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S curve-based PVT control method

A control method and curve technology, applied in the direction of program control, digital control, computer control, etc., to achieve the effect of ensuring stability, high processing efficiency, and stable processing

Active Publication Date: 2018-12-07
SHANDONG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to overcome the deficiencies of the prior art, the present invention provides a PVT control method based on the S-curve, which can ensure that the speed and acceleration are continuous, and the acceleration will not vibrate too much when the speed changes within a large time, so that the numerical control The system is more stable during processing and has higher processing efficiency

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Embodiment Construction

[0032] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0033] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0034] As introduced in the background technology, there is a problem in the prior art that vibrations are likel...

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Abstract

The invention discloses a S curve-based PVT control method, and solves the problems that an existing method is easy to have jitters in a running process if the acceleration is too big; the method canensure speed and acceleration continuity, and the acceleration has no jitter phenomenon when the speed largely changes in a time, thus enabling a numerical control system to be more stable in processing, and providing a higher processing efficiency; the method comprises the following steps: using S curve acceleration and deceleration to obtain a motion total time T' according to a given start / stopposition, a start / stop speed, a start / stop motion time and motion parameter limits; determining the relation between the motion total time T' and the given start / stop motion time T, and rounding theT' to the time T according to the equivalent periodic S curve if T' cannot satisfy the given start / stop motion time T; calculating the interpolation displacement under an interpolation period if the T' satisfies the given start / stop motion time T.

Description

technical field [0001] The invention relates to the field of motion control of a numerical control system, in particular to a PVT control method based on an S-curve. Background technique [0002] The PVT (position-velocity-time) control method is to input the first and last position P, speed V, and time T, and set the motion parameter limit at the same time. The control system automatically plans the periodic interpolation displacement to meet the first and last speed within the specified time T. The specified position P is reached under the premise of V. [0003] In the prior art, it is proposed to use a cubic polynomial to fit the PVT curve, and the first and last positions and first and last velocities are known, and a quaternary linear equation system is constructed to solve a one-variable cubic equation with time t as an independent variable. During periodic interpolation, the control system inputs the interpolation time to obtain the interpolation displacement, and dr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/41G05B19/19
CPCG05B19/19G05B19/41
Inventor 张承瑞倪鹤鹏王公成胡天亮姬帅
Owner SHANDONG UNIV
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