CN115542732A - Acceleration and deceleration trajectory planning method and device for servo motion control system - Google Patents

Acceleration and deceleration trajectory planning method and device for servo motion control system Download PDF

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CN115542732A
CN115542732A CN202211124326.6A CN202211124326A CN115542732A CN 115542732 A CN115542732 A CN 115542732A CN 202211124326 A CN202211124326 A CN 202211124326A CN 115542732 A CN115542732 A CN 115542732A
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speed
output
current
output speed
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田德文
刘华源
何淑贤
王震
陈嘉伟
王亚庆
邢彦斌
刘泓
姜茹
马亚青
孙文欣
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China North Vehicle Research Institute
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    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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Abstract

The invention discloses an acceleration and deceleration trajectory planning method and device for a servo motion control system, wherein the method comprises the following steps: according to the current position P f And current position and current speed V f Calculating to obtain an acceleration/deceleration judgment threshold value P err1 Judging the threshold P based on acceleration and deceleration err1 To obtain an output speed V act (ii) a If the output speed V is act Greater than maximum speed limit V max Then order V act Is equal to V max Carrying out output speed amplitude limiting; if the output speed V is act Less than maximum negative speed limit-V max Then let V act Is equal to-V max Carrying out output speed amplitude limiting; based on the position step amount P step And the current position P f Determining a position planning output P act . The method of the invention does not need time variable to calculate speed, position and section in the calculation process, and can directly calculate speed and position instruction input according to the designated total moving distance, acceleration, deceleration and highest rotating speedAnd the method is simple, occupies less time and has quick response.

Description

Acceleration and deceleration trajectory planning method and device for servo motion control system
Technical Field
The invention relates to the field of servo control, in particular to an acceleration and deceleration trajectory planning method and device for a servo motion control system.
Background
The rapidity of dynamic response, the high accuracy of steady-state tracking, and the robustness of the system have been the main goals pursued by servo control systems. In order to improve the tracking performance of the servo system, on one hand, a more advanced control algorithm, such as fuzzy PID control, active disturbance rejection control, sliding mode variable structure control, adaptive robust control and the like, needs to be introduced to improve the bandwidth of a closed-loop system; on the other hand, there is a need for an optimized trajectory planning algorithm to minimize the bandwidth of the servo system input signal. With the rapid development of the fields of numerical control, robots and the like, the requirements of the system on a track planning method are higher and higher. For example, during the operation of a high-precision direct-drive rotary table, in order to enable the direct-drive rotary table to move rapidly and accurately according to a preset speed and position, acceleration and deceleration control is required to be performed during the switching process of starting, stopping and tracks by utilizing track planning so as to reduce impact, overtravel or oscillation. Because real-time performance and stability are both required for trajectory planning during rapid starting and stopping, finding a simple trajectory planning method capable of meeting precision requirements and real-time performance becomes one of the key problems of the current high-speed high-precision motion control system.
The trajectory planning method is a premise that a servo system has good tracking performance. The good track planning method needs to ensure the motion stability of the mechanical body and does not generate impact, step loss, overtravel and oscillation when the speed changes among the starting, stopping and interpolation sections, and the good track planning method also has the advantages of simple algorithm, strong real-time performance, good universality and convenience for use in systems with different configurations. The linear acceleration and deceleration planning algorithm is widely applied due to the fact that the positioning time is optimal under the conditions of given position, speed and acceleration.
The ideal linear acceleration and deceleration planning method comprises three stages of an acceleration stage, a constant speed stage and a deceleration stage. The first stage is that the initial speed is increased to the maximum speed with constant acceleration; the second stage moves at a constant speed; and in the third stage, the speed is reduced to the initial speed at a constant acceleration, and the controlled object just reaches the target position. The curve of the linear acceleration and deceleration planning method is shown in fig. 1.
Currently, the industry generally adopts a speed change curve type based on time segmentation to realize trajectory planning, and a program needs to specify a total moving distance, an acceleration, a deceleration and a highest rotating speed, and needs to calculate speed and position instruction output of a corresponding time period in real time according to current instruction cycle running time. The time-segmentation-based acceleration and deceleration control algorithm has the main characteristics of simple algorithm, relatively more occupied time and relatively slow execution response, and is difficult to adapt to the requirements of a rapid start-stop positioning system.
Disclosure of Invention
In view of this, the present invention provides an acceleration/deceleration trajectory planning method and apparatus for a servo motion control system, which can solve the technical problem of the conventional acceleration/deceleration trajectory planning.
In order to solve the above-mentioned technical problems, the present invention has been accomplished as described above.
A method for planning acceleration and deceleration tracks of a servo motion control system comprises the following steps:
step S1: obtaining an instruction indicating a new position, if said new position P r And the current position P f Error P between err Less than in-place judgment position threshold value P err0 Then, thenThe trajectory planning position output has reached the target position, and the method is ended; otherwise, entering step S2;
step S2: according to the current position P f And the output speed V obtained by the track planning at the current position f Calculating to obtain an acceleration/deceleration judgment threshold value P err1 If the current position value P f Less than the acceleration/deceleration judgment threshold P err1 Then the current position P is set f Current speed V of f Cumulative velocity delta V acc To obtain an output speed V act (ii) a Otherwise, the front position P is set f Current speed V of f Reducing the speed variation V dec To obtain an output speed V act (ii) a Output speed V act The servo motion control system calculates the output speed based on the track planning;
and step S3: if the output speed V is act Greater than maximum speed limit V max Then order V act Is equal to V max Carrying out output speed amplitude limiting; if the output speed V is act Less than the maximum negative speed limit-V max Then order V act Is equal to-V max Carrying out output speed amplitude limiting;
and step S4: for the output speed V act Performing integral calculation to determine the position step P of the current calculation period step Based on said position step size P step And the current position P f Determining a position planning output P act (ii) a The position step amount P step Refers to the position increment of the track plan of the current calculation cycle, and the position plan outputs P act Refers to the final position output.
Preferably, in step S1, the new position refers to a target position given value of the current calculation cycle, and the in-place determination position threshold P is err0 Is determined based on the index of the servo motion control system.
Preferably, in step S2, if the new position P is located r And the current position P f Error P between err If greater than 0, the current position P is used f And here the velocity V act Uniformly decelerating to zero for the initial velocity, thereby calculating the predicted target bitPut P err1 (ii) a If the new position P r And the current position P f Error P between err If less than 0, the current position P is used f And here the velocity V act Uniformly accelerating to zero for initial speed to calculate predicted target position P err1 (ii) a The speed increment V acc Based on the maximum acceleration determination of the servo motion control system, the value is V acc ＝ Δ T·a acc (ii) a The speed variation V dec Based on the maximum deceleration determination of the servo motion control system, the value is V dec ＝ Δ T·a dec Wherein, in the step (A), Δ and T is the calculation period of the trajectory planning.
Preferably, in step S3, the maximum rotation speed limit V max Determining based on the index of the actual servo motion control system; the maximum negative speed limit and the maximum speed limit V max Are opposite numbers.
Preferably, the step S4 is based on the output speed V act Determines the position step P step (ii) a If the position step size P step Less than the position deviation P err Then the position plan is output P act Accumulated position step P step Output P act (ii) a Otherwise, the new position P is set r Direct assignment to position planning output P act Output P act . The position step amount P step Based on the output speed V act Integral determination, taking the value as P step ＝ Δ T·V acc (ii) a Position deviation P err To a new position P r And the current position P f In the event of an error, wherein, Δ and T is the calculation period of the trajectory planning.
The invention provides a device for planning acceleration and deceleration tracks of a servo motion control system, which comprises:
a first judgment module: is configured to obtain an instruction indicating a new position, if said new position P r And the current position P f Error P between err Less than in-place judgment position threshold value P err0 If the target position is reached, outputting the track planning position; otherwise, trigger the firstA second judgment module;
a second judging module: is configured to be dependent on the current position P f And the output speed V obtained by the track planning at the current position f Calculating to obtain an acceleration/deceleration judgment threshold value P err1 If the current position value P f Less than the acceleration/deceleration judgment threshold P err1 Then the current position P is set f Current speed V of f Incremental velocity increment V acc To obtain an output speed V act (ii) a Otherwise, the front position P is set f Current speed V of f Reducing the speed variation V dec To obtain an output speed V act (ii) a Output speed V act The output speed is calculated by the servo motion control system based on the track planning;
a third judging module: is configured if said output speed V act Greater than maximum speed limit V max Then let V act Is equal to V max Carrying out output speed amplitude limiting; if the output speed V is act Less than the maximum negative speed limit-V max Then let V act Is equal to-V max Carrying out output speed amplitude limiting;
an output module: is configured to measure the output speed V act Performing integral calculation to determine the position step P of the current calculation period step Based on the position step size P step And the current position P f Determining a position planning output P act (ii) a The position step amount P step Refers to the position increment of the track plan of the current calculation cycle, and the position plan outputs P act Refers to the final position output.
The invention provides a computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions for being loaded by a processor and performing the method as described above.
The present invention provides an electronic device, comprising:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the instructions are for storage by the memory and for loading and executing the method by the processor.
Has the advantages that:
(1) The invention provides a method for planning acceleration and deceleration tracks of a servo motion control system, which does not need time variables to calculate speed, position and sections in the calculation process, can directly calculate speed and position instruction output according to the specified total moving distance, acceleration, deceleration and highest rotating speed, and has the advantages of simple method, less occupied time and quick response.
(2) The invention is particularly suitable for a high-speed and rapid start-stop servo motion control system.
(3) The invention has smaller constraint on a hardware platform, is easy to transplant and realizes the universal design.
(4) The invention is simple and can meet the precision requirement and real-time servo motion control system. In the running process of the high-precision direct-drive rotary table, in order to enable the high-precision direct-drive rotary table to rapidly and accurately move according to the preset speed and position, acceleration and deceleration control is carried out in the starting, stopping and track switching process by utilizing track planning to reduce impact, overtravel or oscillation. The real-time performance and the stability can be considered when the device is started and stopped quickly.
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FIG. 1 is a graph illustrating a linear acceleration and deceleration planning method according to the prior art;
FIG. 2 is a schematic flow chart of a method for planning acceleration and deceleration tracks of a servo motion control system according to the present invention;
FIG. 3 is a schematic flow chart of another acceleration/deceleration trajectory planning method for a servo motion control system according to the present invention;
FIG. 4 is a schematic diagram of a variation curve of the rotation speed provided by the present invention;
FIG. 5 is a schematic diagram of a trajectory planning position command calculation according to the present invention;
FIG. 6 is a schematic diagram illustrating the track planning position command in-place processing provided by the present invention;
fig. 7 is a schematic structural diagram of an acceleration/deceleration trajectory planning device of a servo motion control system according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 2-3, the present invention provides a method for planning acceleration and deceleration tracks of a servo motion control system, comprising the following steps:
step S1: obtaining an instruction indicating a new position if said new position P r And the current position P f Error P between err Less than in-place judgment position threshold value P err0 If the track planning position output reaches the target position, the method is ended; otherwise, entering step S2;
step S2: according to the current position P f And the output speed V obtained by the track planning at the current position f Calculating to obtain an acceleration/deceleration judgment threshold value P err1 If the current position value P f Less than the acceleration/deceleration judgment threshold P err1 Then the current position P is set f Current speed V of f Cumulative velocity delta V acc To obtain an output speed V act (ii) a Otherwise, the front position P is set f Current speed V of f Reducing the speed variation V dec To obtain an output speed V act (ii) a Output speed V act The servo motion control system calculates the output speed based on the track planning;
and step S3: if the output speed V is act Greater than maximum speed limit V max Then order V act Is equal to V max Carrying out output speed amplitude limiting; if the output speed V is act Less than the maximum negative speed limit-V max Then let V act Is equal to-V max Carrying out output speed amplitude limiting;
and step S4: for the output speed V act Performing integral calculation to determine the position step P of the current calculation period step Based on said position step size P step And the current position P f Determining a position planning output P act (ii) a The position step amount P step Refers to the position increment of the track plan of the current calculation cycle, and the position plan outputs P act Refers to the final position output.
Further on toIn step S1, the new position is a target position given value of the current calculation cycle, and the in-place determination position threshold P is set err0 The value of (a) is determined based on the index of the servo motion control system, e.g. 0.001 is selected.
Further, in the step S2, if the new position P is determined r And the current position P f Error P between err If greater than 0, the current position P is used f And here the velocity V act Uniformly decelerating to zero for the initial velocity, thereby calculating a predicted target position P err1 (ii) a If the new position P r And the current position P f Error P between err If less than 0, the current position P is used f And here velocity V act For the initial velocity, the uniform acceleration is zero, thereby calculating the predicted target position P err1 (ii) a The speed increment V acc Based on the maximum acceleration determination of the servo motion control system, the value is V acc ＝ Δ T·a acc (ii) a The speed variation V dec Based on the maximum deceleration determination of the servo motion control system, the value is V dec ＝ Δ T·a dec Wherein, in the process, Δ and T is the calculation period of the trajectory planning.
Further, in step S3, the maximum rotation speed limit V max Determining an index based on an actual servo motion control system; the maximum negative speed limit and the maximum speed limit V max Are opposite numbers.
Further, the step S4 is based on the output speed V act Determines the position step amount P by integration of step (ii) a If the position step size P step Less than the position deviation P err Then the position plan is output as P act Accumulated position step P step Output P act (ii) a Otherwise, the new position P is set r Direct assignment to position planning output P act Output P act . The position step amount P step Based on output speed V act Integral determination with value P step ＝ Δ T·V acc (ii) a Position deviation P err To a new position P r And the current position P f Error between。
The following describes a method for planning acceleration and deceleration tracks of a servo motion control system, with reference to specific embodiments, as shown in fig. 3 to 6.
As shown in fig. 3, when a new position command is received, the trajectory planning method starts to be executed, and first, the deviation Perr between the position command Pr and the current position Pf is calculated.
P err ＝P r -P f (1)
If the absolute position deviation P err Less than in-place judgment position threshold value P err0 Absolute value of (i.e. | P) err |≤|P err0 If the output of the track planning position instruction falls into the error band output by the target position, the track planning is considered to reach the target instruction position, and the track planning is finished. If the position deviation P err Is greater than the in-place judgment position threshold value P err0 Absolute value of (i.e. | P) err |＞P err0 If the track planning position instruction output does not reach the target instruction output, entering a track planning program, and continuing to plan speed and position instruction output. In-place judgment position threshold value P err0 And (4) taking values, wherein the values are determined according to indexes of an actual servo motion control system, such as 0.001 degree.
Acceleration/deceleration determination is then performed. When the trajectory planning position output does not reach the target position, first, the acceleration/deceleration condition is determined, as shown in fig. 4.
The acceleration and deceleration planning algorithm is divided into an acceleration section, a constant speed section and a deceleration section. The first stage t 0-t 1 is increased from the initial speed to the maximum speed with constant acceleration, and the speed increment is V in each program execution period acc . The third stage t2 to t3 decelerates to the initial speed at a constant deceleration rate, and the speed is reduced to V per program execution cycle dec 。
V acc ＝ Δ T·a acc (2)
V dec ＝ Δ T·a dec (3)
In the formula (I), the compound is shown in the specification, Δ t is the execution period of the trajectory planning program，a acc Maximum acceleration for operation of the servo motion control system, a dec Is the maximum deceleration at which the servo motion control system operates.
The track planning speed output is in the stages of acceleration, deceleration or constant speed, a time segmentation based mode is not adopted, namely if t1> t > t0, the track planning speed output is considered to be in the judgment condition of an acceleration section, and a novel judgment mode is adopted. When the trajectory planning speed output runs to the point a in fig. 4, the time of the trajectory planning speed output to the point a is not concerned, and the displacement of the position planning output when the speed is decelerated along the points a to c with the point a as the starting point is calculated. And if the current position plus the displacement theoretically output in the deceleration running along the a-c is greater than or equal to the position specified by the position target instruction, the planning program enters a deceleration section.
V act ＝V act -V dec (4)
If the current position plus the displacement theoretically output during the deceleration running along the a-c is still smaller than the target position, the acceleration is continued.
V act ＝V act +V acc (5)
The constant speed section is simpler to process, and when the speed output Vact is greater than the maximum rotation speed limit Vmax, V is controlled act ＝V max Automatically entering a constant-speed motion section; when the speed output Vact is less than the maximum negative speed limit Vmax, let V act ＝-V max And automatically entering a constant-speed motion section.
And the track planning program calculates the current position point in real time, judges whether a target point can be reached along the acceleration or deceleration curve, sets a corresponding flag bit if the target point can be reached, and enters an acceleration or deceleration section. When the position command is in the opposite direction, the conclusion is still true, and details are not described here.
And then carrying out in-place judgment. After the trajectory planning program calculates a speed output instruction, the speed is integrated, and a position planning instruction P is calculated act As shown in fig. 5.
The trajectory planning program calculates the speed integral, and the position increment of the current calculation period is as follows:
P step ＝ Δ T·V acc (6)
as shown in fig. 6, if the position step amount is smaller than the position deviation Perr, that is, the instruction target position cannot be reached after the current execution cycle, the position output continues to be accumulated.
P act ＝P act +P step (7)
If the position step amount is larger than the position deviation Perr, i.e. when P is executed act ＝P act +P step Then, there is P act ＞P r And when the trajectory planning position instruction exceeds a given value, directly assigning the position instruction Pr to the position planning output Pact, namely:
P act ＝P r (8)
the present invention also provides a device for planning acceleration and deceleration tracks of a servo motion control system, as shown in fig. 7, the device comprises:
a first judgment module: is configured to obtain an instruction indicating a new position, if said new position P r And the current position P f Error P between err Less than in-place judgment position threshold value P err0 If the target position is reached, outputting the track planning position; otherwise, triggering a second judgment module;
a second judging module: is configured to be dependent on the current position P f And the output speed V obtained by the track planning at the current position f Calculating to obtain an acceleration/deceleration judgment threshold value P err1 If the current position value P f Less than the acceleration/deceleration judgment threshold P err1 Then the current position P is set f Current speed V of f Cumulative velocity delta V acc To obtain an output speed V act (ii) a Otherwise, the front position P is set f Current speed V of f Reducing the speed variation V dec To obtain an output speed V act (ii) a Output speed V act The servo motion control system calculates the output speed based on the track planning;
a third judging module: is configured if said output speed V act Greater than maximum speed limit V max Then let V act Is equal to V max Carrying out output speed amplitude limiting; if the output speed V is act Less than maximum negative speed limit-V max Then order V act Is equal to-V max Carrying out output speed amplitude limiting;
an output module: is configured to measure the output speed V act Performing integral calculation to determine the position step P of the current calculation period step Based on said position step size P step And the current position P f Determining a position planning output P act (ii) a The position step P step Refers to the position increment of the track plan of the current calculation cycle, and the position plan outputs P act Refers to the final position output.
The above embodiments only describe the design principle of the present invention, and the shapes and names of the components in the description may be different without limitation. Therefore, a person skilled in the art of the present invention can modify or substitute the technical solutions described in the foregoing embodiments; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (8)

1. A method for planning acceleration and deceleration tracks of a servo motion control system is characterized by comprising the following steps:
step S1: obtaining an instruction indicating a new position, if said new position P r And the current position P f Error P between err Less than in-place judgment position threshold value P err0 If the track planning position output reaches the target position, the method is ended; otherwise, entering step S2;
step S2: according to the current position P f And an output speed V at the current position f Calculating to obtain an acceleration/deceleration judgment threshold value P err1 If the current position value P f Less than the acceleration/deceleration judgment threshold P err1 Then the current position P is set f Current speed V of f Incremental velocity increment V acc To obtain an output speed V act (ii) a Otherwise, the front position P is set f Current speed of the spotDegree V f Reducing the speed variation V dec To obtain an output speed V act (ii) a Output speed V act The output speed is calculated by the servo motion control system based on the track planning;
and step S3: if the output speed V is act Greater than maximum speed limit V max Then order V act Is equal to V max Carrying out output speed amplitude limiting; if the output speed V is act Less than the maximum negative speed limit-V max Then order V act Is equal to-V max Carrying out output speed amplitude limiting;
and step S4: for the output speed V act Performing integral calculation to determine the position step P of the current calculation period step Based on the position step size P step And the current position P f Determining a position planning output P act (ii) a The position step amount P step Refers to the position increment of the track plan of the current calculation cycle, and the position plan outputs P act Refers to the final position output.
2. The method according to claim 1, wherein in step S1, the new position is a given value of a target position of a current calculation cycle, and the in-place determination position threshold P is set err0 The value of (a) is determined based on the index of the servo motion control system.
3. The method according to claim 1, wherein said step S2 is performed if said new position P is present r And the current position P f Error P between err If greater than 0, the current position P is used f And here the velocity V act Uniformly decelerating to zero for the initial velocity, thereby calculating a predicted target position P err1 (ii) a If the new position P r And the current position P f Error P between err If less than 0, the current position P is used f And here the velocity V act Uniformly accelerating to zero for initial speed to calculate predicted target position P err1 (ii) a Said speed increment V acc Based on the maximum acceleration determination of the servo motion control system, the value is V acc ＝ΔT·a acc (ii) a The speed variation V dec Based on the determination of the maximum deceleration of the servo motion control system, the value is V dec ＝ΔT·a dec And the delta T is a calculation period of the trajectory planning.
4. Method according to claim 1, characterized in that in step S3, the maximum rotational speed limit V is max Determining based on the index of the actual servo motion control system; the maximum negative speed limit and the maximum speed limit V max Are opposite numbers.
5. Method according to any of claims 1-4, characterized in that said step S4 is based on said output speed V act Determines the position step P step (ii) a If the position step size P step Less than the position deviation P err Then the position plan is output P act Accumulated position step P step Output P act (ii) a Otherwise, the new position P is set r Direct assignment to position planning output P act Output P act . The position step amount P step Based on the output speed V act Integral determination with value P step ＝ΔT·V acc (ii) a Position deviation P err To a new position P r And the current position P f Wherein Δ T is the calculation period of the trajectory plan.
6. An acceleration and deceleration trajectory planning device of a servo motion control system is characterized by comprising:
a first judgment module: is configured to obtain an instruction indicating a new position, if said new position P r And the current position P f Error P between err Less than in-place judgment position threshold value P err0 If the target position is reached, outputting the track planning position; otherwise, triggering a second judgment module;
a second judging module: is configured to be dependent on the current position P f And an output speed V at the current position f Calculating to obtain acceleration and deceleration judgmentThreshold value P err1 If the current position value P f Less than the acceleration/deceleration judgment threshold P err1 Then the current position P is set f Current speed V of f Cumulative velocity delta V acc To obtain an output speed V act (ii) a Otherwise, the front position P is set f Current speed V of f Decrease the speed variation V dec To obtain an output speed V act (ii) a Output speed V act The servo motion control system calculates the output speed based on the track planning;
a third judging module: is configured if the output speed V act Greater than maximum speed limit V max Then order V act Is equal to V max Carrying out output speed amplitude limiting; if the output speed V is act Less than maximum negative speed limit-V max Then order V act Is equal to-V max Carrying out output speed amplitude limiting;
an output module: is configured to measure the output speed V act Performing integral calculation to determine the position step P of the current calculation period step Based on said position step size P step And the current position P f Determining a position planning output P act (ii) a The position step amount P step Refers to the position increment of the track plan of the current calculation cycle, and the position plan outputs P act Refers to the final position output.
7. A computer-readable storage medium having a plurality of instructions stored therein; the plurality of instructions for loading and executing the method of any of claims 1-5 by a processor.
8. An electronic device, characterized in that the electronic device comprises:
a processor for executing a plurality of instructions;
a memory for storing a plurality of instructions;
wherein the plurality of instructions are to be stored by the memory and loaded and executed by the processor to perform the method of any of claims 1-5.
CN202211124326.6A 2022-09-15 2022-09-15 Acceleration and deceleration trajectory planning method and device for servo motion control system Pending CN115542732A (en)

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