一种快速4阶轨迹规划及前馈控制算法  

A Fast Fouth-order Trajectory Planing and Feedforward Control Algorithm

作　　者：周黎[1,2] 杨世洪[1] 高晓东[1] 

机构地区：[1]中国科学院光电技术研究所,四川成都610209 [2]中国科学院研究生皖,北京100039

出　　处：《四川大学学报（工程科学版）》2011年第3期244-250,共7页Journal of Sichuan University (Engineering Science Edition)

摘　　要：为了满足高速高精度运动控制的要求,研究了一种快速4阶轨迹规划及前馈控制算法。针对现有4阶规划算法计算繁琐、效率低下的不足,改进了整个算法的实现过程,通过预先计算实现轨迹分类,避免了大量无效的计算和比较判断,提高了算法的速度和效率,使之适合在线实时计算。同时对算法的实现问题进行了讨论,对离散化误差进行了分析并提出了补偿措施,建立了基于4阶轨迹规划的前馈控制结构。通过仿真验证了提出的快速4阶轨迹规划及前馈控制算法的有效性和可靠性。In order to meet the motion control requirements of high speed and high precision,a fast fouth-order trajectory planning and feedforward control algorithm was investigated.Due to the drawbacks of computation complexity and low efficiency residing in the existing algorithm,the whole computation process was revised.By pre-computing in classifying the trajectory,a large amount of useless computation,comparison and decision-making were avoided.The velocity and efficiency of the revised algorithm were greatly improved so that it is suitable for real time computation.The implementation aspects were also discussed,and the discretization error was analyzed and compensated.Finally the feedforward control structure based on the fouth-order trajectory was set up.The simulation result showed the effectiveness and reliability of the algorithm proposed.

关 键 词：4阶轨迹规划 点对点运动 前馈控制 误差补偿 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]