基于Matlab的S曲线加减速控制算法研究  

Research of S Curve Acceleration and Deceleration Control Algorithm Based on Matlab

作　　者：胡永安[1] 陈彩凤[1] 杨萌[1] 

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《电子科技》2017年第4期60-63,169,共5页Electronic Science and Technology

摘　　要：当数控加工型线为折线,路径段与路径段之间存在的夹角使得必须在拐点处进行加减速控制,以保证轨迹精度。目前,数控加工对单个坐标运动的控制方法有多种,其中较有代表性的是基于S型曲线的加减速控制方法,文中在S型加减速控制曲线基础上建立S曲线加减速控制新算法,利用该算法给出路径段几何元素转接矢量夹角数学模型,并在此基础上给出许用速度与夹角的关系式,并得出第i路径段的转接速度Vi的大小不仅受到转接矢量夹角αi的影响,还与第i-1路径段和i+1路径段的转接速度以及第i路径段和第i+1路径段的路径长度有关。利用此算法经Matlab编程仿真得出当相邻两折线段夹角为90°和135°时,通过折线交点时对应各坐标运动速度的变化。When the profile line of numerical control machining is broken line,the angle between the two path sections makes that it is necessary to take acceleration and deceleration control on the inflection point so as to make sure the trajectory precision. At present,we have many control methods of single coordinate motion by numerical control machining,among which the acceleration and deceleration control method based on S curve is the representative one. This thesis,on the basis of S-type acceleration and deceleration control curve,develops a new algorithm of S curve acceleration and deceleration control. With this new algorithm,we get a mathematical model of path sections geometric elements and the relation between allowable velocity and angle. We also draw that the transition velocity Vi of i path section is affected by turning vector angle ai,turning velocity of i-1 and i ＋ 1 path sections,and path lengths of i and i ＋ 1 path sections. Simulation of programming on the basis of Matlab leads to the changes of the corresponding coordinate velocity passing the point of broken lines,when the angles of the two adjacent broken lines are90° and 135°.

关 键 词：S曲线 转接速度 夹角 MATLAB 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]