Infinitely-derivable dynamic speed-up-down movement locus-based method

Abstract

The invention discloses an infinitely-derivable dynamic speed-up-down movement locus-based method. The traditional method has problems of suddenly-changed acceleration, complicated algorithm, large calculation quantity and the like. The method is characterized in that an allowable maximal speed, maximal acceleration and speed reduction time and a target speed are set according to the production requirement, the acceleration and speed reduction time is calculated, a real-time speed order value of the dynamic speed-up-down process is calculated according to the target speed and the initial speed and is outputted to a motor drive in real time. When the dynamic speed-up-down process is ended, a stable speed order value is calculated and outputted to the motor drive in real time. The acceleration is continuous, the dynamic impact is small, the universality is good, and the method is suitable for the stable locus control of different motor control devices in the acceleration movement process and the speed reduction movement process.

Description

technical field [0001] The invention belongs to the field of industrial automation, and relates to a method based on an infinitely derivable dynamic speed-up and down motion trajectory, which is suitable for the smooth trajectory control of the speed-up and speed-down motion processes of various motor control equipment. Background technique [0002] Various types of mechanical equipment powered by motors require the speed to change continuously from the current value to the target value within a specific period of time during dynamic processes such as starting, stopping, speed up, and deceleration, and the mechanical shock generated should be small , For example: when it is required that the speed continuously changes from 0 to the maximum value within a certain period of time, this time is called the maximum acceleration time; on the contrary, when it is required that the speed continuously changes from the maximum value to 0 within a certain period of time, it is called the...

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Problems solved by technology

However, the problem with the former is that its acceleration is abrupt, that is, the dynamic impact force is large, and it is only suitable for non-carried and undemanding general production machinery; while the latter has obvious advantages over the linear speed-up and down-speed method in theory. The acceleration can also be changed continuously to reduce the dynamic impact force. However, S-shaped fitting based on multi-segment functions is commonly used at present. The algorithm is complicated, the calculation is large, and the acceleration derivative at each segment point still has discontinuous problems.