Control circuit for realizing S curve acceleration and deceleration of motion control system
A motion control system, acceleration and deceleration control technology, applied in the direction of electric speed/acceleration control, etc., can solve the problems of large amount of calculation and influence
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[0172] The technical solution is further described below in conjunction with the drawings and specific implementations as follows:
[0173] 1. Motion analysis of S curve acceleration and deceleration process
[0174] In the process of motion control, a smooth, smooth and uniform S-shaped speed curve requires that the speed-time curve of the motion section is continuous and guideable everywhere; at the same time, the jerk, acceleration and speed change curves of the motion section are required to meet strict integrals. relationship.
[0175] 1) Acceleration curve
[0176] The jerk curve of S-curve acceleration and deceleration is a segmented curve that depends on the movement time. It is assumed that the jerk size is J M , The jerk curve of the acceleration and deceleration process is as figure 1 Shown.
[0177] Assume that the current time t, the end of the acceleration period t 0 , End point of uniform acceleration section t 1 , Decrease end point of acceleration section t 2 , End poi...
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