基于加减速时间控制的S形速度规划新算法研究

针对使用S形曲线加减速控制的7阶段模型时参数设定复杂以及使用困难的问题,提出了基于加减速时间控制的5阶段S曲线柔性加减速控制方法。S形曲线加减速控制的7阶段模型可以解决直线加减速方法中加速度、速度不连续导致的冲击问题,但是其规划参数的设定复杂,使用过程中容易出错。通过对原有的S形曲线加减速控制的7阶段模型进行分析,建立了加减速时间与加速度、加加速度的函数关系,在保证速度控制平稳运行的前提下,使参数设定大大简化,使用更为方便;同时,解决了基于加减速时间控制的规划方法无法适用的问题。仿真结果表明,利用基于加减速时间控制的5阶段模型控制方法可以在保证加速度、速度曲线连续,提高系统柔性的前提下,使参数设定更为简单直观,具有较高的实际应用价值。

Algorithm of S-shape acceleration based on control of anticipation time

Aiming at the difficulties of parameter-setting and using the 7-phase S-curve acceleration and deceleration control model, a new method was proposed to implement S-curve acceleration and deceleration based on the control of anticipation time. The problem that the impacts in NC machining caused by discontinuous acceleration and velocity in linear acceleration and deceleration method, was overcome by 7-phase S-curve acceleration and deceleration control model. However, the parameter configuration is so complex that they can be easily misused. After the analysis of 7-phase control model,the functional relationship of the anticipation time and acceleration was established. Except the strength of motion stability, the control model was based on the control of the anticipation time of acceleration and was constructed by five phases, which means the process of parameter-setting is not only simplified greatly but also more convenient to use. The simulation results indicate that the algorithm can make sure the acceleration is continuous, which mean the flexibility of control system is improved, and much easier to implement. The method has a high practical value.