基于圆整误差补偿策略的S曲线加减速控制研究与实现

Research and Implementation of S-curve Acceleration/Deceleration Algorithm Based on Rounding Error Compensation Tactic

深入分析了S曲线加减速基本公式,给出了其加加速度、加速度、速度、位移之间的解析关系。在此基础之上,提出了一种基于圆整误差补偿策略的改进型S曲线加减速控制算法,该算法逐段对S曲线进行修正,减少由于量化误差带来的影响,算法同时考虑到多曲线段存在情况下的速度融合模式下的控制问题。给出了算法数学模型和数值仿真结果。对算法进行实验验证,并给出了具体工件实际加工结果。

The basic formula of S-curve acceleration/deceleration was described, the jerk, acceleration, velocity, displacement were discussed. A novel S-curve acceleration/deceleration algorithm based on rounding error compensation tactic was proposed which can reduce the quantization error by compensating the error at the transition of each segment. The algorithm under multiple-curve blending mode was discussed. The mathematical model of the proposed algorithm was established and the simulation results were presented. The proposed algorithm was validated by machining experiments.