摘要
二轴联动控制器在金属表面刻画图案软件部分的研究,包括轨迹模拟、速度规划、拐角处理和时间最优四个方面问题的讨论。通过分析梯形速度规划算法,指出该算法在运行过程中出现的缺点。同时依据加速度连续原则,采用五段S型曲线的速度控制算法,在拐点处则采用内切圆轨迹近似拟合。经检验,S型速度规划算法一定程度上减小了机械振动噪声和震荡。
The velocity planning research of 2-axial motion controller in the plane,including trajectory modeling,planning speed,corner treatment and the optimal time.By analyzing the trapezoidal velocity planning algorithm,it pointed out the shortcomings of the algorithm appears during operation.At the same time based on the principle of continuous acceleration,with five segment S-curve speed control algorithm,the inflection point in the adoption of the inscribed circle track approximate fit.
出处
《工业控制计算机》
2017年第3期49-50,52,共3页
Industrial Control Computer
关键词
速度规划
S型速度曲线
velocity planning
S Velocity planning algorithm
