二维同步插补算法及其在S7-200 Smart PLC上的应用

Two-axis Synchronous Interpolation Algorithm and Its Application in S7-200 Smart PLC

针对插补运动系统中存在机械振动较大的问题,提出一类基于恒定加加速度的二维直线插补算法。在确定加加速度的前提下,将直线插补的运动过程分为7个不同的阶段。利用运动学定律分析每个阶段的加速度、速度和位移的表达式,获取各运动阶段的初始条件。在基于二维系统的位移要求确定二维同步关系的基础上,实现了各阶段算法的离散化,最终完成了基于PLC(可编程逻辑控制器)的算法设计。实测效果表明,该算法同步精度小于0.5%,运行时间误差小于1 s,运行效果良好,满足应用场景的需求。

This paper proposes a two-axis linear synchronous interpolation algorithm based on constant jerk to reduce strong mechanical vibrations in interpolating motion systems.Under the premise of determining the jerk,the motion process of linear interpolation is divided into seven different stages.Kinematics laws are used to analyze the expressions of acceleration,velocity,and displacement in each stage,and the initial conditions of each motion stage are obtained.Based on the determination of the two-axis synchronization relationship according to the displacement requirements of the two-axis system,the discretization of the algorithms in each stage is achieved,and finally the algorithm design based on PLC(Programmable Logic Controller)is completed.The actual test results show that the synchronization accuracy of the proposed algorithm is less than 0.5%,the running time error is less than 1 second,and the running effect is good,meeting the needs of the application scenarios.