S曲线加减速控制新方法的研究  

Research on a New S-curve Acceleration and Deceleration Control Method

作　　者：李晓辉[1] 邬义杰[1] 冷洪滨[1] 

机构地区：[1]浙江大学现代制造工程研究所,杭州310027

出　　处：《组合机床与自动化加工技术》2007年第10期50-53,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家"863"高科技资助项目(2006AA04Z233);国家自然科学基金资助项目(50575205);浙江省自然科学基金资助项目(Y105686;Y104243)

摘　　要：直线加减速方法由于加速度不连续易造成冲击,传统的S曲线加减速实现方法可克服这一不足,但分段较多,程序实现较复杂。针对上述问题,提出了S曲线加减速控制的新方法,将加减速过程划分为五个阶段,并给出其加加速度、加速度、速度、位移的计算表达式,根据路径段长度进一步建立了S曲线加减速控制算法。仿真结果表明,该方法能保证速度、加速度的连续,有效提高了系统的柔性,同时简化了算法的实现。Acceleration is discontinuous in linear acceleration and deceleration method, which caused impact in NC machining. The impact could be overcome by conventional S-curve acceleration and deceleration implementation method, but the algorithm is too complex. So a new method was proposed to implement S-curve accel- eration and deceleration. The speed curve was constructed by five phases, the functions of jerk, acceleration, velocity and displacement were also given, the control algorithm was derived according to the length of path. The simulation results show that the method can make sure the acceleration is continuous, the speed changes smoothly, the flexibility is improved and the algorithm is easy to implement.

关 键 词：S曲线加减速 控制方法 柔性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]