一种适用于前瞻的高精度7段式非对称S曲线加减速控制

潘海鸿; 杨增启; 陈琳; 董海涛; 谭华卿; 钟文

doi:10.13433/j.cnki.1003-8728.2015.0710

一种适用于前瞻的高精度7段式非对称S曲线加减速控制

doi: 10.13433/j.cnki.1003-8728.2015.0710

1.
广西大学机械工程学院, 南宁 530004

基金项目:

国家自然科学基金项目（51465005）、广西科技攻关（桂科攻12118015-2A）、广西自治区教育厅科研项目（ZL2014002，ZL2014003）及广西制造系统与先进制造技术重点实验室（11-031-12S03）资助

详细信息

作者简介:
潘海鸿（1966-），教授，博士，博士生导师，研究方向为高速高精度运动控制、数控技术，hustphh@163.com

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- 被引次数: 0
出版历程
- 收稿日期: 2013-10-16
- 刊出日期: 2015-07-05

A High-precision Acceleration and Deceleration Control of 7-segment Dissymmetrical S-shape Curve for Look-ahead

1.
College of Mechanical Engineering, Guangxi University, Nanning 530004, China

摘要

摘要: 提出采用一种7段式非对称S曲线加减速控制方法，根据轨迹段的特征推导和规划实际应用中可能出现的8种类型加速度曲线。考虑到工程应用中离散实现上述算法时存在精度损失，提出插补时间圆整和插补点参数内部整数计算方法的精度控制策略以满足高精度的控制要求。基于浮点双精度型TI DSP67系列芯片的控制器硬件平台，对所提出的加减速控制方法和精度控制策略进行实验验证。实验结果表明：该算法能够有效规划8种类型的加减速曲线，并且根据精度控制策略得到的轨迹位置计算精度能达到0.01 μm。
- 非对称S曲线 /
- 加减速控制 /
- 前瞻控制 /
- 计算精度
Abstract: A 7-segment dissymmetrical S curve acceleration and deceleration control method was proposed and studied. According to the characteristics of trajectory, we particularly deduced and planned 8 kinds of acceleration curves that exist in practice applications. Accuracy losses will appear when this algorithm was implemented with discrete process in engineering applications. Thus, accuracy control strategies of rounding of interpolation time and internal integer calculation of interpolation parameters were proposed to achieve the requirement of high-precision control. The presented acceleration and deceleration method and accuracy control strategy were carried out on the digital signal processor (DSP) 67 series controller of floating-point double-precision type for verification. Experimental results indicate that the presented method and strategy can effectively plan 8 types curve for acceleration and deceleration, and the position calculation precision of trajectory getting according to the accuracy control strategies can reach 0.01μm.
- acceleration and deceleration planning /
- computational accuracy /
- dissymmetrical S-curve /
- look-ahead control

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参考文献(9)

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