电气传动2019，Vol.49Issue(6)：8-12,37,6.DOI:10.19457/j.1001-2095.dqcd18616
一种新型S加减速算法研究
Research on a New Type S Acceleration/Deceleration Algorithm
摘要
Abstract
Acceleration and deceleration trajectory planning is one of the key technologies in the motion control system. The traditional trapezoidal velocity profile algorithm has the acceleration mutation at the starting and end point of the acceleration and deceleration phase,which produces rigid impact to the actuator. The traditional seven-segment S-shape velocity profile algorithm divides the acceleration and deceleration phase into three segments,which traverses at certain conditions,but the algorithm is computationally complex and the acceleration is discontinuous. A novel S-shaped acceleration and deceleration algorithm was proposed,in which a trigonometric function was used to fit an S-shaped velocity curve on the trapezoidal velocity trajectory. The algorithm is simple and can generate continuous velocity and acceleration. Finally,the method was verified by the B&R motion control system. The experimental results show that the proposed algorithm can obtain smooth velocity and acceleration with little computation.关键词
速度规划/加速度规划/S型加减速Key words
speed planning/acceleration planning/S-shaped acceleration and deceleration分类
信息技术与安全科学引用本文复制引用
钟前进,王科,丁信忠..一种新型S加减速算法研究[J].电气传动,2019,49(6):8-12,37,6.基金项目
国家重点研发计划(2017YFB1300800) （2017YFB1300800）
