摘要
针对传统查表法和卷积法在加减速控制中存在运行时间长、加速度以及加加速度不连续的缺点,在分析梯形、S形加减速算法原理的基础上提出基于现场可编程门阵列的4次S形加减速连续积分控制算法。该算法采用Ver⁃ilog硬件描述语言编写电机控制程序,并利用Modelsim软件进行加减速功能仿真。实验结果表明,与查表法和卷积法加减速控制算法相比,该算法对步进电机进行加减速控制能够缩短加工时间、减少电机失步、提高工作效率,对于优化运动控制系统具有重要意义。
In response to the shortcomings of traditional table lookup and convolution methods in acceleration and deceleration control,such as long running time,discontinuous acceleration,and acceleration,a fourth order S-shaped acceleration and deceleration continuous integra⁃tion control algorithm based on field programmable gate array is proposed on the basis of analyzing the principles of trapezoidal and S-shaped acceleration and deceleration algorithms.The algorithm uses Verilog hardware description language to write motor control program,and uses Modelsim software to simulate acceleration and deceleration functions.The experimental results show that compared with the table lookup meth⁃od and convolutional method for acceleration and deceleration control,this algorithm can shorten processing time,reduce motor out of step,improve work efficiency,and is of great significance for optimizing motion control systems.
作者
孔祥晔
周锋
郭乃宏
王如刚
KONG Xiangye;ZHOU Feng;GUO Naihong;WANG Rugang(School of Information Technology,Yancheng Institute of Technology,Yancheng 224051,China;Yancheng Xiongying Precision Machinery Company Limited,Yancheng 224006,China)
出处
《软件导刊》
2023年第8期72-78,共7页
Software Guide
基金
国家自然科学基金项目(61673108)
江苏省研究生实践创新计划项目(SJCX22_1685,SJCX21_1517)
江苏省高等学校自然科学研究重大项目(19KJA110002)
江苏省高校自然科学研究面上项目(18KJD510010,19KJB510061)
江苏省自然科学基金项目(BK20181050)
