Jerk曲线连续的改进S型加减速算法研究  

Research on Improved S-Type Acceleration and Deceleration Algorithm for Continuous Jerk Curve

作　　者：王盈余 管声启[1] 于资江 WANG Yingyu;GUAN Shengqi;YU Zijiang(School of Mechanical and Electronic Engineering,Xi′an Polytechnic University,Xi′an 710048,China)

机构地区：[1]西安工程大学机电工程学院,西安710048

出　　处：《组合机床与自动化加工技术》2023年第11期11-14,19,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：西安市创新能力强基计划-人工智能技术攻关项目(21RGZN0021)。

摘　　要：高精度的运动平台中,冲击是影响运动平台运动精度以及平稳性的重要因素。针对传统S型加减速算法所存在的Jerk曲线存在突变的问题,提出了一种Jerk曲线光滑的高平稳改进S型加减速算法。首先,以具有高柔性的正弦函数为基础,构造Jerk曲线;其次,为了克服嵌入式系统中计算正弦函数困难的问题,应用切夫雪比多项式逼近正弦函数,获得完整的加减速控制算法。在此基础上,进一步推导得出不同条件下各个阶段具体的时间规划;最后,在MATLAB环境中,进行仿真实验。实验结果表明,改进加减速算法的Jerk曲线连续且光滑,可实现不同初始参数下的平稳运行,提高了运动平台的控制精度。In the high-precision motion platform,impact is an important factor affecting the motion accuracy and stability of the motion platform.Aiming at the problem of sudden change in the Jerk curve of the traditional S-type acceleration and deceleration algorithm,a highly stable improved S-type acceleration and deceleration algorithm with smooth acceleration and Jerk curve is proposed.Firstly,based on the sinusoidal function with high flexibility,the Jerk curve is constructed.Secondly,in order to overcome the difficulty of calculating sine function in embedded system,Chebyshev polynomial is used to approximate sine function to obtain a complete acceleration and deceleration control algorithm.On this basis,the specific time planning of each stage under different conditions is calculated.Finally,the simulation experiment is carried out in MATLAB environment.The experimental results show that the Jerk curve of the improved acceleration algorithm is continuous and smooth,which can realize the smooth operation under different initial parameters and improve the control accuracy of the moving platform.

关 键 词：加减速算法 Jerk曲线连续 正弦函数 速度规划 S曲线 

分 类 号：TH166[机械工程—机械制造及自动化] TG502[金属学及工艺—金属切削加工及机床]