The implementation and experimental research on an S-curve acceleration and deceleration control algorithm with the characteristics of end-point and target speed modification on the fly

摘要: For modern equipment manufacturing industries, advanced technologies have significant impact on the production quality and efficiency. Specifically, high-speed high-accuracy technology is widely used in aerospace, automotive, power-generation to reduce processing costs improve machining accuracy. However, traditional velocity planning methods cannot satisfy requirements of point-to-point movement occasions. To solve these problems, a novel S-curve acceleration deceleration (Acc/Dec) control model proposed this study, discretization Acc/Dec process was investigated. Furthermore, derivation actual interpolation periods each segment, achieved Acc/Dec, jerk zone are addressed detail. ensure positioning accuracy computational load, discrete formulae for displacement, maximal speed, displacement constant segment derived. product diversification efficiency, function aforementioned algorithm extended study. As result, end-point modification target speed algorithms were developed. Finally, series numerical simulations real experiment conducted. The results show that exhibit good performance both terms reliability Thus, its feasibility validated.