WO2020093401A1 - 设备运动控制方法、设备和存储装置 - Google Patents
设备运动控制方法、设备和存储装置 Download PDFInfo
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- WO2020093401A1 WO2020093401A1 PCT/CN2018/114915 CN2018114915W WO2020093401A1 WO 2020093401 A1 WO2020093401 A1 WO 2020093401A1 CN 2018114915 W CN2018114915 W CN 2018114915W WO 2020093401 A1 WO2020093401 A1 WO 2020093401A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
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- the present application relates to the technical field of equipment automation, in particular to a method, equipment and storage device for equipment motion control.
- the motion control of equipment can usually be divided into two parts: planning and interpolation.
- the planning includes calculating the movement trajectory of the equipment according to the starting point, end point and steady-state speed and other parameters defined in advance according to the design requirements, and the movement speed and acceleration of the equipment at each moment in the entire movement trajectory.
- Interpolation is the process of calculating the intermediate point of the device's motion process, also known as "densification of data points" when the motion planning curve of the device is known. At the current interpolation point, the device calculates according to the calculation The coordinates of the next interpolation point are shifted.
- the device is a robot, its motion control may be the overall motion control of the robot or the motion control of the robot's terminal execution parts.
- the present application provides a device motion control method, device, and storage device for solving the above problems.
- a technical solution adopted by the present application is: to provide a device motion control method, which includes: acquiring a planned trajectory of the initial motion of the device; receiving a speed change instruction, the speed change instruction including a target speed Magnification; a virtual interpolation interval is calculated according to the target speed override and the actual interpolation interval; and at one or more interpolation points, according to the virtual interpolation interval and the planned trajectory of the initial motion of the device Determine the position to be reached in the actual movement of the device.
- a device motion control method which includes: acquiring a planned trajectory of the initial motion of the device; receiving a speed change instruction, the speed change instruction including a target speed Magnification; according to the target speed magnification, the time axis of the planned trajectory of the initial motion of the device is proportionally stretched or compressed to obtain the changed planned trajectory; and at one or more interpolation points, according to the The planned trajectory and actual interpolation interval after the change determine the position to be reached in the actual movement of the device.
- another technical solution adopted by the present application is to provide a device including a controller, and the controller can load program instructions and execute any device motion control method described above.
- another technical solution adopted by the present application is to provide a storage device in which program instructions are stored, and the program instructions can be loaded and execute any of the above device motion control methods.
- the virtual interpolation interval can be calculated according to the target speed override and the actual interpolation interval in the received speed change instruction, and then the virtual interpolation interval and the planned trajectory of the initial motion of the device can be used to The actual motion is interpolated. That is to say, after the speed override of the device is changed, the planned trajectory of the initial motion of the device can still be used for motion interpolation after the speed change without re-planning the motion of the device. Therefore, this application can save the computing resources of the device, thereby improving the performance of the device.
- FIG. 1 is a schematic flowchart of an embodiment of a device motion control method of the present application.
- FIG. 2 is a schematic diagram of determining the motion interpolation method after the device receives the speed change instruction according to the planning curve of the initial motion of the device described with reference to FIG. 1.
- FIG. 3 is a schematic flowchart of another embodiment of the device motion control method of the present application.
- FIG. 4 is a schematic diagram of a method for determining motion interpolation after the device receives a speed change instruction according to the planning curve of the initial motion of the device with reference to the method described in FIG. 2.
- FIG. 5 is a schematic flowchart of another embodiment of a device motion control method of the present application.
- 6 and 7 are schematic diagrams of determining the motion interpolation method after the device receives the speed change instruction according to the planning curve of the initial motion of the device with reference to the method described in FIG. 5.
- FIG. 8 is a schematic flowchart of another embodiment of a device motion control method of the present application.
- 9 and 10 are schematic diagrams of determining the motion interpolation method after the device receives the speed change instruction according to the planning curve of the initial motion of the device with reference to the method described in FIG. 8.
- FIG. 11 is a schematic structural diagram of an embodiment of the device of the present application.
- FIG. 1 is a schematic flowchart of an embodiment of a device motion control method according to the present application.
- the method includes:
- the device may have been in motion or will move according to certain conditions.
- This motion is called the initial motion of the device, and the initial motion of the device may be pre-planned.
- a planned trajectory of the initial motion of the device is obtained, and the planned trajectory represents the relationship between the displacement of the initial motion of the device and time. It can be understood that, based on the relationship between the displacement and time in the initial motion, the relationship between the speed and time of the initial motion, and the acceleration and time can be derived. Therefore, it can be considered that the planned trajectory of the initial motion of the device contains the planned device displacement and speed And acceleration each with respect to time.
- the device in this embodiment may refer to the entire device or a single or multiple components of the device.
- the initial motion of the device corresponds to the overall motion of the device or the motion of single or multiple components of the device. And the motion may be linear motion or rotary motion.
- S102 Receive a speed change instruction, including the target speed override.
- a speed change instruction from a user or other equipment is received.
- the speed change instruction is an instruction to adjust the speed of the device.
- the speed change instruction may include data representing commanding the device to accelerate, decelerate, and stop.
- the speed change instruction includes the target speed override, which is the speed override expected of the device.
- the target speed magnification is greater than 1, it means that the target speed expected by the device is greater than the planned speed of the initial motion of the device; otherwise, if the target speed magnification is less than 1, it means that the target speed of the device is expected to be less than the initial motion
- the target speed override is equal to 1, there is no need to change the movement of the equipment based on the planning of the initial movement of the equipment. For example, if the target speed ratio is equal to 2, it means that the target speed expected by the equipment is twice the original planned speed of the original motion, if the target speed ratio is equal to 0.5, then the target speed achieved by the expected equipment is the planned speed of the original initial motion Half.
- the virtual interpolation interval is calculated according to the target speed override and the actual interpolation interval.
- the process of interpolation is to calculate the intermediate point of the equipment movement process on the basis of planning, so as to control the movement of the equipment at each step.
- the actual interpolation interval between interpolation points can be set as required, for example, it can be set to 0.1ms, 1ms, 10ms, etc., which is not limited herein. Taking 1ms as an example, the actual interpolation interval between the interpolation points is 1ms, which means that an interpolation operation is performed every 1ms.
- the current interpolation point is calculated according to the motion plan to the next The expected displacement of the interpolation point during this period (or, you can also calculate the desired movement speed, the two are equivalent), so as to control the actual movement of the device according to the result of the interpolation.
- the actual interpolation interval is the period at which the displacement encoder of the device obtains the interpolation point value from the planning calculator.
- the virtual interpolation interval in this application is only used to calculate the expected displacement (or speed) during the actual interpolation interval from the current interpolation point to the next interpolation point according to the motion plan. If the target speed override is equal to 1, that is, the speed override is not adjusted, then the virtual interpolation interval is equal to the actual interpolation interval. If the target speed override is less than 1, that is, it is desired to reduce the speed override, then the virtual interpolation interval is less than the actual interpolation interval, otherwise, if the target speed override is greater than 1, that is, the speed interpolation ratio is expected to increase, then the virtual interpolation interval is greater than the actual interpolation interval .
- a corresponding lookup table may be preset for the target speed override, the actual interpolation interval, and the virtual interpolation interval, and the virtual interpolation interval may be obtained through direct query.
- the target speed override should be proportional to the virtual interpolation interval.
- the virtual interpolation interval may be equal to the product of the target speed override and the actual interpolation interval.
- the virtual interpolation interval is used to calculate the value of the interpolation point in the planning calculator of the device, and is not used to change the period in which the displacement encoder of the device acquires the value of the interpolation point from the planning calculator. It should be understood that the actual interpolation interval and the virtual interpolation interval can be implemented using appropriate hardware / software forms, which are not limited herein.
- S104 At one or more interpolation points, interpolate the position to be reached by the next interpolation point in the actual motion of the device according to the virtual interpolation interval and the planned trajectory of the initial motion of the device.
- the present application does not directly use the actual interpolation interval to perform the interpolation operation, but uses the virtual interpolation interval obtained in step S103.
- this virtual interpolation interval you can find the position that the device needs to reach in the actual motion of the device on the planned trajectory of the initial motion of the device, that is, the position that the device will reach at the next interpolation point. Take the actual interpolation interval of 1ms and the virtual interpolation interval of 0.7ms as an example.
- the interval between the interpolation points is 1ms (as described above, corresponding to the actual interpolation interval), and at each interpolation point, the corresponding current interpolation point is not found on the planned trajectory of the initial motion based on the actual interpolation interval
- the point after 1ms is to find the point corresponding to the current interpolation point after 0.7ms (that is, the virtual interpolation interval), and determine the position where the device's next interpolation point (that is, after 1ms) should reach based on this point.
- the virtual interpolation interval can be calculated according to the target speed override and the actual interpolation interval in the received speed change instruction, and then the virtual interpolation interval and the planned trajectory of the device's initial motion can be used to change the device's motion speed override
- the actual movement is interpolated. That is to say, after the speed override of the device is changed, the planned trajectory of the initial motion of the device can still be used for motion interpolation after the speed change without re-planning the motion of the device. Therefore, this application can save the computing power of the device, thereby improving the performance of the device.
- step S104 may specifically include the following steps: at one or more interpolation points, obtain the position of the actual motion of the device at the current interpolation point, and find the position of the current interpolation point in the planned trajectory of the initial motion Corresponding planned reference time, then on the planned trajectory of the initial motion, according to the planned reference time and the virtual interpolation interval, determine the position of the actual motion of the device to be reached at the next interpolation point.
- the curve in FIG. 2 shows the position that the initial motion of the device should reach at each moment according to the plan.
- the position corresponding to the point after the compensation interval (vertical axis), which is the position to be reached at the next interpolation point t 2 in the actual movement of the device.
- this point also corresponds to the original planning reference time (Horizontal axis) point at 2ms.
- the situation is different from before.
- the point after the reference time plus the virtual interpolation interval is the position (vertical axis) corresponding to the point at the 6ms corresponding to the original planned reference time (horizontal axis) in the figure.
- this embodiment takes the method of finding a corresponding point on the curve of the planned trajectory of the initial motion of the device as an example.
- the curve and the function have a correspondence, the above process You can get rid of the solid curve image, and only by appropriately selecting and adjusting the variables in the function to achieve the same effect.
- the target speed multiplier is greater than 1, that is, a situation in which it is desired to increase the speed of the device. It can be understood that a similar method can also be applied to the case where the target speed ratio is less than 1, that is, it is desired to reduce the speed of the device.
- FIG. 3 is a schematic flowchart of another embodiment of a device motion control method according to the present application. The method includes:
- S202 Receive a speed change instruction, where the speed change instruction includes a target speed override.
- step S201 and step S202 reference may be made to step S101 and step S102 respectively, which will not be described in detail.
- S203 Obtain the current speed of the device, the current speed ratio, and the maximum acceleration of the device.
- the current speed of the device can be measured by a corresponding sensor, such as a rotational speed measuring device, or it can also be calculated based on the planned speed of the initial motion of the device and the previously set speed override.
- the current speed ratio is the speed ratio of the actual movement of the current device, which can be compared with the planned speed in the planning of the initial movement of the device, or it can be set in the previous speed adjustment operation and recorded in the device's motion control In the system.
- the maximum acceleration of a device can usually be determined by the structure of the device, the type / model of the driver used, the configuration of the device's motion control system, etc. For convenience of explanation, the current speed, current speed magnification, and maximum acceleration of the device are respectively recorded as v 1 , M 1, and a max .
- S204 Determine the target speed according to the current speed, the current speed override and the target speed override, and determine the duration of the override change according to the current speed, target speed and maximum acceleration.
- the target speed override is M t
- the target speed v t can be calculated by the following formula:
- S205 Use a smooth curve to plan the transition process of the transition speed magnification from the current speed magnification to the target speed magnification within the time range of magnification change, thereby obtaining a planning curve of the transition speed magnification.
- the planning curve of the transition speed ratio can give the change process of the speed ratio of the equipment within the range of the change duration (that is, the period before the speed ratio of the equipment is changed to the target speed ratio after receiving the speed change instruction).
- a cubic polynomial curve can be used to plan the transition process of the transition speed magnification from the current speed magnification to the target speed magnification within the time range of the magnification change, thereby obtaining a cubic polynomial planning curve of the transition speed magnification.
- S206 Determine the number of one or more transitional interpolation points according to the duration of magnification change and the actual interpolation interval.
- the transitional interpolation point is the interpolation point during the period when the movement speed override of the device changes from the current speed override to the target speed override (that is, within the range of the override change duration). .
- the number of transitional interpolation points within this period can be predetermined according to the time of the magnification change T trans and the actual interpolation interval, and the time of the magnification change T rans is divided by the actual interpolation interval and rounded, which is The number of transition interpolation points.
- the first corresponding speed override is equal to the interpolation point of the target speed override
- the number of transitional interpolation points can be the duration of the magnification change T rans divided by the actual interpolation interval and rounded down, or can be The duration of magnification change, T rans, is divided by the actual interpolation interval and rounded up. There is no substantial difference, and it is only determined according to the specific settings of the user. For example, if the duration of the magnification change calculated in step S204 is 5.4 ms, and the actual interpolation interval is 1 ms, then the number of transition interpolation points may be 5 or 6.
- S207 At one or more transition interpolation points, determine the transition speed override corresponding to the current transition interpolation point on the planning curve of the transition speed override, and calculate the virtual transition interpolation interval according to the transition speed override and the actual interpolation interval Then, according to the virtual transition interpolation interval and the planned trajectory of the initial motion of the device, the position of the next transition interpolation point to be reached in the actual motion of the device is determined.
- S209 At one or more interpolation points after the transitional interpolation point, determine the next interpolation in the actual motion of the device according to the virtual interpolation interval and the planned trajectory of the initial motion of the device Make up the location to be reached.
- step S208 and step S209 refer to step S103 and step S104 to perform the interpolation operation after the transition interpolation point after reaching the target speed override.
- the curve in FIG. 4 shows the position that the initial motion of the device should reach at each moment according to the plan.
- 1ms the actual interpolation interval.
- the speed ratio of the equipment changes according to the planning curve of the transition speed ratio.
- the corresponding transition speed magnification is 1.2
- Motion interpolation can achieve a smooth change of the actual speed / speed ratio of the device, thereby further preventing the speed jump from adversely affecting the device's motion control system.
- FIG. 5 is a schematic flowchart of an embodiment of a device motion control method according to the present application.
- the method includes:
- S302 Receive a speed change instruction, including the target speed override.
- the virtual interpolation interval is not introduced to perform the interpolation operation, but the time axis of the planned trajectory of the initial motion of the device is stretched or compressed in proportion to the target speed override. If the target speed magnification is less than 1, that is to reduce the speed magnification, then the time axis of the planned trajectory of the initial motion (from the time of receiving the speed change command) is compressed, and the length of the compressed time axis is the same as the length of the original time axis The ratio is equal to the target speed ratio. If the target speed magnification is greater than 1, that is, it is desired to increase the speed magnification, then the time axis of the planned trajectory of the initial motion (from the time when the speed change command is received) is stretched. The ratio is equal to the target speed ratio.
- S304 At one or more interpolation points, the position of the next interpolation point to be reached in the actual motion of the device is determined according to the changed planned trajectory and the actual interpolation interval.
- the modified planned trajectory obtained in step S303 is used And according to the actual interpolation interval interpolation calculation, so as to get the next interpolation point in the actual movement of the device to reach the position.
- the interval between each interpolation point is 1ms (as mentioned above, corresponding to the actual interpolation interval).
- the time axis of the planned trajectory of the initial motion of the device can be proportionally stretched or compressed to obtain the changed planned trajectory, and then the changed planned trajectory and The actual interpolation interval is used to interpolate the actual movement after the equipment movement speed override is changed. That is to say, after the speed magnification of the device is changed, as long as the time axis of the planned trajectory of the initial motion of the device is correspondingly stretched or compressed, it can still be used for motion interpolation after the speed change, without the need Plan the movement of the device. Therefore, this application can save the computing power of the device, thereby improving the performance of the device.
- step S304 may include the following steps: at one or more interpolation points, obtain the position of the actual movement of the device at the current interpolation point, and find the position of the current interpolation point in the planned trajectory after the change Corresponding planned reference time, and then on the changed planning trajectory, according to the planned reference time and the actual interpolation interval, determine the position where the actual motion of the device will reach at the next interpolation point.
- the curve in FIG. 6 shows the position that the initial motion of the device should reach at each moment according to the plan.
- the position to be reached at the next interpolation point is calculated according to the actual interpolation interval and the original planned trajectory.
- this embodiment takes the method of finding the corresponding point on the curve of the planned trajectory after the device as an example.
- Those skilled in the art can understand that the above process can also be performed due to the correspondence between the curve and the function Get rid of the solid curve image, and only by appropriately selecting and adjusting the variables in the function to achieve the same effect.
- the target speed multiplier is greater than 1, that is, a situation in which it is desired to increase the speed of the device. It can be understood that a similar method can also be applied to the case where the target speed ratio is less than 1, that is, it is desired to reduce the speed of the device.
- FIG. 8 is a schematic flowchart of another embodiment of a device motion control method according to the present application. The method includes:
- S401 Acquire a planned trajectory of the initial motion of the device.
- S402 Receive a speed change instruction, including the target speed override.
- S403 Obtain the current speed, current speed magnification, and maximum acceleration of the device.
- S404 Determine the target speed according to the current speed, the current speed override and the target speed override, and determine the duration of the override change according to the current speed, target speed and maximum acceleration.
- S405 Use a smooth curve to plan the transition process of the transition speed magnification from the current speed magnification to the target speed magnification within the time range of magnification change, thereby obtaining a planning curve of the transition speed magnification.
- S406 Determine the number of one or more transitional interpolation points according to the duration of magnification change and the actual interpolation interval.
- Steps S403 to S406 are similar to steps S203 to S206, and are not repeated here.
- S407 At one or more transition interpolation points, determine the transition speed override corresponding to the current transition interpolation point on the planning curve of the transition speed override, and form the time axis of the planned trajectory of the initial motion of the device according to the transition speed override Stretch or compress proportionally to obtain the transition planning trajectory, and then determine the position of the next transition interpolation point in the actual movement of the device according to the transition planning trajectory and the actual interpolation interval.
- S409 At one or more interpolation points after the transitional interpolation point, determine the position to be reached by the next interpolation point in the actual motion of the device according to the changed planned trajectory and the actual interpolation interval
- step S408 and step S409 referring to step S303 and step S304, the interpolation operation after the transition interpolation point is performed after reaching the target speed override.
- the function graphs shown in FIG. 9 and FIG. 10 are not substantially different, that is, their corresponding functions are the same.
- the curve in FIG. 9 shows the position that the initial motion of the device should reach at each moment according to the plan. In this example, we use 1ms as the actual interpolation interval.
- the speed ratio of the equipment changes according to the planning curve of the transition speed ratio.
- the corresponding transition speed magnification is 1.2.
- the time axis of the original planned trajectory should be stretched to 1.2 times, that is, the planning reference in FIG. 6
- the length of the coordinate axis at the time of 4ms to 5ms is 1.2 times the length of the coordinate axis at the planned reference time of 3ms to 4ms.
- the corresponding transition speed magnification is 1.4
- the time axis of the original planned trajectory should be stretched to 1.4 times, that is, in FIG. 6
- the length of the coordinate axis in the 5ms to 6ms segment at the planned reference time is 1.4 times the length of the coordinate axis in the 3ms to 4ms segment at the planned reference time.
- Motion interpolation can achieve a smooth change of the actual speed / speed ratio of the device, thereby preventing the speed jump from adversely affecting the device's motion control system.
- the speed change instruction received by the device in any of the above embodiments may be an instruction to stop the device.
- the target speed override included in the speed change instruction is equal to zero.
- the device motion control method according to any of the above embodiments can still be used to adjust the speed magnification of the actual motion of the device to the target speed magnification—zero, thereby stopping the motion of the device.
- To restart the device simply send a new speed change command to the device and adjust the target speed override to the desired target speed override.
- the planned trajectory of the initial motion of the device may be determined according to a T-shaped (trapezoidal) speed plan.
- the planned trajectory of the initial motion of the device may be determined according to the initial speed, the steady-state speed, the end speed, and the length of the motion curve of the initial motion of the device, and the maximum acceleration and / or maximum deceleration of the device.
- the T-shaped curve acceleration and deceleration planning is divided into three time periods: uniform acceleration, uniform speed and uniform deceleration phase.
- the lengths of the three time periods are respectively denoted as T 1 ⁇ T 3
- the curve length of each time period is l 1 ⁇ l 3
- the end time of each time period is denoted as t 1 ⁇ t 3 .
- the maximum acceleration a max and the maximum deceleration d max are determined by the machine tool motor parameters.
- the user specifies the initial velocity f s of the curve, the steady-state velocity f, the end velocity f e and the curve length L. In this way, according to these conditions, the values of T 1 ⁇ T 3 can be calculated to complete the T-curve acceleration and deceleration planning. So there are:
- the initial motion plan of the device can be determined, including the planned trajectory, speed And acceleration.
- FIG. 11 is a schematic structural diagram of an embodiment of a device provided by the present invention.
- the device 500 includes a communication bus 501, a controller 502, and a memory 503.
- the controller 502 and the memory 503 are coupled through the communication bus 501.
- the memory 503 stores program data, and the program data can be loaded by the controller 502 and execute the device motion control method in any of the above embodiments. Understandably, in some other embodiments, the memory 503 may be set in the same physical device by different controllers 502, but the method of any of the above embodiments is performed by combining the device 500 with the network.
- the functions described in the above embodiments are implemented in software and sold or used as independent products, they can be stored in a device with a storage function, that is, the present invention also provides a storage device that stores a program.
- the program data in the storage device can be executed to implement the device motion control method in the foregoing embodiment, and the storage device includes, but is not limited to, a U disk, an optical disk, a server, or a hard disk.
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Claims (20)
- 一种设备运动控制方法,其特征在于,包括:获取设备的初始运动的规划轨迹;接收速度变更指令,所述速度变更指令包括目标速度倍率;根据所述目标速度倍率和实际插补间隔计算得到虚拟插补间隔;以及在一个或多个插补点处,根据所述虚拟插补间隔和所述设备的所述初始运动的规划轨迹确定所述设备的实际运动中下一插补点要到达的位置。
- 如权利要求1所述的设备运动控制方法,其特征在于,所述在一个或多个插补点处,根据所述虚拟插补间隔和所述设备的所述初始运动的规划轨迹确定所述设备的实际运动中下一插补点要到达的位置的步骤包括:在所述一个或多个插补点处,获取所述设备的实际运动在当前插补点的位置,并在所述初始运动的规划轨迹中找到所述当前插补点的位置对应的规划参考时刻;在所述初始运动的规划轨迹上,根据所述规划参考时刻和所述虚拟插补间隔,确定所述设备的实际运动在下一插补点处要达到的位置。
- 如权利要求1所述的设备运动控制方法,其特征在于,在所述根据所述目标速度倍率和实际插补间隔计算得到虚拟插补间隔的步骤前,还包括:获取所述设备的当前速度、当前速度倍率和所述设备的最大加速度;根据所述当前速度、所述当前速度倍率和所述目标速度倍率确定目标速度,并根据所述当前速度、所述目标速度和所述最大加速度确定倍率变化时长;使用平滑曲线规划所述倍率变化时长范围内从所述当前速度倍率变更至所述目标速度倍率的过渡速度倍率的变化过程,从而得到所述过渡速度倍率的规划曲线;在一个或多个过渡插补点处,确定当前过渡插补点在所述过渡速度倍率的 规划曲线上对应的过渡速度倍率,并根据所述过渡速度倍率和所述实际插补间隔计算得到虚拟过渡插补间隔,继而根据所述虚拟过渡插补间隔和所述设备的所述初始运动的规划轨迹确定所述设备的实际运动中下一过渡插补点要到达的位置,其中,所述过渡插补点为设备的运动速度倍率由当前速度倍率变化至目标速度倍率的过程中的插补点;所述在一个或多个插补点处,根据所述虚拟插补间隔和所述设备的所述初始运动的规划轨迹确定对所述设备的实际运动中下一插补点要到达的位置,为:在所述过渡插补点后的一个或多个插补点处,根据所述虚拟插补间隔和所述设备的所述初始运动的规划轨迹确定对所述设备的实际运动中下一插补点要到达的位置。
- 如权利要求3所述的设备运动控制方法,其特征在于,在所述使用平滑曲线规划所述倍率变化时长范围内从所述当前速度倍率变更至所述目标速度倍率的过渡速度倍率的变化过程,从而得到所述过渡速度倍率的规划曲线的步骤之后,还包括:根据所述倍率变化时长和所述实际插补间隔,确定所述一个或多个过渡插补点的数量。
- 如权利要求3所述的设备运动控制方法,其特征在于,所述使用平滑曲线规划所述倍率变化时长范围内从所述当前速度倍率变更至所述目标速度倍率的过渡速度倍率的变化过程,从而得到所述过渡速度倍率的规划曲线的步骤包括:使用三次多项式曲线规划所述倍率变化时长范围内从所述当前速度倍率变更至所述目标速度倍率的过渡速度倍率的变化过程,从而得到所述过渡速度倍率的三次多项式规划曲线。
- 如权利要求1所述的设备运动控制方法,其特征在于,所述速度变更指令为设备停止运动的指令,且所述速度变更指令包括的所述目标速度倍率等于零。
- 如权利要求1所述的设备运动控制方法,其特征在于,在所述获取设备的初始运动的规划轨迹的步骤之前,还包括:按照T型速度规划确定所述设备的所述初始运动的规划轨迹。
- 如权利要求7所述的设备运动控制方法,其特征在于,所述按照T型速度规划确定所述设备的所述初始运动的规划轨迹的步骤包括:根据所述设备的所述初始运动的起点速度、稳态速度、终点速度、和运动曲线长度,以及所述设备的最大加速度和最大减速度,确定所述设备的所述初始运动的规划轨迹。
- 一种设备运动控制方法,其特征在于,包括:获取设备的初始运动的规划轨迹;接收速度变更指令,所述速度变更指令包括目标速度倍率;根据所述目标速度倍率,对所述设备的初始运动的规划轨迹的时间轴成比例地拉伸或者压缩,从而得到变更后规划轨迹;以及在一个或多个插补点处,根据所述变更后规划轨迹和实际插补间隔确定所述设备的实际运动中下一插补点要到达的位置。
- 如权利要求9所述的设备运动控制方法,其特征在于,所述在一个或多个插补点处,根据所述变更后规划轨迹和实际插补间隔确定所述设备的实际运动中下一插补点要到达的位置的步骤包括:在所述一个或多个插补点处,获取所述设备的实际运动在当前插补点的位置,并在所述变更后规划轨迹中找到当前插补点的位置对应的规划参考时刻;在所述变更后规划轨迹上,根据所述规划参考时刻和所述实际插补间隔,确定所述设备的实际运动在下一插补点处要到达的位置。
- 如权利要求9所述的设备运动控制方法,其特征在于,在所述根据所述目标速度倍率,对所述设备的初始运动的规划轨迹的时间轴成比例地拉伸或者压缩,从而得到变更后规划轨迹的步骤前,还包括:获取所述设备的当前速度、当前速度倍率和所述设备的最大加速度;根据所述当前速度、所述当前速度倍率和所述目标速度倍率确定目标速度,并根据所述当前速度、所述目标速度和所述最大加速度确定倍率变化时长;使用平滑曲线规划所述倍率变化时长范围内从所述当前速度倍率变更至所述目标速度倍率的过渡速度倍率的变化过程,从而得到所述过渡速度倍率的规划曲线;在一个或多个过渡插补点处,确定当前过渡插补点在所述过渡速度倍率的规划曲线上对应的过渡速度倍率,并根据所述过渡速度倍率对所述设备的初始运动的规划轨迹的时间轴成比例地拉伸或者压缩,从而得到过渡规划轨迹,继而根据所述过渡规划轨迹和实际插补间隔确定所述设备的实际运动中下一过渡插补点要到达的位置,其中,所述过渡插补点为设备的运动速度倍率由当前速度倍率变化至目标速度倍率的过程中的插补点;所述在一个或多个插补点处,根据所述变更后规划轨迹和实际插补间隔确定所述设备的实际运动中下一插补点要到达的位置,为:在所述过渡插补点后的一个或多个插补点处,根据所述变更后规划轨迹和实际插补间隔确定所述设备的实际运动中下一插补点要到达的位置。
- 如权利要求11所述的设备运动控制方法,其特征在于,在所述使用平滑曲线规划所述倍率变化时长范围内从所述当前速度倍率变更至所述目标速度倍率的过渡速度倍率的变化过程,从而得到所述过渡速度倍率的规划曲线的步骤之后,还包括:根据所述倍率变化时长和所述实际插补间隔,确定所述一个或多个过渡插补点的数量。
- 如权利要求11所述的设备运动控制方法,其特征在于,所述使用平滑曲线规划所述倍率变化时长范围内从所述当前速度倍率变更至所述目标速度倍率的过渡速度倍率的变化过程,从而得到所述过渡速度倍率的规划曲线的步骤包括:使用三次多项式曲线规划所述倍率变化时长范围内从所述当前速度倍率变 更至所述目标速度倍率的过渡速度倍率的变化过程,从而得到所述过渡速度倍率的三次多项式规划曲线。
- 如权利要求9所述的设备运动控制方法,其特征在于,所述速度变更指令为设备停止运动的指令,且所述速度变更指令包括的所述目标速度倍率等于零。
- 如权利要求9所述的设备运动控制方法,其特征在于,在所述获取设备的初始运动的规划轨迹的步骤之前,还包括:按照T型速度规划确定所述设备的所述初始运动的规划轨迹。
- 如权利要求15所述的设备运动控制方法,其特征在于,所述按照T型速度规划确定所述设备的所述初始运动的规划轨迹的步骤包括:根据所述设备的所述初始运动的起点速度、稳态速度、终点速度、当前速度倍率、和运动曲线长度,以及所述设备的最大加速度和最大减速度,确定所述设备的所述初始运动的规划轨迹。
- 一种设备,其特征在于,包括控制器,所述控制器可加载程序指令并执行一种设备运动控制方法,所述方法包括:获取设备的初始运动的规划轨迹;接收速度变更指令,所述速度变更指令包括目标速度倍率;根据所述目标速度倍率和实际插补间隔计算得到虚拟插补间隔;以及在一个或多个插补点处,根据所述虚拟插补间隔和所述设备的所述初始运动的规划轨迹确定所述设备的实际运动中下一插补点要到达的位置。
- 一种设备,其特征在于,包括控制器,所述控制器可加载程序指令并执行一种设备运动控制方法,所述方法包括:获取设备的初始运动的规划轨迹;接收速度变更指令,所述速度变更指令包括目标速度倍率;根据所述目标速度倍率,对所述设备的初始运动的规划轨迹的时间轴成比例地拉伸或者压缩,从而得到变更后规划轨迹;以及在一个或多个插补点处,根据所述变更后规划轨迹和实际插补间隔确定所述设备的实际运动中下一插补点要到达的位置。
- 一种具有存储功能的装置,其特征在于,存储有程序指令,所述程序指令可被加载并执行一种设备运动控制方法,所述方法包括:获取设备的初始运动的规划轨迹;接收速度变更指令,所述速度变更指令包括目标速度倍率;根据所述目标速度倍率和实际插补间隔计算得到虚拟插补间隔;以及在一个或多个插补点处,根据所述虚拟插补间隔和所述设备的所述初始运动的规划轨迹确定所述设备的实际运动中下一插补点要到达的位置。
- 一种具有存储功能的装置,其特征在于,存储有程序指令,所述程序指令可被加载并执行一种设备运动控制方法,所述方法包括:获取设备的初始运动的规划轨迹;接收速度变更指令,所述速度变更指令包括目标速度倍率;根据所述目标速度倍率,对所述设备的初始运动的规划轨迹的时间轴成比例地拉伸或者压缩,从而得到变更后规划轨迹;以及在一个或多个插补点处,根据所述变更后规划轨迹和实际插补间隔确定所述设备的实际运动中下一插补点要到达的位置。
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