Method for producing analog type position S-shape smooth order

Abstract

The invention relates to a method for generating S-type smooth command at analogue position, which is used to smooth the motion command, wherein it mainly uses accumulation asymmetry structure and reference point process, to provide low calculation and high resolution, to meet the response time of acceleration and reduction; then uses analogue speed S-curvature command generator, to smooth the position command.

Description

technical field [0001] The invention relates to a motion command smoothing processing technology, in particular to a method for generating an analog position S-type smoothing command. Background technique [0002] In the motion control process of the servo module, different acceleration and deceleration time settings are often required due to the difference in friction and load inertia. Therefore, a command generator is used to smooth the motion command during the motion process. To meet the physical characteristics of the operation. At present, the generation method of smoothing command is mainly the equation method. [0003] Generally speaking, the point-to-point motion is calculated by the host controller or dedicated controller, and the motion command is smoothed, and then the positioning is achieved by inputting in the form of pulses. However, they all need to derive the required position equation from the parameters planned in advance, so the use still requires a lot...

AI Technical Summary

Problems solved by technology

However, they all need to derive the required position equation from the parameters planned in advance, so the use still requires a lot of mathematical operations, or it needs to be equipped with a pulse generating device, such as a digital differential analyzer, to generate point-to-point positioning. pulse

[0004] However, in order to obtain the position command, the user needs to build in a dedicated function, or use a high-speed computing unit and a high-resolution mathematical operator to perform a large number of mathematical operations, otherwise this function cannot be achieved

In addition, when the position command generator needs to be equipped with a pulse generating device, it means that the resolution provided by the position command generator is not enough

Furthermore, since the digital differential analyzer is mainly used to provide a uniform pulse output for a period of time, the user needs to build this function with other hardware to achieve zero error in the output. However, the user needs to Additional costs for these hardware

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