位置随动系统轨迹规划算法研究

A Position Tracking Trajectory Planning Algorithm

位置随动若完全依靠伺服系统对目标信号的响应,则会产生加速度过大而超过系统的响应能力,出现系统的振动和抖动等现象,控制难度大。若系统能根据随动目标动态实时地进行运动轨迹规划,则系统运行会更加平滑,控制难度大大降低。把随动系统分为移动定目标随动和移动不定目标随动两类,提出用5次样条曲线规划移动定目标随动轨迹的通用算法,实现整个随动过程速度、加速度和加加速度的连续,从而使得随动跟踪运动非常地平滑;提出移动不定目标随动轨迹实时S曲线规划算法,实现随动目标轨迹实时地计算,使得系统在多段随动轨迹间切换时速度、加速度的连续,保证随动跟踪运动的平滑性。

If position tracking relies entirely on the response of the servo control system for target signals, then the acceleration may be too large and exceeds the system＇s response ability, the mechanical system is subject to vibra- tion and jitter, and the level of control difficulty is high. If the servo control system can calculate and trim the movement trajectories in real time according to the moving target, the servo control system will run more smoothly, the control difficulty is greatly reduced. The servo control system is divided into certain moving target and mobile uncertain target. We propose an algorithm that uses the five-order spline curve to plan the real time trajectory of the certain moving target. The tracking speed, acceleration and jerk of the control system are continuous in the whole process, which makes the tracking motion smooth. We also propose an algorithm that uses the S curve profile to plan the real time trajectory of the mobile uncertain target so as to achieve the real-time computing of the moving target trajectory. This makes the acceleration continuous when switch between multi-segments of the moving uncer- tain target and guarantees the tracking motion smoothness.