CN106647838B - A kind of position-force control method and device - Google Patents
A kind of position-force control method and device Download PDFInfo
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- CN106647838B CN106647838B CN201710096251.8A CN201710096251A CN106647838B CN 106647838 B CN106647838 B CN 106647838B CN 201710096251 A CN201710096251 A CN 201710096251A CN 106647838 B CN106647838 B CN 106647838B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The present invention provides a kind of position-force control method and devices, this method comprises: within the current servo period, successively the positional value of acquisition control object and record acquisition time according to prefixed time interval；Judge whether control object moves in place according to present position values and target location value, present position values are the positional value of last time acquisition in the current servo period；If not moving in place, according to present position values and the difference of target location value, each positional value of acquisition and its corresponding acquisition time, present speed output valve is calculated；Threshold value restriction is carried out to present speed output valve according to threshold speed, obtains actual speed output valve；According to difference, actual speed output valve and the predetermined acceleration value of present position values and target location value, control control object movement.Based on method disclosed above, the motion path of planning control object in advance is realized, a possibility that control object overshoot or even driving phenomenon occurs to be effectively reduced.
Description
Technical field
The present invention relates to position-force control fields, more specifically to a kind of position-force control method and device.
Background technique
Position-force control is a kind of method for making control object move to target location according to default rule or track.
As shown in Figure 1 it is existing position-force control block diagram, mainly includes positioner 101, speed control
102, executing agency 103 and control object 104.Current position closed loop control method specifically includes that in a servo period, position
The position deviation amount that controller calculates control object by the target location value and collected positional value of comparison control object is set,
Speed control is according to position deviation amount and collected fast metric calculation present speed output quantity, so that executing agency is according to working as
Preceding output speed amount drive control object moves to target location.But it has been investigated that, utilize current this position closed loop
Control method drive control object is easy to appear control object overshoot even driving during moving.
Therefore, how to be effectively reduced and a possibility that control object overshoot or even driving phenomenon occur, be those skilled in the art
The problem of member's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of position-force control method and device, driven with solving existing technical solution
The problem of being easy to appear control object overshoot or even driving during dynamic control object movement.Technical solution is as follows:
A kind of position-force control method, comprising:
Within the current servo period, according to the prefixed time interval successively positional value of acquisition control object and when recording acquisition
Between point；
Judge whether the control object moves in place according to present position values and target location value, the present position values
For the positional value acquired for the last time in the current servo period；
If do not move in place, according to the difference of the present position values and the target location value, acquisition it is each described
Positional value and its corresponding acquisition time calculate present speed output valve；
Threshold value restriction is carried out to the present speed output valve according to threshold speed, obtains actual speed output valve；
According to the difference of the present position values and the target location value, the actual speed output valve and default acceleration
Angle value controls the control object movement.
Preferably, difference, each institute's rheme of acquisition according to the present position values and the target location value
It sets value and its corresponding acquisition time, calculates present speed output valve, comprising:
Difference and preset ratio-Integrated Derivative algorithm according to the present position values and the target location value calculates
Regulations speed；
Each institute's location value of acquisition and its corresponding acquisition time are fitted according to least square method
It calculates, obtains fitting rate；
Present speed output valve is calculated based on the regulations speed, the fitting rate and its corresponding weighted value.
Preferably, it is described according to least square method to each institute's location value and its corresponding acquisition time of acquisition
Point carries out the Fitting Calculation, obtains fitting rate, comprising:
According to each institute's location value of acquisition and its corresponding acquisition time, corresponding coordinate points are drawn；
Processing is fitted to each coordinate points, obtains matched curve；
Calculate the slope of the matched curve；
According to the slope and default fitting coefficient digital simulation rate.
Preferably, described that threshold value restriction is carried out to the present speed output valve according to threshold speed, obtain actual speed
Output valve, comprising:
Compare the present speed output valve and threshold speed；
When the present speed output valve is more than or equal to the threshold speed, the threshold speed is determined as practical speed
Spend output valve；
When the present speed output valve is less than the threshold speed, the present speed output valve is determined as reality
Speed output valve.
Preferably, described to be exported according to the difference of the present position values and the target location value, the actual speed
Value and predetermined acceleration value control the control object movement, comprising:
Deceleration shift value is calculated according to the actual speed output valve and predetermined acceleration value, the deceleration shift value is to work as
The control object is retarded motion to stopping using the predetermined acceleration value using the actual speed output valve as initial rate
Shift value only；
Compare the present position values and the target location value difference and the deceleration shift value；
When the difference of the present position values and the target location value is greater than the deceleration shift value, the reality is judged
Whether border speed output valve is the threshold speed；
If so, controlling the control object according to the actual speed output valve uniform motion；
If it is not, controlling the control object using the actual speed output valve as initial rate, and with the default acceleration
Angle value accelerates；
When the difference of the present position values and the target location value is less than or equal to the deceleration shift value, institute is controlled
Control object is stated using the actual speed output valve as initial rate, and with the predetermined acceleration value retarded motion.
A kind of position-force control device, comprising: judgment module, present speed export in place for acquisition and recording module, movement
It is worth computing module, actual speed output valve obtains module and motion-control module；
The acquisition and recording module, within the current servo period, according to prefixed time interval successively acquisition control pair
The positional value of elephant simultaneously records acquisition time；
It is described to move judgment module in place, for judging that the control object is with target location value according to present position values
In place, the present position values are the positional value of last time acquisition in the current servo period for no movement；
The present speed output valve computing module, if for do not move in place, according to the present position values with it is described
The difference of target location value, each institute's location value of acquisition and its corresponding acquisition time, it is defeated to calculate present speed
It is worth out；
The actual speed output valve obtains module, for carrying out threshold to the present speed output valve according to threshold speed
Value limits, and obtains actual speed output valve；
The motion-control module, for difference, the reality according to the present position values and the target location value
Border speed output valve and predetermined acceleration value control the control object movement.
Preferably, the present speed output valve computing module, is specifically used for:
Difference and preset ratio-Integrated Derivative algorithm according to the present position values and the target location value calculates
Regulations speed；Each institute's location value of acquisition and its corresponding acquisition time are fitted according to least square method
It calculates, obtains fitting rate；Current speed is calculated based on the regulations speed, the fitting rate and its corresponding weighted value
Spend output valve.
Preferably, it is described according to least square method to each institute's location value and its corresponding acquisition time of acquisition
Point carries out the Fitting Calculation, obtains the present speed output valve computing module of fitting rate, is specifically used for:
According to each institute's location value of acquisition and its corresponding acquisition time, corresponding coordinate points are drawn；It is right
Each coordinate points are fitted processing, obtain matched curve；Calculate the slope of the matched curve；According to the slope and
Default fitting coefficient digital simulation rate.
Preferably, the actual speed output valve obtains module, is specifically used for:
Compare the present speed output valve and threshold speed；When the present speed output valve is more than or equal to the speed
When threshold value, the threshold speed is determined as actual speed output valve；When the present speed output valve is less than the speed threshold
When value, the present speed output valve is determined as actual speed output valve.
Preferably, the motion-control module, is specifically used for:
Deceleration shift value is calculated according to the actual speed output valve and predetermined acceleration value, the deceleration shift value is to work as
The control object is retarded motion to stopping using the predetermined acceleration value using the actual speed output valve as initial rate
Shift value only；Compare the present position values and the target location value difference and the deceleration shift value；Work as when described
When front position value and the difference of the target location value are greater than the deceleration shift value, whether the actual speed output valve is judged
For the threshold speed；If so, controlling the control object according to the actual speed output valve uniform motion；If it is not, control
The control object is accelerated using the actual speed output valve as initial rate with the predetermined acceleration value；Work as institute
When stating the difference of present position values and the target location value and being less than or equal to the deceleration shift value, control the control object with
The actual speed output valve is initial rate, and with the predetermined acceleration value retarded motion.
Compared to the prior art, what the present invention realized has the beneficial effect that
A kind of above position-force control method and device provided by the invention, this method according in the current servo period most
The present position values of one acquisition judge whether control object moves in place afterwards, also, when not moving in place, according to currently watching
It takes each positional value acquired in the period and its corresponding acquisition time calculates present speed output valve, and introduce threshold speed
Threshold value is carried out to present speed output valve to limit to obtain actual speed output valve, controls control object finally by pre-add velocity amplitude
Movement.Based on method disclosed by the invention, the motion path of planning control object in advance is realized, is controlled to be effectively reduced
A possibility that object overshoot processed or even driving phenomenon.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is existing position-force control block diagram；
Fig. 2 is a kind of position-force control method flow diagram disclosed in the embodiment of the present invention one；
Fig. 3 is a kind of position-force control method partial process view disclosed in the embodiment of the present invention two；
Fig. 4 is another kind position-force control method partial process view disclosed in the embodiment of the present invention two；
Fig. 5 is another kind position-force control method partial process view disclosed in the embodiment of the present invention two；
Fig. 6 is another kind position-force control method partial process view disclosed in the embodiment of the present invention two；
Fig. 7 is a kind of position-force control apparatus structure schematic diagram disclosed in the embodiment of the present invention three.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
The embodiment of the present invention one discloses a kind of position-force control method, is applied to position-force control device, method
Flow chart is as shown in Fig. 2, the position-force control method includes the following steps:
S101, within the current servo period, according to the positional value and record of prefixed time interval successively acquisition control object
Acquisition time；
During executing step S101, acquisition control object can be realized by the way that sensor is arranged in control object
Positional value according to the positional value of prefixed time interval control sensor acquisition control object, and is remembered in each servo period
Record acquisition time.
S102 judges whether control object moves in place according to present position values and target location value, and present position values are
The positional value of last time acquisition in the current servo period；
During executing step S102, by judging whether the difference of present position values and target location value is 0
Determine whether control object moves in place；If difference is 0, then it represents that movement is in place；If difference is not 0, then it represents that do not move in place；Into
One step, according to the positive and negative of the difference of present position values and target location value, that is, it can determine the direction of motion of control object.
S103, if do not move in place, according to the difference of present position values and target location value, acquisition each positional value and
Its corresponding acquisition time calculates present speed output valve；
S104 carries out threshold value restriction to present speed output valve according to threshold speed, obtains actual speed output valve；
S105, according to difference, actual speed output valve and the predetermined acceleration value of present position values and target location value, control
Control object movement processed.
It should be noted that if movement is in place, S106 is thened follow the steps, generates and reaches target position for characterization control object
The prompt information set；Suggestion device receives the prompt information can carry out prompt control object arrival target position in a preset form
It sets；Such as suggestion device can be warning light, warning light flashing lights or converts display color and can indicate that control object arrives
Up to target position.
A kind of position-force control method disclosed by the embodiments of the present invention, according to being acquired for the last time in the current servo period
Present position values judge whether control object moves in place, also, when not moving in place, according to being adopted in the current servo period
Each positional value of collection and its corresponding acquisition time calculate present speed output valve, and introduce threshold speed to present speed
Output valve carries out threshold value and limits to obtain actual speed output valve, finally by the control control object movement of pre-add velocity amplitude.It is based on
Method disclosed by the invention, realizes the motion path of planning control object in advance, surpasses to be effectively reduced and control object occur
A possibility that adjusting even driving phenomenon.
Embodiment two
The position-force control method in conjunction with disclosed in the embodiments of the present invention one, in step S103 as illustrated in FIG. 2
Worked as according to present position values with the difference of target location value, each positional value of acquisition and its corresponding acquisition time, calculating
The specific implementation procedure of preceding speed output valve, as shown in figure 3, including the following steps:
S201 is calculated according to the difference and preset ratio of present position values and target location value-Integrated Derivative algorithm and is adjusted
Rate；
During executing step S201, by the way that the difference of present position values and target location value is substituted into default ratio
Adjustment speed value is calculated in example-Integrated Derivative algorithm u (k)=u (k-1)+A*e (k-1)+B*e (k-2), wherein u (k) is to adjust
Velocity amplitude is saved, u (k-1) is last adjustment speed value, and e (k-1) is the difference of present position values and target location value, e (k-
It 2) is the value of e (k-1) in last adjustment process, A is the first predetermined deviation coefficient, and B is the second predetermined deviation coefficient, if it is
It calculates for the first time, then u (k-1) and e (k-2) is 0, and every calculating is primary, and the value of k just adds 1.
S202 is fitted meter to each positional value of acquisition and its corresponding acquisition time according to least square method
It calculates, obtains fitting rate；
S203 calculates present speed output valve based on regulations speed, fitting rate and its corresponding weighted value；
During executing step S203, the weighted value of regulations speed and fitting rate can specifically be set according to actual needs
It sets, the sum of weighted value of the two is 1, it is assumed that adjustment speed value is u, and fitting velocity amplitude is m, and corresponding weighted value divides
Not Wei a and 1-a, then present speed output valve be u*a+m* (1-a).
A kind of position-force control method disclosed by the embodiments of the present invention, when judging that control object does not move in place, root
Regulations speed, each positional value according to acquisition and its corresponding acquisition are calculated with the difference of target location value according to present position values
Time point digital simulation rate finally calculates present speed according to regulations speed, fitting rate and its corresponding weighted value
Output valve, and introduce threshold speed and present speed output valve progress threshold value is limited to obtain actual speed output valve, finally by
Pre-add velocity amplitude controls control object movement.Based on method disclosed by the invention, the movement of planning control object in advance is realized
There is a possibility that control object overshoot or even driving phenomenon to be effectively reduced in path.
The position-force control method in conjunction with disclosed in the embodiments of the present invention two, in step S202 as illustrated in FIG. 3
Calculating is fitted to each positional value of acquisition and its corresponding acquisition time according to least square method, obtains fitting rate
Specific implementation procedure, as shown in figure 4, including the following steps:
S301 draws corresponding coordinate points according to each positional value of acquisition and its corresponding acquisition time；
During executing step S301, it can be constructed according to each positional value of acquisition and its corresponding acquisition time
Coordinate system specifically can set y-axis for position, will be set as x-axis the time, and then draw corresponding coordinate points.
S302 is fitted processing to each coordinate points, obtains matched curve；
S303, digital simulation slope of a curve；
During executing step S303, if coordinate system y-axis is position, if x-axis is the time, then matched curve
Slope be current fitting velocity amplitude.
S304, according to slope and default fitting coefficient digital simulation rate.
A kind of position-force control method disclosed by the embodiments of the present invention, when judging that control object does not move in place, root
Regulations speed, each positional value according to acquisition and its corresponding acquisition are calculated with the difference of target location value according to present position values
Time point digital simulation rate finally calculates present speed according to regulations speed, fitting rate and its corresponding weighted value
Output valve, and introduce threshold speed and present speed output valve progress threshold value is limited to obtain actual speed output valve, finally by
Pre-add velocity amplitude controls control object movement.Based on method disclosed by the invention, the movement of planning control object in advance is realized
There is a possibility that control object overshoot or even driving phenomenon to be effectively reduced in path.
The position-force control method in conjunction with disclosed in the embodiments of the present invention one, in step S104 as illustrated in FIG. 2
Threshold value restriction is carried out to present speed output valve according to threshold speed, obtains the specific implementation procedure of actual speed output valve, such as
Shown in Fig. 5, include the following steps:
S401 compares present speed output valve and threshold speed；
Threshold speed is determined as actual speed output when present speed output valve is more than or equal to threshold speed by S402
Value；
It is defeated to be determined as actual speed when present speed output valve is less than threshold speed by S403 for present speed output valve
It is worth out.
A kind of position-force control method disclosed by the embodiments of the present invention, when judging that control object does not move in place, root
Present speed output valve is calculated according to each positional value acquired in the current servo period and its corresponding acquisition time, and is introduced
Threshold speed carries out threshold value to present speed output valve and limits to obtain actual speed output valve, controls finally by pre-add velocity amplitude
Control object movement.Based on method disclosed by the invention, the motion path of planning control object in advance is realized, to effectively drop
It is low a possibility that control object overshoot or even driving phenomenon occur.
The position-force control method in conjunction with disclosed in the embodiments of the present invention one, in step S105 as illustrated in FIG. 2
According to difference, actual speed output valve and the predetermined acceleration value of present position values and target location value, control control object fortune
Dynamic specific implementation procedure, as shown in fig. 6, including the following steps:
S501 calculates deceleration shift value according to actual speed output valve and predetermined acceleration value, and deceleration shift value is when control
Object processed using actual speed output valve as initial rate, and using predetermined acceleration value as retarded motion to stop shift value；
S=va 2/2a
Wherein, s is deceleration shift value, vaFor actual speed output valve, a is predetermined acceleration value.
S502 compares the difference and deceleration shift value of present position values and target location value；
S503 judges that actual speed exports when the difference of present position values and target location value is greater than deceleration shift value
Whether value is threshold speed；
S504, if so, control control object is according to actual speed output valve uniform motion；
S505, if it is not, controlling control object using actual speed output valve as initial rate, and with the acceleration of predetermined acceleration value
Movement；
S506 controls control object when the difference of present position values and target location value is less than or equal to deceleration shift value
Using actual speed output valve as initial rate, and with predetermined acceleration value retarded motion.
A kind of position-force control method disclosed by the embodiments of the present invention, when judging that control object does not move in place, root
Present speed output valve is calculated according to each positional value acquired in the current servo period and its corresponding acquisition time, and is introduced
Threshold speed carries out threshold value to present speed output valve and limits to obtain actual speed output valve, controls finally by pre-add velocity amplitude
Control object movement.Based on method disclosed by the invention, the motion path of planning control object in advance is realized, to effectively drop
It is low a possibility that control object overshoot or even driving phenomenon occur.
Embodiment three
Based on position-force control method disclosed in the embodiments of the present invention one and embodiment two, the embodiment of the present invention is then
Correspondence discloses the position-force control device of execution method, and structural schematic diagram is as shown in fig. 7, position-force control device
200, comprising: judgment module 202, present speed output valve computing module 203, reality are fast in place for acquisition and recording module 201, movement
It spends output valve and obtains module 204 and motion-control module 205；
Acquisition and recording module 201, within the current servo period, according to prefixed time interval successively acquisition control object
Positional value and record acquisition time；
Judgment module 202 in place are moved, for judging whether control object transports with target location value according to present position values
It moves in place, present position values are the positional value of last time acquisition in the current servo period；
Present speed output valve computing module 203, if for not moving in place, according to present position values and target location value
Difference, acquisition each positional value and its corresponding acquisition time, calculate present speed output valve；
Actual speed output valve obtains module 204, for carrying out threshold value limit to present speed output valve according to threshold speed
It is fixed, obtain actual speed output valve；
Motion-control module 205, for according to the difference of present position values and target location value, actual speed output valve and
Predetermined acceleration value, control control object movement.
It should be noted that present speed output valve computing module 203, is specifically used for:
Regulations speed is calculated according to the difference and preset ratio of present position values and target location value-Integrated Derivative algorithm；
Calculating is fitted to each positional value of acquisition and its corresponding acquisition time according to least square method, obtains fitting speed
Rate；Present speed output valve is calculated based on regulations speed, fitting rate and its corresponding weighted value.
It should also be noted that, being clicked through according to least square method to each positional value of acquisition and its corresponding acquisition time
Row the Fitting Calculation obtains the present speed output valve computing module 203 of fitting rate, is specifically used for:
According to each positional value of acquisition and its corresponding acquisition time, corresponding coordinate points are drawn；To each coordinate
Point carries out process of fitting treatment, obtains matched curve；Digital simulation slope of a curve；According to slope and default fitting coefficient digital simulation
Rate.
It should also be noted that, actual speed output valve obtains module 204, it is specifically used for:
Compare present speed output valve and threshold speed；It, will be fast when present speed output valve is more than or equal to threshold speed
Degree threshold value is determined as actual speed output valve；It is when present speed output valve is less than threshold speed, present speed output valve is true
It is set to actual speed output valve.
It should be noted motion-control module 205, be specifically used for:
Deceleration shift value is calculated according to actual speed output valve and predetermined acceleration value, deceleration shift value is to work as control object
Using actual speed output valve as initial rate, and using predetermined acceleration value as retarded motion to the shift value stopped；Compare current
The difference of positional value and target location value and deceleration shift value；When the difference of present position values and target location value is greater than deceleration position
When shifting value, judge whether actual speed output valve is threshold speed；If so, control control object is even according to actual speed output valve
Speed movement；If it is not, controlling control object using actual speed output valve as initial rate, and with the accelerated motion of predetermined acceleration value；
When the difference of present position values and target location value is less than or equal to deceleration shift value, control control object is exported with actual speed
Value is initial rate, and with predetermined acceleration value retarded motion.
A kind of position-force control device disclosed by the embodiments of the present invention, according to being acquired for the last time in the current servo period
Present position values judge whether control object moves in place, also, when not moving in place, according to being adopted in the current servo period
Each positional value of collection and its corresponding acquisition time calculate present speed output valve, and introduce threshold speed to present speed
Output valve carries out threshold value and limits to obtain actual speed output valve, finally by the control control object movement of pre-add velocity amplitude.It is based on
Device disclosed by the invention, realizes the motion path of planning control object in advance, surpasses to be effectively reduced and control object occur
A possibility that adjusting even driving phenomenon.
A kind of position-force control method and device provided by the present invention is described in detail above, is answered herein
With a specific example illustrates the principle and implementation of the invention, the explanation of above example is only intended to help to manage
Solve method and its core concept of the invention；At the same time, for those skilled in the art, according to the thought of the present invention,
There will be changes in specific embodiment and application range, in conclusion the content of the present specification should not be construed as to this hair
Bright limitation.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For the device disclosed in the embodiment, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, phase
Place is closed referring to method part illustration.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the element that the process, method, article or equipment including a series of elements is intrinsic,
It further include either the element intrinsic for these process, method, article or equipments.In the absence of more restrictions,
The element limited by sentence "including a ...", it is not excluded that in the process, method, article or equipment including the element
In there is also other identical elements.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (8)
1. a kind of position-force control method characterized by comprising
Within the current servo period, successively the positional value of acquisition control object and acquisition time is recorded according to prefixed time interval
Point；
Judge whether the control object moves in place according to present position values and target location value, the present position values are institute
State the positional value of last time acquisition in the current servo period；
If not moving in place, according to the difference of the present position values and the target location value, each position of acquisition
Value and its corresponding acquisition time calculate present speed output valve；
Threshold value restriction is carried out to the present speed output valve according to threshold speed, obtains actual speed output valve；
Difference, the actual speed output valve and predetermined acceleration according to the present position values and the target location value
Value controls the control object movement；
Wherein, it is described according to the difference of the present position values and the target location value, each institute's location value of acquisition and
Its corresponding described acquisition time calculates present speed output valve, comprising:
Difference and preset ratio-Integrated Derivative algorithm according to the present position values and the target location value, which calculates, to be adjusted
Rate；
Calculating is fitted to each institute's location value of acquisition and its corresponding acquisition time according to least square method,
Obtain fitting rate；
Present speed output valve is calculated based on the regulations speed, the fitting rate and its corresponding weighted value.
2. the method according to claim 1, wherein it is described according to least square method to each institute's rheme of acquisition
It sets value and its corresponding acquisition time is fitted calculating, obtain fitting rate, comprising:
According to each institute's location value of acquisition and its corresponding acquisition time, corresponding coordinate points are drawn；
Processing is fitted to each coordinate points, obtains matched curve；
Calculate the slope of the matched curve；
According to the slope and default fitting coefficient digital simulation rate.
3. the method according to claim 1, wherein it is described according to threshold speed to the present speed output valve
Threshold value restriction is carried out, actual speed output valve is obtained, comprising:
Compare the present speed output valve and threshold speed；
When the present speed output valve is more than or equal to the threshold speed, it is defeated that the threshold speed is determined as actual speed
It is worth out；
When the present speed output valve is less than the threshold speed, the present speed output valve is determined as actual speed
Output valve.
4. the method according to claim 1, wherein described according to the present position values and the target position
The difference of value, the actual speed output valve and predetermined acceleration value control the control object movement, comprising:
Deceleration shift value is calculated according to the actual speed output valve and predetermined acceleration value, the deceleration shift value is when described
Control object using the actual speed output valve as initial rate, and using the predetermined acceleration value as retarded motion to stop
Shift value；
Compare the present position values and the target location value difference and the deceleration shift value；
When the difference of the present position values and the target location value is greater than the deceleration shift value, the practical speed is judged
Spend whether output valve is the threshold speed；
If so, controlling the control object according to the actual speed output valve uniform motion；
If it is not, controlling the control object using the actual speed output valve as initial rate, and with the predetermined acceleration value
It accelerates；
When the difference of the present position values and the target location value is less than or equal to the deceleration shift value, the control is controlled
Object processed is using the actual speed output valve as initial rate, and with the predetermined acceleration value retarded motion.
5. a kind of position-force control device characterized by comprising acquisition and recording module, movement judgment module, current in place
Speed output valve computing module, actual speed output valve obtain module and motion-control module；
The acquisition and recording module, within the current servo period, according to prefixed time interval successively acquisition control object
Positional value simultaneously records acquisition time；
It is described to move judgment module in place, for judging whether the control object transports with target location value according to present position values
It moves in place, the present position values are the positional value of last time acquisition in the current servo period；
The present speed output valve computing module, if for not moving in place, according to the present position values and the target
The difference of positional value, each institute's location value of acquisition and its corresponding acquisition time calculate present speed output valve；
The actual speed output valve obtains module, for carrying out threshold value limit to the present speed output valve according to threshold speed
It is fixed, obtain actual speed output valve；
The motion-control module, for difference, the practical speed according to the present position values and the target location value
Output valve and predetermined acceleration value are spent, the control object movement is controlled；
Wherein, the present speed output valve computing module, is specifically used for:
Difference and preset ratio-Integrated Derivative algorithm according to the present position values and the target location value, which calculates, to be adjusted
Rate；Meter is fitted to each institute's location value of acquisition and its corresponding acquisition time according to least square method
It calculates, obtains fitting rate；Present speed is calculated based on the regulations speed, the fitting rate and its corresponding weighted value
Output valve.
6. device according to claim 5, which is characterized in that it is described according to least square method to each institute's rheme of acquisition
It sets value and its corresponding acquisition time is fitted calculating, the present speed output valve for obtaining fitting rate calculates
Module is specifically used for:
According to each institute's location value of acquisition and its corresponding acquisition time, corresponding coordinate points are drawn；To each
The coordinate points are fitted processing, obtain matched curve；Calculate the slope of the matched curve；According to the slope and preset
Fitting coefficient digital simulation rate.
7. device according to claim 5, which is characterized in that the actual speed output valve obtains module, is specifically used for:
Compare the present speed output valve and threshold speed；When the present speed output valve is more than or equal to the threshold speed
When, the threshold speed is determined as actual speed output valve；When the present speed output valve is less than the threshold speed,
The present speed output valve is determined as actual speed output valve.
8. device according to claim 5, which is characterized in that the motion-control module is specifically used for:
Deceleration shift value is calculated according to the actual speed output valve and predetermined acceleration value, the deceleration shift value is when described
Control object using the actual speed output valve as initial rate, and using the predetermined acceleration value as retarded motion to stop
Shift value；Compare the present position values and the target location value difference and the deceleration shift value；When the present bit
When setting the difference of value and the target location value greater than the deceleration shift value, judge whether the actual speed output valve is institute
State threshold speed；If so, controlling the control object according to the actual speed output valve uniform motion；If it is not, described in control
Control object is accelerated using the actual speed output valve as initial rate with the predetermined acceleration value；
When the difference of the present position values and the target location value is less than or equal to the deceleration shift value, the control is controlled
Object processed is using the actual speed output valve as initial rate, and with the predetermined acceleration value retarded motion.
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