基于新型速度规划的优化算法研究

Research on Optimization Algorithm Based on New Velocity Programming

针对设备运动加减速过程中存在加速度不平滑和在某些特殊条件下计算不够灵活等问题,提出以一种优化后的新型加减速规划算法为计算理论,以时间分割思想为基础,采用以路径误差为核心、细分路径过程的方式来进行插补运算。在运动段过程中按照约束速度的要求将路径与时间进行例化细分,通过控制例化插补点的方式来实现每一步的实际输出速度与期望速度相一致,从而实现规划约束中速度与加速度的连续性与平滑性。研究分析了例化公式的推导过程,给出了实现例化优化算法的设计步骤。MATLAB实验仿真结果表示:例化优化算法在实际约束条件下计算更具有灵活性,能满足任意条件下的计算需要,并在计算输出结果中显示能以平滑连续的速度与加速度更快地响应达到期望速度。

Aiming at the problems of uneven acceleration and not flexible calculation in some special cases,a new type of deceleration of the optimized planning algorithm for calculating theory was put forward,based on time division idea,the path error was used as the core,segmentation path for interpolation operation process.In the process of moving section,the path and time were instantiated and subdivided according to the requirements of constrained velocity.The actual output velocity of each step was consistent with the expected velocity by controlling the interpolation points,so as to realize the continuity and smoothness of velocity and acceleration in planning constraints.The derivation process of the exemplification formula was analyzed,and the design steps of the optimization algorithm were given.MATLAB experimental simulation results show that the exemplified optimization algorithm is more flexible in the actual constraints of the calculation,can meet the calculation needs under any conditions,and the calculation output results show that it can achieve the desired speed faster with smooth and continuous speed and acceleration.