Versatile square type acceleration and deceleration control algorithm

Abstract

The invention discloses a normal vector square type acceleration and deceleration control algorithm, which belongs to the technical field of motion control in a numerical control system, and comprises algorithm input parameters including a system mechanical property constraint condition, a track constraint condition and an output time parameter. The method comprises the following four steps: defining a time parameter, defining a relational expression between each parameter curve of the researched versine square type acceleration and deceleration algorithm and the time parameter, implementing the versine square type acceleration and deceleration control algorithm, and implementing the versine square type acceleration and deceleration control algorithm. The motion time of seven motion sections output by the sine square curve acceleration and deceleration control is determined, and the jerk, the acceleration and the speed do not exceed the mechanical performance constraint of the system, so that the sine curve acceleration and deceleration control algorithm can be implemented, the acceleration is continuous, the system excitation is reduced, and the jerk is continuous and smooth. The continuity and smoothness of a speed curve are met, and the vibration of the vertical column of the stacking machine is inhibited.

Description

technical field [0001] The invention relates to the technical field of motion control in numerical control systems, and more particularly, to a sine square type acceleration and deceleration control algorithm. Background technique [0002] The stacker is the core handling equipment of the intelligent three-dimensional warehouse. Its own performance index affects the entire logistics system and directly determines the access efficiency and cost. In the current society, the continuous development of stackers, the height is getting higher and the speed is getting faster and faster, the problem is that the column vibration is getting bigger and bigger, which greatly affects the movement stability and efficiency of the stacker. [0003] The stacker uses the trapezoidal acceleration and deceleration algorithm to have discontinuous acceleration, which is likely to cause column vibration; the traditional S-shaped acceleration and deceleration algorithm has continuous acceleration bu...

AI Technical Summary

Problems solved by technology

In the current society, the stacker continues to develop, the height is getting higher and higher, and the speed is getting faster and faster. The problem is that the vibration of the column is getting bigger and bigger, which greatly affects the stability and efficiency of the stacker.

[0003] The stacker uses the trapezoidal acceleration and deceleration algorithm with discontinuous acceleration, which is likely to cause column vibration; although the traditional S-shaped acceleration and deceleration algorithm has continuous acceleration, the jerk is discontinuous, and there is a flexible impact; in the sinusoidal acceleration and deceleration algorithm, the jerk appears at each endpoint Step change, also has vibration shock

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