WO2022099788A1 - 加减速运动控制方法、装置、设备和介质 - Google Patents

加减速运动控制方法、装置、设备和介质 Download PDF

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Publication number
WO2022099788A1
WO2022099788A1 PCT/CN2020/131311 CN2020131311W WO2022099788A1 WO 2022099788 A1 WO2022099788 A1 WO 2022099788A1 CN 2020131311 W CN2020131311 W CN 2020131311W WO 2022099788 A1 WO2022099788 A1 WO 2022099788A1
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motion
acceleration
speed
deceleration
movement
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PCT/CN2020/131311
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English (en)
French (fr)
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王兴红
邹海涛
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深圳市科曼医疗设备有限公司
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Publication of WO2022099788A1 publication Critical patent/WO2022099788A1/zh

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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
    • 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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to the technical field of motor control, and in particular, to an acceleration and deceleration motion control method, device, equipment and medium.
  • a method for acceleration and deceleration motion control comprising:
  • the target movement number is any number of steps less than or equal to the movement step threshold
  • the remaining time obtained by subtracting the uniform motion time from the total motion time is used as the acceleration and deceleration motion time, and the acceleration change of the motor during the acceleration motion is calculated according to the acceleration and deceleration motion steps and the acceleration and deceleration motion time.
  • the motor is driven to sequentially complete the acceleration movement, the constant speed movement and the deceleration movement in the total movement time.
  • 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;
  • the acceleration change speed is equal to the initial movement speed of the motor
  • the acceleration change speed is equal to the target uniform movement speed
  • the deceleration change speed is equal to the target uniform movement speed
  • the deceleration change speed is equal to the initial movement speed.
  • the motor is driven according to the acceleration change speed, the deceleration change speed and the target constant speed movement speed to sequentially complete the acceleration movement and the constant speed movement in the total movement time. and before the deceleration movement, also includes:
  • the step of driving the motor to sequentially complete the acceleration motion, the uniform motion and the deceleration motion in the total motion time according to the acceleration change speed, the deceleration change speed and the target uniform motion speed includes:
  • the motor is driven to move the target number of steps of the node corresponding to each of the speed nodes when reaching each of the speed nodes in turn.
  • the target number of steps of the node corresponding to each of the speed nodes is moved, including:
  • the motor is driven to perform the uniform motion at the target uniform motion speed
  • calculating the acceleration change speed of the motor during the acceleration movement process and the deceleration change speed during the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time includes:
  • the acceleration change speed during the acceleration movement and the deceleration change speed during the deceleration movement of the motor are determined.
  • Also 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 ,Also includes:
  • the obtaining the uniform motion time in the total motion time includes:
  • the uniform motion time is determined to be any time shorter than the shortest motion time.
  • An acceleration and deceleration motion control device the device comprises:
  • an acquisition module used to acquire the total motion time of the motor and the number of target motion steps; wherein, the target motion step number is any number of steps less than or equal to the threshold of motion steps;
  • the step number calculation module is used to obtain the uniform motion time in the total motion time, and the target uniform motion speed of the motor in the uniform motion process, and calculate the uniform motion time according to the uniform motion time and the target uniform motion speed.
  • the speed calculation module is used to take the remaining time obtained by subtracting the uniform motion time from the total motion time as the acceleration and deceleration motion time, and calculate the acceleration and deceleration of the motor according to the acceleration and deceleration motion steps and the acceleration and deceleration motion time.
  • the acceleration change speed in the movement process and the deceleration change speed in the deceleration movement process wherein, 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;
  • a driving module configured to drive the motor to complete the acceleration motion, the uniform motion and the deceleration motion in the order of the total motion time according to the acceleration change speed, the deceleration change speed and the target uniform motion speed .
  • a computer-readable storage medium storing a computer program, when the computer program is executed by a processor, the processor causes the processor to perform the following steps:
  • the target movement number is any number of steps less than or equal to the movement step threshold
  • the remaining time obtained by subtracting the uniform motion time from the total motion time is used as the acceleration and deceleration motion time, and the acceleration change of the motor during the acceleration motion is calculated according to the acceleration and deceleration motion steps and the acceleration and deceleration motion time.
  • the motor is driven to sequentially complete the acceleration movement, the constant speed movement and the deceleration movement in the total movement time.
  • An acceleration/deceleration motion control device comprising a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to perform the following steps:
  • the target movement number is any number of steps less than or equal to the movement step threshold
  • the remaining time obtained by subtracting the uniform motion time from the total motion time is used as the acceleration and deceleration motion time, and the acceleration change of the motor during the acceleration motion is calculated according to the acceleration and deceleration motion steps and the acceleration and deceleration motion time.
  • the motor is driven to sequentially complete the acceleration movement, the constant speed movement and the deceleration movement in the total movement time.
  • the present application provides an acceleration and deceleration motion control method, device, equipment and medium.
  • the acceleration and deceleration motion process of the motor is calculated according to the acceleration and deceleration motion steps and the acceleration and deceleration motion time.
  • the acceleration change speed in the middle and the deceleration change speed during the deceleration movement process so as to determine the acceleration and deceleration curve suitable for the target number of movement steps, and reduce the jitter of the mechanical components as much as possible when the long and short strokes meet the overall movement time. Makes motor movement smoother.
  • FIG. 1 is a schematic flowchart of an acceleration/deceleration motion control method in one embodiment
  • Fig. 2 is the schematic diagram of different target movement steps of motor movement in one embodiment
  • Fig. 3 is the schematic diagram of s-shaped motion velocity in one embodiment
  • Fig. 4 is the schematic diagram that the acceleration and deceleration motion control method is compared with the conventional motion control method
  • FIG. 5 is a schematic structural diagram of an acceleration/deceleration motion control device in one embodiment
  • FIG. 6 is a structural block diagram of an acceleration/deceleration motion control device in one embodiment.
  • Figure 1 is a schematic flowchart of an acceleration and deceleration motion control method in one embodiment, and the steps provided by the acceleration and deceleration motion control method in the present embodiment include:
  • Step 102 Obtain the total movement time of the motor and the target movement steps.
  • the application scenario of this embodiment is to drive the stepper motor to complete a movement stroke of a specific distance within a fixed time period (including from start to stop), so the total movement time T is the preset fixed time period.
  • point A is the starting point of the stepper motor motion
  • point Bn is the end point when the stepper motor moves the threshold of the number of motion steps within the total motion time T without severe jitter.
  • the target number of movement steps is any number of steps that is less than or equal to the threshold of the number of movement steps, for example, the number of motor movement steps corresponding to any position B0-B4 in FIG. 2 .
  • Step 104 Obtain the uniform motion time in the total motion time, and the target uniform motion speed of the motor during the uniform motion process, and calculate the uniform motion steps and acceleration and deceleration motions in the target motion steps according to the uniform motion time and the target uniform motion speed. Step count.
  • the motion stroke of the motor includes acceleration and deceleration motion (acceleration motion and deceleration motion) and uniform motion
  • the total motion time therefore includes the uniform motion time and the acceleration and deceleration motion time, the sum of which is equal to the total motion time.
  • the target number of motion steps includes the number of uniform motion steps and the number of acceleration and deceleration motion steps, the sum of which is equal to the target number of motion steps.
  • the target uniform motion speed selected in this embodiment is the maximum motion speed of the motor, and the drive motor is always maintained at the maximum motion speed during the uniform motion process.
  • the process of the number of steps of uniform motion and the number of steps of acceleration and deceleration is: first, calculate the shortest motion time Tmin of the motor according to the target uniform motion speed Vmax and the target number of motion steps N, that is, it is assumed that the entire motion is at the target uniform speed.
  • the obtained 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 there will be a problem of excessive motor jitter. Therefore, you can increase the acceleration and deceleration movement time according to a specific ratio or increase a certain value, or set an integer greater than the shortest acceleration and deceleration movement. For example, if the acceleration and deceleration movement time is set to 2 seconds, then the corresponding uniform movement time is 6 Seconds, the number of uniform motion steps in the target motion steps is 9000, and the number of acceleration and deceleration steps Na is 1000.
  • Step 106 the remaining time obtained by subtracting the uniform motion time from the total motion time is used as the acceleration and deceleration motion time, and according to the acceleration and deceleration motion steps and the acceleration and deceleration motion time, the acceleration change speed of the motor during the acceleration motion process and the deceleration motion process are calculated. deceleration rate of change.
  • the acceleration change speed and the deceleration change speed in this embodiment adopt the S-shaped speed control scheme.
  • the acceleration of the acceleration change speed and the acceleration of the deceleration change speed are equivalently opposite after the same speed change time, that is, the overall speed change trend of the acceleration change motion and the deceleration change speed. is symmetrical. Further, the acceleration movement time 0-t2 and the deceleration movement time t3-t6 have the same duration.
  • the deceleration change speed is equal to the target uniform movement speed
  • the deceleration change speed is equal to the initial movement speed
  • this implementation divides the change speed composed of the acceleration change speed, the deceleration change speed and the target uniform motion speed into several speed nodes, and obtains the acceleration change speed and the deceleration change speed.
  • Variable speed node and reduction speed node In the acceleration change speed, the acceleration speed node is the node at time 0 and t0, the uniform speed change node is the node at time t0 and t1, and the deceleration speed node is the node at time t1 and t2.
  • the acceleration speed node is the node at time t3 and t4
  • the uniform speed node is the node at time t4 and t5
  • the speed reduction node is the node at time t5 and t6.
  • Acceleration and shifting motions are performed between acceleration and shifting nodes, that is, the motion with increasing acceleration
  • uniform shifting motions are performed between uniform shifting nodes, that is, motion with constant acceleration; ever-decreasing movement.
  • the number of motion steps of acceleration and deceleration motion, uniform shifting motion and deceleration shifting motion is equal to the number of acceleration and deceleration motion steps, which is expressed as:
  • the speed and time of each speed node can also be allocated to a certain extent.
  • the node durations of the acceleration speed node, the uniform speed change node and the deceleration speed node are determined.
  • the ratio is 4:1:4, and the difference between V0, V1, V2, and Vmax is equal, that is,
  • the first jerk h 1 during the acceleration and shifting motion and the second jerk h 2 during the deceleration and shifting motion can be obtained immediately by combining the above formulas, but since the duration of the acceleration and shifting motion is consistent with the deceleration and shifting motion , so the calculated first jerk is equal to the second jerk. Accordingly, the acceleration change speed during the acceleration movement and the deceleration change speed during the deceleration movement can be determined.
  • the expression of the acceleration change rate is as follows:
  • acceleration is an important factor affecting the vibration of the motor.
  • Jerk is the rate of change of acceleration, so the maximum acceleration in this embodiment is h 1 t0 or h 2 t1 .
  • Obtain the acceleration threshold Amax of the motor and determine whether the maximum acceleration is greater than the acceleration threshold Amax. If the maximum acceleration is greater than the acceleration threshold Amax, reduce the uniform motion time, that is, increase the acceleration and deceleration motion time accordingly. For example, use the acceleration and deceleration motion set above. The time is increased from 2 seconds to 2.5 seconds, and step 104 and subsequent steps are re-executed until the obtained maximum acceleration can be less than the acceleration threshold Amax.
  • Step 108 according to the acceleration change speed, the deceleration change speed and the target constant speed movement speed, the motor is driven to sequentially complete the acceleration movement, the constant speed movement and the deceleration movement in the total movement time.
  • each speed node divided in the curve stores the corresponding calculated motor speed value and the node target number of steps the motor should rotate.
  • the real-time speed meets the speed value of a speed node
  • the current number of motion steps and the remaining number of motion steps of the motor are obtained, and it is judged whether the current number of motion steps meets the target number of steps of the node, and whether the remaining number of motion steps can meet the remaining stroke, If all are met, continue to drive the motor to move according to the acceleration and deceleration curve, so that the motor moves the target number of node steps corresponding to each speed node when it arrives at each speed node in turn.
  • the acceleration change speed of the motor during the acceleration motion and the deceleration motion are calculated according to the acceleration and deceleration motion steps and the acceleration and deceleration motion time.
  • the speed of deceleration changes in the process, so as to determine the acceleration and deceleration curve suitable for the target number of motion steps.
  • the jitter of the mechanical components is reduced as much as possible, so that the motor movement is smoother.
  • an acceleration/deceleration motion control device which includes:
  • the acquisition module 502 is used to acquire the total motion time of the motor and the target motion steps; wherein, the target motion steps is any step less than or equal to the motion step threshold;
  • the step number calculation module 504 is used to obtain the uniform motion time in the total motion time, and the target uniform motion speed of the motor in the uniform motion process, and calculate the uniform motion step in the target motion step number according to the uniform motion time and the target uniform motion speed Counting and acceleration and deceleration steps;
  • the speed calculation module 506 is used to take the remaining time obtained by subtracting the uniform motion time from the total motion time as the acceleration and deceleration motion time, and calculate the acceleration change speed of the motor during the acceleration motion process and The speed of deceleration change in the process of deceleration movement; wherein, the acceleration of the acceleration change speed and the acceleration of the deceleration change speed are equal and opposite after the same speed change time;
  • the driving module 508 is configured to drive the motor to sequentially complete the acceleration motion, the uniform motion and the deceleration motion in the total motion time according to the acceleration change speed, the deceleration change speed and the target uniform motion speed.
  • the above-mentioned acceleration and deceleration motion control device calculates the acceleration change speed of the motor during the acceleration motion and the deceleration motion according to the acceleration and deceleration motion steps and the acceleration and deceleration motion time.
  • the speed of deceleration changes in the process, so as to determine the acceleration and deceleration curve suitable for the target number of motion steps.
  • the jitter of the mechanical components is reduced as much as possible, so that the motor movement is smoother.
  • the acceleration/deceleration motion control device further includes a node division module for: dividing the change speed composed of the acceleration change speed, the deceleration change speed and the target uniform motion speed into several speed nodes;
  • the drive module 508 is also specifically configured to drive the motor to move the node target steps corresponding to each speed node when it arrives at each speed node in turn.
  • the driving module 508 is further specifically configured to: obtain the current number of motion steps and the remaining number of motion steps of the motor, and determine the current number of motion steps when the motor reaches the first switching node between the acceleration change speed and the uniform motion speed Whether it is equal to the first target number of steps corresponding to the first switching node; if the current number of motion steps is equal to the target number of steps corresponding to the first switching node, the drive motor will perform uniform motion at the target uniform motion speed; obtain the deceleration change speed and uniform motion The second target number of steps corresponding to the second switching node of the speed, when the sum of the remaining number of motion steps and the second target number of steps is the target number of motion steps, the drive motor performs deceleration motion at a decelerating change speed.
  • the speed calculation module 506 is further specifically configured to: acquire acceleration-speed nodes, uniform-speed nodes, and deceleration-speed nodes in several nodes; acquire node duration ratios of acceleration-speed nodes, uniform-speed nodes, and deceleration-speed nodes , calculate the first jerk in the process of acceleration and deceleration and the second jerk in the process of deceleration according to the node duration ratio; The acceleration change speed in and the deceleration change speed during the deceleration movement.
  • the speed calculation module 506 is further specifically configured to: calculate the maximum acceleration in the acceleration change speed and the deceleration change speed according to the first jerk, the second jerk and the node duration ratio; obtain the acceleration threshold, determine Whether the maximum acceleration is greater than the acceleration threshold; if the maximum acceleration is greater than the acceleration threshold, the uniform motion time is reduced, and the uniform motion steps and acceleration and deceleration steps in the calculation of the target motion steps according to the uniform motion time and the target uniform motion speed are performed and the following steps are performed. step.
  • the step number calculation module 504 is further specifically configured to: calculate the shortest motion time of the motor according to the target uniform motion speed and the target motion steps; and determine that the uniform motion time is any time shorter than the shortest motion time.
  • FIG. 6 shows an internal structure diagram of an acceleration/deceleration motion control device in one embodiment.
  • the acceleration/deceleration motion control device includes a processor, a memory and a network interface connected through a system bus.
  • the memory includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium of the acceleration/deceleration motion control device stores an operating system, and may also store a computer program.
  • the processor can implement the acceleration/deceleration motion control method.
  • a computer program may also be stored in the internal memory, and when the computer program is executed by the processor, the processor may execute the acceleration/deceleration motion control method.
  • the acceleration/deceleration motion control device may include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.
  • An acceleration/deceleration motion control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implements the following steps when executing the computer program: obtaining the total motion time of the motor and The number of target motion steps; among them, the target motion step number is any number of steps less than or equal to the threshold of motion steps; obtain the uniform motion time in the total motion time, and the target uniform motion speed of the motor in the process of uniform motion, according to the uniform motion Motion time and target uniform motion speed Calculate the number of uniform motion steps and acceleration and deceleration motion steps in the target motion steps; the remaining time obtained by subtracting the uniform motion time from the total motion time is used as the acceleration and deceleration motion time, according to the acceleration and deceleration motion steps.
  • the acceleration and deceleration movement time to calculate the acceleration change speed of the motor during the acceleration movement process and the deceleration change speed during the deceleration movement process; among them, the acceleration of the acceleration change speed and the acceleration of the deceleration change speed are equivalent after the same speed change time. On the contrary; according to the acceleration change speed, the deceleration change speed and the target constant speed movement speed, the motor is driven to complete the acceleration movement, the constant speed movement and the deceleration movement in the order of the total movement time.
  • the acceleration and deceleration movement time includes the acceleration movement time and the 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 end of the acceleration movement At the moment, the acceleration change speed is equal to the target uniform motion speed; at the initial moment of the deceleration motion, the deceleration change speed is equal to the target uniform motion speed; at the end of the deceleration motion, the deceleration change speed is equal to the initial motion speed.
  • the method before driving the motor to sequentially complete the acceleration motion, the uniform motion and the deceleration motion in the total motion time according to the acceleration change speed, the deceleration change speed and the target constant speed motion speed, the method further includes: changing the acceleration change speed, the deceleration change speed and the The change speed composed of the target uniform motion speed is divided into several speed nodes; the target number of node steps corresponding to each speed node is obtained; according to the acceleration change speed, the deceleration change speed and the target uniform motion speed, the motor is driven to complete the acceleration motion in the order of the total motion time , uniform motion and deceleration motion, including: when the drive motor reaches each speed node in turn, it moves the target number of node steps corresponding to each speed node.
  • the target number of steps of the node corresponding to each speed node is moved, including: acquiring the current number of movement steps and the remaining number of movement steps of the motor, when the motor reaches the acceleration change speed and When the first switching node of the uniform motion speed is used, it is judged whether the current number of motion steps is equal to the first target number of steps corresponding to the first switching node;
  • the target uniform motion speed performs uniform motion; obtains the second target number of steps corresponding to the second switching node of the deceleration change speed and the uniform motion speed, when the sum of the remaining motion steps and the second target number of steps is the target motion step, then drive The motor decelerates at a decelerating variable speed.
  • calculating the acceleration change speed of the motor during the acceleration movement process and the deceleration change speed during the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time includes: acquiring the acceleration and speed change nodes in several nodes , Uniform speed change node and deceleration speed change node; among them, the acceleration speed change motion is performed between the acceleration speed change nodes, the uniform speed change motion is performed between the uniform speed change nodes, the deceleration speed change motion is performed between the deceleration speed change nodes, the acceleration speed change motion, the uniform speed change
  • the number of motion steps of motion and deceleration motion is equal to the number of acceleration and deceleration motion steps; obtain the node duration ratio of acceleration and deceleration nodes, uniform shifting nodes and deceleration shifting nodes, and calculate the first jerk during acceleration and deceleration according to the node duration ratio. and the second jerk during the deceleration movement; the acceleration change speed of the motor during the acceleration
  • the method further includes: according to the first jerk Calculate the maximum acceleration in the acceleration change speed and the deceleration change speed by the ratio of the speed, the second jerk and the node duration; obtain the acceleration threshold, and judge whether the maximum acceleration is greater than the acceleration threshold; if the maximum acceleration is greater than the acceleration threshold, reduce the uniform motion time and execute According to the uniform motion time and the target uniform motion speed, the number of uniform motion steps, the number of acceleration and deceleration motion steps and the subsequent steps in the target motion steps are calculated.
  • acquiring the uniform motion time in 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 shorter than the shortest motion time.
  • a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented: obtaining the total movement time of the motor and the target movement step number; wherein, the target movement step number is Any number of steps less than or equal to the threshold of the number of motion steps; obtain the uniform motion time in the total motion time, and the target uniform motion speed of the motor during the uniform motion process, and calculate the target motion steps according to the uniform motion time and the target uniform motion speed The number of uniform motion steps and acceleration and deceleration motion steps in ; the remaining time obtained by subtracting the uniform motion time from the total motion time is used as the acceleration and deceleration motion time.
  • the acceleration change speed and the deceleration change speed during the deceleration movement are equal and opposite after the same speed change time; according to the acceleration change speed, the deceleration change speed and the target
  • the uniform motion speed drives the motor to complete the acceleration motion, the uniform motion and the deceleration motion in the order of the total motion time.
  • the acceleration and deceleration movement time includes the acceleration movement time and the 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 end of the acceleration movement At the moment, the acceleration change speed is equal to the target uniform motion speed; at the initial moment of the deceleration motion, the deceleration change speed is equal to the target uniform motion speed; at the end of the deceleration motion, the deceleration change speed is equal to the initial motion speed.
  • the method before driving the motor to sequentially complete the acceleration motion, the uniform motion and the deceleration motion in the total motion time according to the acceleration change speed, the deceleration change speed and the target constant speed motion speed, the method further includes: changing the acceleration change speed, the deceleration change speed and the The change speed composed of the target uniform motion speed is divided into several speed nodes; the target number of node steps corresponding to each speed node is obtained; according to the acceleration change speed, the deceleration change speed and the target uniform motion speed, the motor is driven to complete the acceleration motion in the order of the total motion time , uniform motion and deceleration motion, including: when the drive motor reaches each speed node in turn, it moves the target number of node steps corresponding to each speed node.
  • the target number of steps of the node corresponding to each speed node is moved, including: acquiring the current number of movement steps and the remaining number of movement steps of the motor, when the motor reaches the acceleration change speed and When the first switching node of the uniform motion speed is used, it is judged whether the current number of motion steps is equal to the first target number of steps corresponding to the first switching node;
  • the target uniform motion speed performs uniform motion; obtains the second target number of steps corresponding to the second switching node of the deceleration change speed and the uniform motion speed, when the sum of the remaining motion steps and the second target number of steps is the target motion step, then drive The motor decelerates at a decelerating variable speed.
  • calculating the acceleration change speed of the motor during the acceleration movement process and the deceleration change speed during the deceleration movement process according to the acceleration and deceleration movement steps and the acceleration and deceleration movement time includes: acquiring the acceleration and speed change nodes in several nodes , Uniform speed change node and deceleration speed change node; among them, the acceleration speed change motion is performed between the acceleration speed change nodes, the uniform speed change motion is performed between the uniform speed change nodes, the deceleration speed change motion is performed between the deceleration speed change nodes, the acceleration speed change motion, the uniform speed change
  • the number of motion steps of motion and deceleration motion is equal to the number of acceleration and deceleration motion steps; obtain the node duration ratio of acceleration and deceleration nodes, uniform shifting nodes and deceleration shifting nodes, and calculate the first jerk during acceleration and deceleration according to the node duration ratio. and the second jerk during the deceleration movement; the acceleration change speed of the motor during the acceleration
  • the method further includes: according to the first jerk Calculate the maximum acceleration in the acceleration change speed and the deceleration change speed by the ratio of the speed, the second jerk and the node duration; obtain the acceleration threshold, and judge whether the maximum acceleration is greater than the acceleration threshold; if the maximum acceleration is greater than the acceleration threshold, reduce the uniform motion time and execute According to the uniform motion time and the target uniform motion speed, the number of uniform motion steps, the number of acceleration and deceleration motion steps and the subsequent steps in the target motion steps are calculated.
  • acquiring the uniform motion time in 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 shorter than the shortest motion time.
  • acceleration and deceleration motion control method device, device and computer-readable storage medium belong to a general application concept, and the contents in the embodiments of the acceleration and deceleration motion control method, device, device and computer-readable storage medium can be mutually Be applicable.
  • Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
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Abstract

一种加减速运动控制方法，该方法包括：在总运动时间不变而目标运动步数任意的应用场景中，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度，从而确定与目标运动步数相适配的加减速曲线，在长短行程满足整体运动时间的情况下，尽可能减少机械组件的抖动，使得电机运动更加平滑。此外，还提出了加减速运动控制装置、计算机设备和存储介质。

Description

加减速运动控制方法、装置、设备和介质 技术领域
本申请涉及电机控制技术领域，尤其涉及一种加减速运动控制方法、装置、设备和介质。
背景技术
电机的工业运动控制领域中，有一种应用场景为需要在固定的时间段内完成一个完整的运动行程，该运动行程的距离不进行具体限定，在每次进行运动控制时都可能存在差异。如果电机采用固定的加减速方案，会导致在行程较短的情况下，电机的加速度过大，导致电机携带组件出现抖动过于严重的问题，这种电机运动方式与预期的控制效果相差甚远，因此并不适用于距离存在变化的运动行程。
申请内容
基于此，有必要针对上述问题，提供平滑运动的加减速运动控制方法、装置、设备和介质。
一种加减速运动控制的方法，所述方法包括：
获取电机的总运动时间及目标运动步数；其中，目标运动步数为小于或等于运动步数阈值的任意一个步数；
获取所述总运动时间中的匀速运动时间，及所述电机在匀速运动过程中的目标匀速运动速度，根据所述匀速运动时间及所述目标匀速运动速度计算所述目标运动步数中的匀速运动步数及加减速运动步数；
将所述总运动时间减去所述匀速运动时间得到的剩余时间作为加减速运动时间，根据所述加减速运动步数及所述加减速运动时间计算所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度；其中，所述 加速变化速度的加速度与所述减速变化速度的加速度在经过相同的速度变化时长后等值相反；
根据所述加速变化速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动。
在其中一个实施例中，所述加减速运动时间包括加速运动时间及减速运动时间，所述加速运动时间及所述减速运动时间相同；
在所述加速运动的初始时刻，所述加速变化速度等于所述电机的初始运动速度；
在所述加速运动的终止时刻，所述加速变化速度等于所述目标匀速运动速度；
在所述减速运动的初始时刻，所述减速变化速度等于所述目标匀速运动速度；
在所述减速运动的终止时刻，所述减速变化速度等于所述初始运动速度。
在其中一个实施例中，在所述根据所述加速变化速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动之前，还包括：
将所述加速变化速度、所述减速变化速度及所述目标匀速运动速度组成的变化速度划分成若干个速度节点；
获取每个所述速度节点对应的节点目标步数；
所述根据所述加速变化速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动，包括：
驱动所述电机在依次到达每个所述速度节点时运动每个所述速度节点对应的所述节点目标步数。
在其中一个实施例中，所述驱动所述电机在依次到达每个所述速度节点时 运动每个所述速度节点对应的所述节点目标步数，包括：
获取所述电机的当前运动步数及剩余运动步数，当所述电机到达所述加速变化速度与所述匀速运动速度的第一切换节点时，判断所述当前运动步数是否等于所述第一切换节点对应的第一目标步数；
若所述当前运动步数等于所述第一切换节点对应的节点目标步数，则驱动所述电机以所述目标匀速运动速度进行所述匀速运动；
获取所述减速变化速度与所述匀速运动速度的第二切换节点对应的第二目标步数，当所述剩余运动步数与所述第二目标步数的和为所述目标运动步数，则驱动所述电机以所述减速变化速度进行所述减速运动。
在其中一个实施例中，所述根据所述加减速运动步数及所述加减速运动时间计算所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度，包括：
获取所述若干个节点中的加变速节点、匀变速节点及减变速节点；其中，在所述加变速节点之间进行加变速运动，在所述匀变速节点之间进行匀变速运动，在所述减变速节点之间进行减变速运动，所述加变速运动、所述匀变速运动及所述减变速运动的运动步数等于所述加减速运动步数；
获取所述加变速节点、所述匀变速节点及所述减变速节点的节点时长比值，根据所述节点时长比值计算在所述加变速运动过程中的第一急动度及在所述减变速运动过程中的第二急动度；
根据所述第一急动度及所述第二急动度确定所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度。
在其中一个实施例中，在所述根据所述第一急动度及所述第二急动度确定所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度之后，还包括：
根据所述第一急动度、所述第二急动度及所述节点时长比值计算所述加速变化速度及所述减速变化速度中的最大加速度；
获取加速度阈值，判断所述最大加速度是否大于所述加速度阈值；
若所述最大加速度大于所述加速度阈值，则减少所述匀速运动时间，执行所述根据所述匀速运动时间及所述目标匀速运动速度计算所述目标运动步数中的匀速运动步数及加减速运动步数步骤及后续步骤。
在其中一个实施例中，所述获取所述总运动时间中的匀速运动时间，包括：
根据所述目标匀速运动速度及所述目标运动步数计算所述电机的最短运动时间；
确定所述匀速运动时间为小于所述最短运动时间的任意一个时间。
一种加减速运动控制装置，所述装置包括：
获取模块，用于获取电机的总运动时间及目标运动步数；其中，目标运动步数为小于或等于运动步数阈值的任意一个步数；
步数计算模块，用于获取所述总运动时间中的匀速运动时间，及所述电机在匀速运动过程中的目标匀速运动速度，根据所述匀速运动时间及所述目标匀速运动速度计算所述目标运动步数中的匀速运动步数及加减速运动步数；
速度计算模块，用于将所述总运动时间减去所述匀速运动时间得到的剩余时间作为加减速运动时间，根据所述加减速运动步数及所述加减速运动时间计算所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度；其中，所述加速变化速度的加速度与所述减速变化速度的加速度在经过相同的速度变化时长后等值相反；
驱动模块，用于根据所述加速变化速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动。
一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行如下步骤：
获取电机的总运动时间及目标运动步数；其中，目标运动步数为小于或等于运动步数阈值的任意一个步数；
获取所述总运动时间中的匀速运动时间，及所述电机在匀速运动过程中的目标匀速运动速度，根据所述匀速运动时间及所述目标匀速运动速度计算所述目标运动步数中的匀速运动步数及加减速运动步数；
将所述总运动时间减去所述匀速运动时间得到的剩余时间作为加减速运动时间，根据所述加减速运动步数及所述加减速运动时间计算所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度；其中，所述加速变化速度的加速度与所述减速变化速度的加速度在经过相同的速度变化时长后等值相反；
根据所述加速变化速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动。
一种加减速运动控制设备，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如下步骤：
获取电机的总运动时间及目标运动步数；其中，目标运动步数为小于或等于运动步数阈值的任意一个步数；
获取所述总运动时间中的匀速运动时间，及所述电机在匀速运动过程中的目标匀速运动速度，根据所述匀速运动时间及所述目标匀速运动速度计算所述目标运动步数中的匀速运动步数及加减速运动步数；
将所述总运动时间减去所述匀速运动时间得到的剩余时间作为加减速运动时间，根据所述加减速运动步数及所述加减速运动时间计算所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度；其中，所述加速变化速度的加速度与所述减速变化速度的加速度在经过相同的速度变化时长后等值相反；
根据所述加速变化速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动。
实施本申请实施例，将具有如下有益效果：
本申请提供了加减速运动控制方法、装置、设备和介质，在总运动时间不变而目标运动步数任意的应用场景中，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度，从而确定与目标运动步数相适配的加减速曲线，在长短行程满足整体运动时间的情况下，尽可能减少机械组件的抖动，使得电机运动更加平滑。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
其中：
图1为一个实施例中加减速运动控制方法的流程示意图；
图2为一个实施例中电机运动不同目标运动步数的示意图；
图3为一个实施例中s型运动速度的示意图；
图4为加减速运动控制方法与常规运动控制方法进行比较的示意图；
图5为一个实施例中加减速运动控制装置的结构示意图；
图6为一个实施例中加减速运动控制设备的结构框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
如图1所示，图1为一个实施例中加减速运动控制方法的流程示意图，本 实施例中加减速运动控制方法提供的步骤包括：
步骤102，获取电机的总运动时间及目标运动步数。
本实施例的应用场景为驱动步进电机在固定的时间段内完成一个特定距离的运动行程(包括从启动到停止)，因此总运动时间T为该预先设定的固定时间段。参见图2，A点为步进电机的运动起始点，Bn点为步进电机在总运动时间T内，在不出现严重抖动的前提下，运动了运动步数阈值时的终止点。目标运动步数则为小于或等于运动步数阈值的任意一个步数，例如图2中B0-B4任意一个位置对应的电机运动步数。
步骤104，获取总运动时间中的匀速运动时间，及电机在匀速运动过程中的目标匀速运动速度，根据匀速运动时间及目标匀速运动速度计算目标运动步数中的匀速运动步数及加减速运动步数。
本实例中，电机的运动行程包括加减速运动(加速运动及减速运动)，及匀速运动，总运动时间因此包括匀速运动时间及加减速运动时间，两者之和等于总运动时间。相应的，目标运动步数包括匀速运动步数及加减速运动步数，两者之和等于目标运动步数。本实例需同时确保能驱动电机在加减速运动时间内走完加减速运动步数，及在匀速运动时间内走完匀速运动步数，从而才能实现本方案中驱动步进电机在固定的时间段内完成一个特定距离的运动行程的目的。而为使电机的运动行程范围更大，本实施例中选择的目标匀速运动速度为电机的最大运动速度，驱动电机在匀速运动过程中一直维持在该最大运动速度的状态。
示例性的，假定电机的总运动时间T为8秒，目标运动步数N为10000，匀速运动速度Vmax为1500pps(pulse per second，秒脉冲)。则在一个实施例中，匀速运动步数及加减速运动步数过程为：首先，根据目标匀速运动速度Vmax及目标运动步数N计算电机的最短运动时间Tmin，即假定运动全程均以目标匀速运动速度Vmax驱动电机运动，求得Tmin＝10000/1500≈6.67s。而相对应的，求得的最短加减速运动时间约为1.33s，但实际加减速运动时间必 须大于该最短加减速运动，否则就会出现电机抖动过于严重的问题。因此可以按照特定的比值或增加特定数值来增加加减速运动时间，又或者设定一个大于该最短加减速运动的整数，例如设定加减速运动时间为2秒，那么相应的匀速运动时间为6秒，目标运动步数中的匀速运动步数
Figure PCTCN2020131311-appb-000001
为9000，而加减速运动步数Na为1000。
步骤106，将总运动时间减去匀速运动时间得到的剩余时间作为加减速运动时间，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度。
参见图3，本实施例中的加速变化速度及减速变化速度采用S型速度控制方案。为进一步降低的速度的计算难度，本实施例中加速变化速度的加速度与减速变化速度的加速度在经过相同的速度变化时长后等值相反，也即加速变化运动与减速变化速度的整体速度变化趋势是对称的。更进一步的，加速运动时间0-t2及减速运动时间t3-t6的时长相同。
参考电机的矩频曲线可知，在电机速度小于一定值时，电机的扭矩变化不大，而为了更快驱动电机转动，我们会从满足合适扭矩的速度点开始做加速，因此图3中会存在初速度V0。从图3中可知，为保证电机尽可能的平滑运动，在加速运动的初始时刻，加速变化速度等于电机的初始运动速度，而在加速运动的终止时刻，加速变化速度等于目标匀速运动速度。在减速运动的初始时刻，减速变化速度等于目标匀速运动速度，而在减速运动的终止时刻，减速变化速度等于初始运动速度。由此我们可确定加速变化速度及减速变化速度在初始时刻及终止时刻的速度。
进一步的，如图3所示，本实施将加速变化速度、减速变化速度及目标匀速运动速度组成的变化速度划分成若干个速度节点，获取加速变化速度及减速变化速度中的加变速节点、匀变速节点及减变速节点。在加速变化速度中，加变速节点为在0、t0时刻的节点，匀变速节点为在t0、t1时刻的节点，减变速节点为在t1、t2时刻的节点。在减速变化速度中，加变速节点为加变速节点为 在t3、t4时刻的节点，匀变速节点为在t4、t5时刻的节点，减变速节点为在t5、t6时刻的节点。在加变速节点之间进行加变速运动，即加速度不断增大的运动；在匀变速节点之间进行匀变速运动，即加速度不变的运动；在减变速节点之间进行减变速运动，即加速度不断减小的运动。加变速运动、匀变速运动及减变速运动的运动步数等于加减速运动步数，其表达为：
Figure PCTCN2020131311-appb-000002
而为便于加速变化速度及减速变化速度的计算，还可以对各个速度节点的速度以及时间进行一定分配，例如在一个具体实施例中确定了加变速节点、匀变速节点及减变速节点的节点时长比值为4：1：4，且V0、V1、V2、Vmax之间的差值相等，也即
Figure PCTCN2020131311-appb-000003
将上述式子进行联立即可求得加变速运动过程中的第一急动度h 1及减变速运动过程中的第二急动度h 2，但由于加变速运动与减变速运动的时长一致，因此计算得到的第一急动度与第二急动度相等。据此可确定加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度。
其中，加速变化速度的表达式如下：
Figure PCTCN2020131311-appb-000004
减速变化速度的表达式如下：
Figure PCTCN2020131311-appb-000005
进一步的，加速度是影响电机出现抖动的重要因素，本实施为抑制电机的抖动，要求电机的最大加速度不能过大。急动度是加速度的变化率，因此本实施例中的最大加速度为h 1t0或h 2t1。获取电机的加速度阈值Amax，判断最大加速度是否大于该加速度阈值Amax，若最大加速度大于加速度阈值Amax，则减少匀速运动时间，即相应的增加加减速运动时间，例如将上文中设定的加减速运动时间从2秒增加为2.5秒，重新执行步骤104及后续步骤，直至求得的最大加速度能满足小于该加速度阈值Amax。
步骤108，根据加速变化速度、减速变化速度及目标匀速运动速度驱动电机在总运动时间顺序完成加速运动、匀速运动及减速运动。
对于当前计算得到的加减速曲线，在曲线内分割成的每个速度节点存储入对应计算得到的电机速度值及电机应转动的节点目标步数。在实时速度每满足一个速度节点的速度值时，获取电机的当前运动步数及剩余运动步数，判断当前运动步数是否满足节点目标步数，以及剩余运动步数是否能满足剩余的行程，若都符合，则依据加减速曲线继续驱动电机运动，使得电机在依次到达每个速度节点时运动每个速度节点对应的节点目标步数。
在加速运动、匀速运动及减速运动的切换阶段，当电机到达加速变化速度与匀速运动速度的第一切换节点时，判断当前运动步数是否等于第一切换节点对应的第一目标步数，若当前运动步数等于第一切换节点对应的节点目标步数，则驱动电机以目标匀速运动速度进行匀速运动。获取减速变化速度与匀速运动速度的第二切换节点对应的第二目标步数，当剩余运动步数与第二目标步数的和为目标运动步数，则驱动电机以减速变化速度进行减速运动。
参见图4，相较于常规的电机运动控制方案(曲线A所示)，本加减速运动控制方案(曲线B所示)不会出现速度突变的情况，整个电机运动过程更加平滑。
上述加减速运动控制方法，在总运动时间不变而目标运动步数任意的应用场景中，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中 的加速变化速度及在减速运动过程中的减速变化速度，从而确定与目标运动步数相适配的加减速曲线，在长短行程满足整体运动时间的情况下，尽可能减少机械组件的抖动，使得电机运动更加平滑。
在一个实施例中，如图5所示，提出了一种加减速运动控制装置，该装置包括：
获取模块502，用于获取电机的总运动时间及目标运动步数；其中，目标运动步数为小于或等于运动步数阈值的任意一个步数；
步数计算模块504，用于获取总运动时间中的匀速运动时间，及电机在匀速运动过程中的目标匀速运动速度，根据匀速运动时间及目标匀速运动速度计算目标运动步数中的匀速运动步数及加减速运动步数；
速度计算模块506，用于将总运动时间减去匀速运动时间得到的剩余时间作为加减速运动时间，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度；其中，加速变化速度的加速度与减速变化速度的加速度在经过相同的速度变化时长后等值相反；
驱动模块508，用于根据加速变化速度、减速变化速度及目标匀速运动速度驱动电机在总运动时间顺序完成加速运动、匀速运动及减速运动。
上述加减速运动控制装置，在总运动时间不变而目标运动步数任意的应用场景中，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度，从而确定与目标运动步数相适配的加减速曲线，在长短行程满足整体运动时间的情况下，尽可能减少机械组件的抖动，使得电机运动更加平滑。
在一个实施例中，加减速运动控制装置还包括节点划分模块，用于：将加速变化速度、减速变化速度及目标匀速运动速度组成的变化速度划分成若干个速度节点；获取每个速度节点对应的节点目标步数；驱动模块508，还具体用 于驱动电机在依次到达每个速度节点时运动每个速度节点对应的节点目标步数。
在一个实施例中，驱动模块508，还具体用于：获取电机的当前运动步数及剩余运动步数，当电机到达加速变化速度与匀速运动速度的第一切换节点时，判断当前运动步数是否等于第一切换节点对应的第一目标步数；若当前运动步数等于第一切换节点对应的节点目标步数，则驱动电机以目标匀速运动速度进行匀速运动；获取减速变化速度与匀速运动速度的第二切换节点对应的第二目标步数，当剩余运动步数与第二目标步数的和为目标运动步数，则驱动电机以减速变化速度进行减速运动。
在一个实施例中，速度计算模块506，还具体用于：获取若干个节点中的加变速节点、匀变速节点及减变速节点；获取加变速节点、匀变速节点及减变速节点的节点时长比值，根据节点时长比值计算在加变速运动过程中的第一急动度及在减变速运动过程中的第二急动度；根据第一急动度及第二急动度确定电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度。
在一个实施例中，速度计算模块506，还具体用于：根据第一急动度、第二急动度及节点时长比值计算加速变化速度及减速变化速度中的最大加速度；获取加速度阈值，判断最大加速度是否大于加速度阈值；若最大加速度大于加速度阈值，则减少匀速运动时间，执行根据匀速运动时间及目标匀速运动速度计算目标运动步数中的匀速运动步数及加减速运动步数步骤及后续步骤。
在一个实施例中，步数计算模块504，还具体用于：根据目标匀速运动速度及目标运动步数计算电机的最短运动时间；确定匀速运动时间为小于最短运动时间的任意一个时间。
图6示出了一个实施例中加减速运动控制设备的内部结构图。如图6所示，该加减速运动控制设备包括通过系统总线连接的处理器、存储器和网络接口。其中，存储器包括非易失性存储介质和内存储器。该加减速运动控制设备的非易失性存储介质存储有操作系统，还可存储有计算机程序，该计算机程序被处 理器执行时，可使得处理器实现加减速运动控制方法。该内存储器中也可储存有计算机程序，该计算机程序被处理器执行时，可使得处理器执行加减速运动控制方法。本领域技术人员可以理解，图6中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的加减速运动控制设备的限定，具体的加减速运动控制设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
一种加减速运动控制设备，包括存储器、处理器以及存储在该存储器中并可在该处理器上执行的计算机程序，该处理器执行该计算机程序时实现如下步骤：获取电机的总运动时间及目标运动步数；其中，目标运动步数为小于或等于运动步数阈值的任意一个步数；获取总运动时间中的匀速运动时间，及电机在匀速运动过程中的目标匀速运动速度，根据匀速运动时间及目标匀速运动速度计算目标运动步数中的匀速运动步数及加减速运动步数；将总运动时间减去匀速运动时间得到的剩余时间作为加减速运动时间，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度；其中，加速变化速度的加速度与减速变化速度的加速度在经过相同的速度变化时长后等值相反；根据加速变化速度、减速变化速度及目标匀速运动速度驱动电机在总运动时间顺序完成加速运动、匀速运动及减速运动。
在一个实施例中，加减速运动时间包括加速运动时间及减速运动时间，加速运动时间及减速运动时间相同；在加速运动的初始时刻，加速变化速度等于电机的初始运动速度；在加速运动的终止时刻，加速变化速度等于目标匀速运动速度；在减速运动的初始时刻，减速变化速度等于目标匀速运动速度；在减速运动的终止时刻，减速变化速度等于初始运动速度。
在一个实施例中，在根据加速变化速度、减速变化速度及目标匀速运动速度驱动电机在总运动时间顺序完成加速运动、匀速运动及减速运动之前，还包括：将加速变化速度、减速变化速度及目标匀速运动速度组成的变化速度划分 成若干个速度节点；获取每个速度节点对应的节点目标步数；根据加速变化速度、减速变化速度及目标匀速运动速度驱动电机在总运动时间顺序完成加速运动、匀速运动及减速运动，包括：驱动电机在依次到达每个速度节点时运动每个速度节点对应的节点目标步数。
在一个实施例中，驱动电机在依次到达每个速度节点时运动每个速度节点对应的节点目标步数，包括：获取电机的当前运动步数及剩余运动步数，当电机到达加速变化速度与匀速运动速度的第一切换节点时，判断当前运动步数是否等于第一切换节点对应的第一目标步数；若当前运动步数等于第一切换节点对应的节点目标步数，则驱动电机以目标匀速运动速度进行匀速运动；获取减速变化速度与匀速运动速度的第二切换节点对应的第二目标步数，当剩余运动步数与第二目标步数的和为目标运动步数，则驱动电机以减速变化速度进行减速运动。
在一个实施例中，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度，包括：获取若干个节点中的加变速节点、匀变速节点及减变速节点；其中，在加变速节点之间进行加变速运动，在匀变速节点之间进行匀变速运动，在减变速节点之间进行减变速运动，加变速运动、匀变速运动及减变速运动的运动步数等于加减速运动步数；获取加变速节点、匀变速节点及减变速节点的节点时长比值，根据节点时长比值计算在加变速运动过程中的第一急动度及在减变速运动过程中的第二急动度；根据第一急动度及第二急动度确定电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度。
在一个实施例中，在根据第一急动度及第二急动度确定电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度之后，还包括：根据第一急动度、第二急动度及节点时长比值计算加速变化速度及减速变化速度中的最大加速度；获取加速度阈值，判断最大加速度是否大于加速度阈值；若最大加速度大于加速度阈值，则减少匀速运动时间，执行根据匀速运动时间及目 标匀速运动速度计算目标运动步数中的匀速运动步数及加减速运动步数步骤及后续步骤。
在一个实施例中，获取总运动时间中的匀速运动时间，包括：根据目标匀速运动速度及目标运动步数计算电机的最短运动时间；确定匀速运动时间为小于最短运动时间的任意一个时间。
一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如下步骤：获取电机的总运动时间及目标运动步数；其中，目标运动步数为小于或等于运动步数阈值的任意一个步数；获取总运动时间中的匀速运动时间，及电机在匀速运动过程中的目标匀速运动速度，根据匀速运动时间及目标匀速运动速度计算目标运动步数中的匀速运动步数及加减速运动步数；将总运动时间减去匀速运动时间得到的剩余时间作为加减速运动时间，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度；其中，加速变化速度的加速度与减速变化速度的加速度在经过相同的速度变化时长后等值相反；根据加速变化速度、减速变化速度及目标匀速运动速度驱动电机在总运动时间顺序完成加速运动、匀速运动及减速运动。
在一个实施例中，加减速运动时间包括加速运动时间及减速运动时间，加速运动时间及减速运动时间相同；在加速运动的初始时刻，加速变化速度等于电机的初始运动速度；在加速运动的终止时刻，加速变化速度等于目标匀速运动速度；在减速运动的初始时刻，减速变化速度等于目标匀速运动速度；在减速运动的终止时刻，减速变化速度等于初始运动速度。
在一个实施例中，在根据加速变化速度、减速变化速度及目标匀速运动速度驱动电机在总运动时间顺序完成加速运动、匀速运动及减速运动之前，还包括：将加速变化速度、减速变化速度及目标匀速运动速度组成的变化速度划分成若干个速度节点；获取每个速度节点对应的节点目标步数；根据加速变化速度、减速变化速度及目标匀速运动速度驱动电机在总运动时间顺序完成加速运 动、匀速运动及减速运动，包括：驱动电机在依次到达每个速度节点时运动每个速度节点对应的节点目标步数。
在一个实施例中，驱动电机在依次到达每个速度节点时运动每个速度节点对应的节点目标步数，包括：获取电机的当前运动步数及剩余运动步数，当电机到达加速变化速度与匀速运动速度的第一切换节点时，判断当前运动步数是否等于第一切换节点对应的第一目标步数；若当前运动步数等于第一切换节点对应的节点目标步数，则驱动电机以目标匀速运动速度进行匀速运动；获取减速变化速度与匀速运动速度的第二切换节点对应的第二目标步数，当剩余运动步数与第二目标步数的和为目标运动步数，则驱动电机以减速变化速度进行减速运动。
在一个实施例中，根据加减速运动步数及加减速运动时间计算电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度，包括：获取若干个节点中的加变速节点、匀变速节点及减变速节点；其中，在加变速节点之间进行加变速运动，在匀变速节点之间进行匀变速运动，在减变速节点之间进行减变速运动，加变速运动、匀变速运动及减变速运动的运动步数等于加减速运动步数；获取加变速节点、匀变速节点及减变速节点的节点时长比值，根据节点时长比值计算在加变速运动过程中的第一急动度及在减变速运动过程中的第二急动度；根据第一急动度及第二急动度确定电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度。
在一个实施例中，在根据第一急动度及第二急动度确定电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度之后，还包括：根据第一急动度、第二急动度及节点时长比值计算加速变化速度及减速变化速度中的最大加速度；获取加速度阈值，判断最大加速度是否大于加速度阈值；若最大加速度大于加速度阈值，则减少匀速运动时间，执行根据匀速运动时间及目标匀速运动速度计算目标运动步数中的匀速运动步数及加减速运动步数步骤及后续步骤。
在一个实施例中，获取总运动时间中的匀速运动时间，包括：根据目标匀速运动速度及目标运动步数计算电机的最短运动时间；确定匀速运动时间为小于最短运动时间的任意一个时间。
需要说明的是，上述加减速运动控制方法、装置、设备及计算机可读存储介质属于一个总的申请构思，加减速运动控制方法、装置、设备及计算机可读存储介质实施例中的内容可相互适用。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，该程序可存储于一非易失性计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种加减速运动控制的方法，其特征在于，所述方法包括：
    获取电机的总运动时间及目标运动步数；其中，目标运动步数为小于或等于运动步数阈值的任意一个步数；
    获取所述总运动时间中的匀速运动时间，及所述电机在匀速运动过程中的目标匀速运动速度，根据所述匀速运动时间及所述目标匀速运动速度计算所述目标运动步数中的匀速运动步数及加减速运动步数；
    将所述总运动时间减去所述匀速运动时间得到的剩余时间作为加减速运动时间，根据所述加减速运动步数及所述加减速运动时间计算所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度；其中，所述加速变化速度的加速度与所述减速变化速度的加速度在经过相同的速度变化时长后等值相反；
    根据所述加速变化速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动。
  2. 根据权利要求1所述的方法，其特征在于，所述加减速运动时间包括加速运动时间及减速运动时间，所述加速运动时间及所述减速运动时间相同；
    在所述加速运动的初始时刻，所述加速变化速度等于所述电机的初始运动速度；
    在所述加速运动的终止时刻，所述加速变化速度等于所述目标匀速运动速度；
    在所述减速运动的初始时刻，所述减速变化速度等于所述目标匀速运动速度；
    在所述减速运动的终止时刻，所述减速变化速度等于所述初始运动速度。
  3. 根据权利要求1所述的方法，其特征在于，在所述根据所述加速变化 速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动之前，还包括：
    将所述加速变化速度、所述减速变化速度及所述目标匀速运动速度组成的变化速度划分成若干个速度节点；
    获取每个所述速度节点对应的节点目标步数；
    所述根据所述加速变化速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动，包括：
    驱动所述电机在依次到达每个所述速度节点时运动每个所述速度节点对应的所述节点目标步数。
  4. 根据权利要求3所述的方法，其特征在于，所述驱动所述电机在依次到达每个所述速度节点时运动每个所述速度节点对应的所述节点目标步数，包括：
    获取所述电机的当前运动步数及剩余运动步数，当所述电机到达所述加速变化速度与所述匀速运动速度的第一切换节点时，判断所述当前运动步数是否等于所述第一切换节点对应的第一目标步数；
    若所述当前运动步数等于所述第一切换节点对应的节点目标步数，则驱动所述电机以所述目标匀速运动速度进行所述匀速运动；
    获取所述减速变化速度与所述匀速运动速度的第二切换节点对应的第二目标步数，当所述剩余运动步数与所述第二目标步数的和为所述目标运动步数，则驱动所述电机以所述减速变化速度进行所述减速运动。
  5. 根据权利要求3所述的方法，其特征在于，所述根据所述加减速运动步数及所述加减速运动时间计算所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度，包括：
    获取所述若干个节点中的加变速节点、匀变速节点及减变速节点；其中，在所述加变速节点之间进行加变速运动，在所述匀变速节点之间进行匀变速运 动，在所述减变速节点之间进行减变速运动，所述加变速运动、所述匀变速运动及所述减变速运动的运动步数等于所述加减速运动步数；
    获取所述加变速节点、所述匀变速节点及所述减变速节点的节点时长比值，根据所述节点时长比值计算在所述加变速运动过程中的第一急动度及在所述减变速运动过程中的第二急动度；
    根据所述第一急动度及所述第二急动度确定所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度。
  6. 根据权利要求5所述的方法，其特征在于，在所述根据所述第一急动度及所述第二急动度确定所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度之后，还包括：
    根据所述第一急动度、所述第二急动度及所述节点时长比值计算所述加速变化速度及所述减速变化速度中的最大加速度；
    获取加速度阈值，判断所述最大加速度是否大于所述加速度阈值；
    若所述最大加速度大于所述加速度阈值，则减少所述匀速运动时间，执行所述根据所述匀速运动时间及所述目标匀速运动速度计算所述目标运动步数中的匀速运动步数及加减速运动步数步骤及后续步骤。
  7. 根据权利要求1所述的方法，其特征在于，所述获取所述总运动时间中的匀速运动时间，包括：
    根据所述目标匀速运动速度及所述目标运动步数计算所述电机的最短运动时间；
    确定所述匀速运动时间为小于所述最短运动时间的任意一个时间。
  8. 一种加减速运动控制装置，其特征在于，所述装置包括：
    获取模块，用于获取电机的总运动时间及目标运动步数；其中，目标运动步数为小于或等于运动步数阈值的任意一个步数；
    步数计算模块，用于获取所述总运动时间中的匀速运动时间，及所述电机在匀速运动过程中的目标匀速运动速度，根据所述匀速运动时间及所述目标匀 速运动速度计算所述目标运动步数中的匀速运动步数及加减速运动步数；
    速度计算模块，用于将所述总运动时间减去所述匀速运动时间得到的剩余时间作为加减速运动时间，根据所述加减速运动步数及所述加减速运动时间计算所述电机在加速运动过程中的加速变化速度及在减速运动过程中的减速变化速度；其中，所述加速变化速度的加速度与所述减速变化速度的加速度在经过相同的速度变化时长后等值相反；
    驱动模块，用于根据所述加速变化速度、所述减速变化速度及所述目标匀速运动速度驱动所述电机在所述总运动时间顺序完成所述加速运动、所述匀速运动及所述减速运动。
  9. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行如权利要求1至7中任一项所述方法的步骤。
  10. 一种加减速运动控制设备，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如权利要求1至7中任一项所述方法的步骤。
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