摘要
介绍了变加减速结构及其控制原理,分析了稳态和动态位置误差产生的数学模型,给出了位置误差的计算公式和补偿方法。运动控制为两级运动插补模式,在S形曲线加减速作为粗插补计算的基础,设计实现了基于PVT精插补模式的运动控制算法。
It＇s the method of thes shape that put forward acceleration/deceleration control, and then analyze math model which produced a dynamic and steady position error. Finally, it presented the position error formula and the compensating methods. Motion control works in a 2 - grade interpolations mode, in whichexponential S shape acceleration/deceleration law is employed for rough interpolation. Precise interpolation is fulfilled by PVT mode specifically.
出处
《电气应用》
北大核心
2007年第4期86-89,共4页
Electrotechnical Application
关键词
S形曲线加减速
位置伺服系统
位置误差分析
PVT插补
s shape acceleration/deceleration control position servo system position error analyzing PVT interpolation
