一种新型四阶S型轨迹规划算法的研究与应用  

On a Novel Fourth Order S-Shaped Motion Profile Algorithm and Its Applications

作　　者：朱其新[1,2] 陈健亨[2,3] 刘红俐[1] 张国平 朱永红 

机构地区：[1]苏州科技大学机械工程学院,苏州215009 [2]华东交通大学电气与自动化工程学院,南昌330013 [3]深圳市大族电机科技有限公司,深圳518058 [4]景德镇陶瓷大学机电学院,景德镇333001

出　　处：《系统科学与数学》2017年第4期1034-1048,共15页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金(51375323;61563022);江西省自然科学重大基金(20152ACB20009);苏州科技大学科研基金(XKZ201409);江苏省建筑智慧节能重点实验室建设基金;"江苏省六大人才高峰"高层人才资助项目;江苏省"青蓝工程"资助课题

摘　　要：提出了一种四阶S型运动轨迹规划的新方法,根据给定参数计算得到最大速度三阶导数作用时间,最大加加速度作用时间和最大加速度作用的时间,通过循环计算的方式得到加速阶段所运动的距离与速度,以加速阶段所达到的速度作为最大速度计算得到最大速度作用的时间.此时,由浮点型转整型数据所产生的误差也可以在其最大速度的匀速阶段得到补偿,最后,减速阶段的数据由S曲线加减速控制中速度曲线的对称性得到.该算法在基于倍福PLC的三动子运料平台中进行了验证,实验表明,提出的S型运动轨迹规划算法在不用过多保存曲线数据的情况下也能获得平滑的速度和加速度,有效地提高了系统的柔性,同时简化了算法的实现,大大地节省了PLC的资源.A new approach for four-order S-shaped motion profile algorithms is proposed in this paper. According to the given parameters, the maximum reaction time of the three order derivative for velocity, maximum Jerk and maximum acceleration can be got. The distance and velocity after the acceleration phase can be got by means of loop calculation. Then, we can get the reaction time of maximum velocity based on the maximum velocity value. And the error caused by the process of floating-point data transfer to integer data, can be compensated on the uniform phase of maximum velocity. At last, we can get the data of deceleration phase from the symmetry of velocity curve of motion profile. The algorithms proposed had been verified by the three-mover haul platform, which is based on BACKOFF＇s PLC. The experiments state that the velocity and acceleration curves of this new algorithm are smoother than that of traditional motion profile algorithm at the case of without the storage of large amounts of the curve data. The algorithms improve the flexibility of the system effectively, and save resources of the PLC remarkably.

关 键 词：S型曲线 轨迹规划算法 对称性 补偿 

分 类 号：O221[理学—运筹学与控制论]