摘要
计算了点到点运动控制中能量最优的速度轮廓抛物线速度轮廓.分析了常用的梯形速度曲线和S型速度曲线.以S型速度曲线为参照对象,分析了三角函数型速度曲线和高阶多项式插值曲线的加速度以及加加速度的特性.
The velocity profile for pointtopoint motion control based on optimal energy is calculated as parabola velocity profile analyzed the trapezoidal velocity and Svelocity curves which are often used,using S velocity curve as reference,the characteristics of acceleration and jerk in the velocity curve of trigonometric function and interpolation curve of highorder polynomial are analyzed.
出处
《机械与电子》
2005年第7期16-19,共4页
Machinery & Electronics
基金
国家自然科学基金资助项目(50375148)
关键词
点到点控制
时间最优
能量最优
连续轨迹控制
pointtopoint control
timeoptimal
energyoptimal
continuous path control
