柔性S曲线加减速控制算法研究  

Research on Acceleration and Deceleration Control Algorithm of Flexible S-Curve

作　　者：宋远志 许宁[1] 陆凤祥 施泽华 陈思睿 沈梦圆 李广程 SONG Yuanzhi;XU Ning;LU Fengxiang;SHI Zehua;CHEN Sirui;SHEN Mengyuan;LI Guangcheng(School of Mechanical Engineering,Yancheng Institute of Technology,Yancheng Jiangsu,224002,China;Jiangsu Yueda Intelligent Agricultural Equipment Co.Ltd.,Yancheng Jiangsu,224007,China;PLA 32230 Troops,Nanjing Jiangsu,210000,China)

机构地区：[1]盐城工学院机械工程学院,江苏盐城224002 [2]江苏悦达智能农业装备有限公司,江苏盐城224007 [3]中国人民解放军32230部队,江苏南京210000

出　　处：《盐城工学院学报（自然科学版）》2022年第3期48-54,66,共8页Journal of Yancheng Institute of Technology:Natural Science Edition

基　　金：国家重点研发计划项目(2017YFC0703202-4)。

摘　　要：为提高码垛机器人码垛过程中运动的平稳性,减小因加加速度突变产生的振动,提出了五段正弦S曲线加减速控制算法。构建了该算法的加加速度、加速度、速度、位移的函数模型,同时,根据始末速度不同、路径段长度不同,结合牛顿迭代法,完成了五段正弦S曲线加减速控制算法的规划及求解。仿真结果表明:五段正弦S曲线加减速控制算法能够保证加加速度、加速度的连续平稳变化,减小码垛过程中因加加速度突变出现的振动,有效提高了码垛的平稳性。In order to improve the motion stability of palletizing robot during palletizing process and reduce the vibration caused by jerk mutation,a five-segment sinusoidal S-curve acceleration and deceleration control algorithm is proposed.The function model of jerk,acceleration,velocity and displacement is constructed.At the same time,according to the different speed of the beginning and end and the different length of the path,combined with Newton iterative method,the planning and solution of the five-segment sinusoidal S-curve acceleration and deceleration control algorithm are completed.The simulation results show that the algorithm can ensure the continuous and stable changes of jerk and acceleration,reduce the vibration caused by the mutation of jerk in the stacking process,and effectively improve the stability of the stacking.

关 键 词：S曲线加减速 加加速度连续 平稳性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]