step number of the motor, and judging whether the current movement step number is equal to a first target step number corresponding to a first switching node or not when the motor reaches the first switching node of the acceleration change speed and the uniform movement speed; if the current movement step number is equal to the node target step number corresponding to the first switching node, the driving motor performs uniform movement at the target uniform movement speed; and acquiring a second target step number corresponding to a second switching node of the deceleration change speed and the uniform motion speed, and when the sum of the residual motion step number and the second target step number is the target motion step number, driving the motor to perform deceleration motion at the deceleration change speed.
In one embodiment, calculating the acceleration change speed of the motor during the acceleration movement and the deceleration change speed of the motor during the deceleration movement according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time comprises: acquiring an acceleration speed change node, a uniform speed change node and a deceleration speed change node in a plurality of nodes; the system comprises a plurality of speed increasing and changing nodes, a plurality of speed decreasing and changing nodes, a plurality of speed increasing and changing nodes and a plurality of speed increasing and changing nodes, wherein the speed increasing and changing nodes perform speed increasing and changing movement, the speed decreasing and changing nodes perform speed decreasing and changing movement, and the movement steps of the speed increasing and changing movement, the speed increasing and changing movement and the speed decreasing and changing movement are equal to the speed increasing and decreasing movement steps; acquiring node time length ratios of an adding variable speed node, a uniform variable speed node and a subtracting variable speed node, and calculating a first jerk in the adding variable speed motion process and a second jerk in the subtracting variable speed motion process according to the node time length ratios; and determining the acceleration change speed of the motor in the acceleration motion process and the deceleration change speed of the motor in the deceleration motion process according to the first jerk and the second jerk.
In one embodiment, after determining the acceleration change speed of the motor during the acceleration movement and the deceleration change speed during the deceleration movement according to the first jerk and the second jerk, the method further comprises: calculating the maximum acceleration in the acceleration change speed and the deceleration change speed according to the first jerk, the second jerk and the node time length ratio; acquiring an acceleration threshold, and judging whether the maximum acceleration is greater than the acceleration threshold; if the maximum acceleration is larger than the acceleration threshold, reducing the uniform motion time, and executing the steps of calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed and the subsequent steps.
In one embodiment, obtaining the uniform motion time of the total motion time includes: calculating the shortest motion time of the motor according to the target uniform motion speed and the target motion steps; and determining the uniform motion time as any time less than the shortest motion time.
A computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of: acquiring the total movement time and the target movement step number of a motor; wherein, the target movement step number is any step number which is less than or equal to the movement step number threshold value; acquiring uniform motion time in the total motion time and target uniform motion speed of a motor in the uniform motion process, and calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed; calculating the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time; wherein, the acceleration of the acceleration change speed and the acceleration of the deceleration change speed have opposite values after the same speed change time length; and driving the motor to finish the accelerated motion, the uniform motion and the decelerated motion in sequence in the total motion time according to the accelerated change speed, the decelerated change speed and the target uniform motion speed.
In one embodiment, the acceleration and deceleration movement time includes an acceleration movement time and a deceleration movement time, and the acceleration movement time and the deceleration movement time are the same; at the initial moment of the acceleration movement, the acceleration change speed is equal to the initial movement speed of the motor; at the termination moment of the accelerated motion, the accelerated change speed is equal to the target uniform motion speed; at the initial moment of the deceleration movement, the deceleration change speed is equal to the target uniform movement speed; at the termination time of the deceleration movement, the deceleration change speed is equal to the initial movement speed.
In one embodiment, before the driving motor sequentially performs the acceleration motion, the uniform motion and the deceleration motion according to the acceleration change speed, the deceleration change speed and the target uniform motion speed in the total motion time, the method further includes: dividing a change speed consisting of an acceleration change speed, a deceleration change speed and a target uniform motion speed into a plurality of speed nodes; acquiring a node target step number corresponding to each speed node; according to the acceleration change speed, the deceleration change speed and the target uniform motion speed, the driving motor completes acceleration motion, uniform motion and deceleration motion in the total motion time sequence, comprising: and the driving motor moves the node target steps corresponding to each speed node when reaching each speed node in sequence.
In one embodiment, the driving motor moving the node target number of steps corresponding to each speed node when arriving at each speed node in turn comprises: acquiring the current movement step number and the residual movement step number of the motor, and judging whether the current movement step number is equal to a first target step number corresponding to a first switching node or not when the motor reaches the first switching node of the acceleration change speed and the uniform movement speed; if the current movement step number is equal to the node target step number corresponding to the first switching node, the driving motor performs uniform movement at the target uniform movement speed; and acquiring a second target step number corresponding to a second switching node of the deceleration change speed and the uniform motion speed, and when the sum of the residual motion step number and the second target step number is the target motion step number, driving the motor to perform deceleration motion at the deceleration change speed.
In one embodiment, calculating the acceleration change speed of the motor during the acceleration movement and the deceleration change speed of the motor during the deceleration movement according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time comprises: acquiring an acceleration speed change node, a uniform speed change node and a deceleration speed change node in a plurality of nodes; the system comprises a plurality of speed increasing and changing nodes, a plurality of speed decreasing and changing nodes, a plurality of speed increasing and changing nodes and a plurality of speed increasing and changing nodes, wherein the speed increasing and changing nodes perform speed increasing and changing movement, the speed decreasing and changing nodes perform speed decreasing and changing movement, and the movement steps of the speed increasing and changing movement, the speed increasing and changing movement and the speed decreasing and changing movement are equal to the speed increasing and decreasing movement steps; acquiring node time length ratios of an adding variable speed node, a uniform variable speed node and a subtracting variable speed node, and calculating a first jerk in the adding variable speed motion process and a second jerk in the subtracting variable speed motion process according to the node time length ratios; and determining the acceleration change speed of the motor in the acceleration motion process and the deceleration change speed of the motor in the deceleration motion process according to the first jerk and the second jerk.
In one embodiment, after determining the acceleration change speed of the motor during the acceleration movement and the deceleration change speed during the deceleration movement according to the first jerk and the second jerk, the method further comprises: calculating the maximum acceleration in the acceleration change speed and the deceleration change speed according to the first jerk, the second jerk and the node time length ratio; acquiring an acceleration threshold, and judging whether the maximum acceleration is greater than the acceleration threshold; if the maximum acceleration is larger than the acceleration threshold, reducing the uniform motion time, and executing the steps of calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed and the subsequent steps.
In one embodiment, obtaining the uniform motion time of the total motion time includes: calculating the shortest motion time of the motor according to the target uniform motion speed and the target motion steps; and determining the uniform motion time as any time less than the shortest motion time.
It should be noted that the above acceleration and deceleration movement control method, apparatus, device and computer readable storage medium belong to a general inventive concept, and the contents in the embodiments of the acceleration and deceleration movement control method, apparatus, device and computer readable storage medium are mutually applicable.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of acceleration and deceleration motion control, the method comprising:
acquiring the total movement time and the target movement step number of a motor; wherein, the target movement step number is any step number which is less than or equal to the movement step number threshold value;
acquiring uniform motion time in the total motion time and a target uniform motion speed of the motor in the uniform motion process, and calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed;
calculating the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time; wherein the acceleration of the acceleration change speed and the acceleration of the deceleration change speed have opposite values after the same speed change time length;
and driving the motor to finish the accelerated motion, the uniform motion and the decelerated motion in the total motion time sequence according to the accelerated change speed, the decelerated change speed and the target uniform motion speed.
2. The method of claim 1, wherein the acceleration and deceleration time periods comprise an acceleration time period and a deceleration time period, the acceleration time period and the deceleration time period being the same;
at the initial moment of the acceleration movement, the acceleration change speed is equal to the initial movement speed of the motor;
at the termination moment of the accelerated motion, the accelerated change speed is equal to the target uniform motion speed;
at the initial moment of the deceleration movement, the deceleration change speed is equal to the target uniform movement speed;
at the termination time of the deceleration movement, the deceleration change speed is equal to the initial movement speed.
3. The method according to claim 1, further comprising, before the driving the motor according to the acceleration change speed, the deceleration change speed, and the target uniform motion speed sequentially completes the acceleration motion, the uniform motion, and the deceleration motion in the total motion time sequence:
dividing a change speed composed of the acceleration change speed, the deceleration change speed and the target uniform motion speed into a plurality of speed nodes;
acquiring a node target step number corresponding to each speed node;
the driving the motor to complete the accelerated motion, the uniform motion and the decelerated motion in the total motion time sequence according to the accelerated change speed, the decelerated change speed and the target uniform motion speed includes:
and driving the motor to move the node target steps corresponding to each speed node when the motor sequentially reaches each speed node.
4. The method of claim 3, wherein said driving the motor to move the node target number of steps corresponding to each of the speed nodes upon reaching each of the speed nodes in turn comprises:
acquiring the current movement step number and the residual movement step number of the motor, and judging whether the current movement step number is equal to a first target step number corresponding to a first switching node when the motor reaches the first switching node of the accelerated change speed and the uniform movement speed;
if the current movement step number is equal to the node target step number corresponding to the first switching node, driving the motor to perform the uniform movement at the target uniform movement speed;
and acquiring a second target step number corresponding to a second switching node of the deceleration change speed and the uniform motion speed, and driving the motor to perform deceleration motion at the deceleration change speed when the sum of the residual motion step number and the second target step number is the target motion step number.
5. The method according to claim 3, wherein the calculating the acceleration change speed of the motor during acceleration movement and the deceleration change speed of the motor during deceleration movement according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time comprises:
acquiring an acceleration speed change node, a uniform speed change node and a deceleration speed change node in the plurality of nodes; wherein, the speed increasing and changing movement is carried out among the speed increasing and changing nodes, the speed decreasing and changing movement is carried out among the speed decreasing and changing nodes, and the movement steps of the speed increasing and changing movement, the speed increasing and changing movement and the speed decreasing and changing movement are equal to the speed increasing and decreasing movement steps;
acquiring node time length ratios of the speed increasing and changing node, the speed uniform changing node and the speed reducing and changing node, and calculating a first jerk in the speed increasing and changing motion process and a second jerk in the speed reducing and changing motion process according to the node time length ratios;
and determining the acceleration change speed of the motor in the acceleration motion process and the deceleration change speed of the motor in the deceleration motion process according to the first jerk and the second jerk.
6. The method of claim 5, further comprising, after said determining an acceleration change speed of the motor during acceleration motion and a deceleration change speed during deceleration motion based on the first jerk and the second jerk,:
calculating the maximum acceleration in the acceleration change speed and the deceleration change speed according to the first jerk, the second jerk and the node time length ratio;
acquiring an acceleration threshold value, and judging whether the maximum acceleration is greater than the acceleration threshold value;
if the maximum acceleration is larger than the acceleration threshold, reducing the uniform motion time, and executing the step of calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed and the subsequent steps.
7. The method of claim 1, wherein obtaining a uniform motion time of the total motion time comprises:
calculating the shortest motion time of the motor according to the target uniform motion speed and the target motion steps;
and determining the uniform motion time to be any time less than the shortest motion time.
8. An acceleration-deceleration motion control apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the total movement time and the target movement steps of the motor; wherein, the target movement step number is any step number which is less than or equal to the movement step number threshold value;
the step number calculating module is used for acquiring the uniform motion time in the total motion time and the target uniform motion speed of the motor in the uniform motion process, and calculating the uniform motion step number and the acceleration and deceleration step number in the target motion step number according to the uniform motion time and the target uniform motion speed;
the speed calculation module is used for calculating the acceleration change speed of the motor in the acceleration movement process and the deceleration change speed of the motor in the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time; wherein the acceleration of the acceleration change speed and the acceleration of the deceleration change speed have opposite values after the same speed change time length;
and the driving module is used for driving the motor to complete the accelerated motion, the uniform motion and the decelerated motion in the total motion time sequence according to the accelerated change speed, the decelerated change speed and the target uniform motion speed.
9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
10. An acceleration-deceleration motion control apparatus comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the method of any one of claims 1 to 7.
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