CN108958169A - A kind of PVT control method based on S curve - Google Patents

A kind of PVT control method based on S curve Download PDF

Info

Publication number
CN108958169A
CN108958169A CN201810842983.1A CN201810842983A CN108958169A CN 108958169 A CN108958169 A CN 108958169A CN 201810842983 A CN201810842983 A CN 201810842983A CN 108958169 A CN108958169 A CN 108958169A
Authority
CN
China
Prior art keywords
curve
whole story
time
control method
method based
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810842983.1A
Other languages
Chinese (zh)
Other versions
CN108958169B (en
Inventor
张承瑞
倪鹤鹏
王公成
胡天亮
姬帅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University
Original Assignee
Shandong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong University filed Critical Shandong University
Priority to CN201810842983.1A priority Critical patent/CN108958169B/en
Publication of CN108958169A publication Critical patent/CN108958169A/en
Application granted granted Critical
Publication of CN108958169B publication Critical patent/CN108958169B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)

Abstract

The PVT control method based on S curve that the invention discloses a kind of, it solves the problems, such as that acceleration change is excessive in the prior art and easy in the process of running shakes, with can guarantee that speed, acceleration is continuous, speed changes greatly brief acceleration within the time will not occur excessive jitter phenomenon, so that more stable, processing efficiency higher effect when digital control system is processed；Its technical solution are as follows: limited by given whole story position, whole story speed, whole story run duration and kinematic parameter, obtain movement total time T ' using S curve acceleration and deceleration；The relationship of judgement movement total time T ' and given whole story run duration T, in the case where T ' is unsatisfactory for giving whole story run duration T, by T ' according to equal periods S curve rounding to time T；When T ' meets given whole story run duration T, the interpolation displacement under interpolation cycle is calculated.

Description

A kind of PVT control method based on S curve
Technical field
The present invention relates to digital control system motion control field more particularly to a kind of PVT control methods based on S curve.
Background technique
PVT (position-Velocity-time) control mode is input first and last position P, speed V, time T, while movement ginseng is arranged Number limitation, control system are cooked up period interpolation displacement automatically, at the appointed time in T, are reached under the premise of meeting first and last speed V To designated position P.
It proposes in the prior art and is fitted PVT curve using 3 order polynomials, it is known that first and last position and first and last speed, construction Quaternary linear function group solves the simple cubic equation for obtaining doing independent variable with time t.In period interpolation, control system is defeated Entering the interpolation time acquires interpolation displacement, and driving actuator is to designated position.This mode calculates simply, is easy to plan, but its Acceleration is discontinuous, has greater impact at whole story position.
It proposes in the prior art and is fitted PVT curve using 5 order polynomials, it is known that first and last position, whole story speed, the whole story add Speed is equal to 0, constructs hexa-atomic linear function group and solves unitary sextic equation.This mode calculates more complex, whole story acceleration Degree is constrained to 0, will not impact, but brief acceleration variation is excessive to shake when speed V is changed greatly in time T Phenomenon.
In conclusion how to guarantee that acceleration is continuous in digital control system PVT motion control and will not send out for the prior art Raw jitter phenomenon, still shortage effective solution scheme.
Summary of the invention
For overcome the deficiencies in the prior art, the PVT control method based on S curve that the present invention provides a kind of, has It can guarantee that speed, acceleration is continuous, speed changes greatly brief acceleration within the time will not occur excessive jitter phenomenon, so that More stable, processing efficiency higher effect when digital control system is processed.
The present invention adopts the following technical solutions:
A kind of PVT control method based on S curve, by given whole story position, whole story speed, whole story run duration with And kinematic parameter limitation, movement total time T ' is obtained using S curve acceleration and deceleration；Judgement movement total time T ' and the given whole story move The relationship of time T, in the case where T ' is unsatisfactory for giving whole story run duration T, by T ' according to equal periods S curve rounding to time T；When T ' meets given whole story run duration T, the interpolation displacement under interpolation cycle is calculated.
Further, the equal periods S curve function using time t as independent variable: t=Φ (t') is constructed；
Wherein, t ' indicates the rounding time.
Further, as T' > T, the periods S curve such as construction shortens time T' to T；Run duration becomes T after rounding, Proportion function is Φ ' (t).
Further, Φ ' is solvedmaxAnd Φ " 'max, wherein
According to Φ 'maxAnd Φ "maxObtain the functional equation of Φ (t) He Φ ' (t).
Further, cooking up runing time section by S curve is [0, T'], the time after waiting periods S curve rounding Section is [0, T], obtains movement total displacement:
Further, interpolation cycle is substituted into movement total displacement formula and obtains interpolation displacement.
Further, as T' < T, the periods S curve such as construction extends time T' to T.
Further, when solving movement total time T', given whole story position P, whole story speed V, whole story acceleration are 0。
Compared with prior art, the beneficial effects of the present invention are:
The present invention is based on equal periods S curves to carry out PVT control, and the total time T' moved is being unsatisfactory for the given beginning In the case where last run duration T, T' is guaranteed to T in defined time, whole story speed according to equal periods S curve variation rounding Under, reach designated displacement；Acceleration is continuous during whole service, and when velocity variations are larger, acceleration will not occur Big jitter phenomenon guarantees the stability of digital control system；So that digital control system is more stable when processing, processing efficiency is higher.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is flow chart of the invention；
Fig. 2 is S curve acceleration and deceleration schematic diagram；
Fig. 3 is equal periods S curve shortening time diagram of the invention；
Fig. 4 is equal periods S curve figure of the invention；
Fig. 5 is equal periods S curve extension time diagram of the invention；
Fig. 6 is the big speed change speed curve diagram of PVT of the invention；
Fig. 7 is the big speed change acceleration plots of PVT of the invention；
Fig. 8 is the small speed change speed curve diagram of PVT of the invention；
Fig. 9 is the small speed change acceleration plots of PVT of the invention；
Figure 10 is quintic algebra curve PVT acceleration plots.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, exist in the prior art that acceleration change is excessive easy in the process of running to tremble Dynamic deficiency, in order to solve technical problem as above, the PVT control method based on S curve that present applicant proposes a kind of.
In a kind of typical embodiment of the application, a kind of PVT control method based on S curve is provided, using etc. Period S curve rounding running time T acquires the total time T' under the displacement by S curve acceleration-deceleration, as T'=T, calculates Interpolation displacement under interpolation cycle, and carry out interpolation output；As T'>T or T'<T, by T' according to equal periods S curve rounding To time T, guarantee under defined time, whole story speed, reaches designated displacement.
Acceleration is continuous in entire operational process, and when velocity variations are larger, excessive tremble will not occur for acceleration Dynamic phenomenon, guarantees the stability of digital control system.
Speed, acceleration and jerk curve in S curve acceleration and deceleration overall process as shown in Fig. 2, in PVT control, Whole story spot speed V is not identical, can be divided into three big sections: accelerating sections, at the uniform velocity section and braking section in the whole process, if distance is very short There is no at the uniform velocity section situations by Shi Keneng.
Accelerating sections be divided into again plus accelerating sections 1., even accelerating sections 2. and subtract accelerating sections 3., braking section be divided into accelerating and decelerating part 5., it is even 6. 7. braking section and subtracts braking section.
Since whole story speed is different, then the time of acceleration and deceleration is also different；Due to S type curve symmetric, accelerate and subtract acceleration Time identical t1=t3, subtract the time also identical t of acceleration and deceleration5=t7.In actual motion process, S curve may Not simultaneously comprising at the uniform velocity section, even accelerating sections, even braking section.
It is 0 and kinematic parameter by given whole story position P, whole story speed V, whole story acceleration in PVT control Limitation solves movement total time T', compares the relationship with given time T, so construct using interpolation time t' as independent variable etc. Period S curve function:
T=Φ (t') (1)
Wherein, t' indicates the rounding time.
PVT control method of the application based on S curve is specific as follows:
(1) as T' > T, the periods S curve such as construction shortens time T' to T.
As shown in figure 3, horizontal axis is time t, the longitudinal axis is proportion function Φ ' (t), and run duration is T' before non-rounding, than Horizontal example function is 1；After rounding, run duration becomes T, and proportion function becomes Φ ' (t), area and the protrusion of dash area Area equation, the area before and after rounding are constant.
1. periods S curve equations such as calculating:
S curve is piecewise function, solves S curve equation and first solves parameter therein: Φ 'max、Φ”max, as shown in figure 4, The maximum value of proportion function exists in equal periods S curvePlace, so
Equal periods S curve figure is as shown in figure 4, S1=S2=S3=S4, the integral area of S curve and the face of broken line triangle Product is equal.
Known t1=t2=t3=t4=t5=t6, by etc. area method obtain:
By formula (4), (5) and S curve characteristic equation, the functional equation of Φ (t) He Φ ' (t) are obtained.
2., PVT be displaced interpolation
Cooking up runing time section by S curve is [0, T'], the time interval after equal periods S curve rounding be [0, T], interpolation cycle changes, and the relationship for moving total displacement and speed is expressed as:
The functional equation that interpolation cycle t' is substituted into Φ (t) and Φ ' (t), obtains the time Φ (t') of current interpolation cycle With proportion function Φ ' (t'), interpolation displacement is acquired by formula (6).
(2), as T' < T, the periods S curve such as construction extends time T' to T.
As shown in figure 5, the area of dash area and concave area equation, the area before and after rounding is constant.
1., calculate etc. periods S curve equation:
WhenWhen, wait the solution mode of periods S curve equation identical with (1), details are not described herein again.
2., PVT be displaced interpolation
Cooking up runing time section by S curve is [0, T'], the time interval after equal periods S curve extends be [0, T], interpolation cycle, which is substituted into, by formula (6) solves interpolation displacement.
For formula (6), it is known that displacement versus time t be it is continuous guidable, ask first derivative that speed can be obtained displacement:
V (t)=S'(t)=v (Φ (t)) Φ ' (t)
Φ (t) is to wait periods S curve equation, can continuously be led on interval of definition [0, T], therefore, v (t) connects in section It is continuous, ask first derivative that can obtain acceleration speed:
A (t)=S " (t)=v'(t)=a (Φ (t)) Φ '2(t)+v(Φ(t))Φ”(t)
Know that Φ ' (t), Φ " (t) are continuous on interval of definition by S curve characteristic, a (t) is also continuous in section.
Therefore, the present processes are feasible.
In the another embodiment of the application, PVT control, kinematic parameter limitation are as follows: most are done with numerically-controlled machine tool single shaft 400 °/s of big rate limitation, peak acceleration limit 1000 °/s2, 80000 °/s of maximum acceleration limitation3。
Respectively give two groups of PVT, table 1 be adjacent periods T velocity variations it is larger, table 2 be adjacent periods T velocity variations compared with It is small.
Figure 10 is the quintic algebra curve acceleration plots under the conditions of, and acceleration change fluctuates very as can be seen from Figure Greatly.
Fig. 6~Fig. 7 is the period velocity of table 1, acceleration plots, it can be seen from the figure that velocity and acceleration when Between it is continuous in section, and when velocity variations are larger, acceleration floats in ± 17000.
Fig. 8~Fig. 9 is the period velocity of table 2, acceleration plots, it can be seen from the figure that velocity and acceleration when Between stable and continuous in section, Fig. 7~Fig. 9 and Figure 10 compares, completely demonstrates the feasibility of the application by no fluctuation.
Table 1PVT parameter list
Serial number Position Speed Period
1 1258.739899 63.973827 21.95
2 1261.940364 64.009293 22.00
3 1265.142598 54.044679 22.05
4 1268.346597 44.079985 22.10
5 1271.552357 34.115211 22.15
6 1274.759875 24.150359 22.20
7 1277.969147 14.185428 22.25
8 1281.180168 4.220419 22.30
9 1284.392934 0.0 22.35
Table 2PVT parameter list
Serial number Position Speed Period
1 180.057763 0.0 0.0
2 180.168636 2.217459 0.05
3 180.347390 3.575093 0.10
4 180.589727 4.846733 0.15
5 180.891812 6.041703 0.20
6 181.250210 7.167962 0.25
7 181.661828 8.232346 0.30
8 182.123866 9.240765 0.35
9 182.633784 10.198358 0.40
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.

Claims (8)

1. a kind of PVT control method based on S curve, which is characterized in that pass through given whole story position, whole story speed, the whole story Run duration and kinematic parameter limitation obtain movement total time T ' using S curve acceleration and deceleration；Judgement moves total time T ' and gives The relationship for determining whole story run duration T, in the case where T ' is unsatisfactory for giving whole story run duration T, by T ' according to equal periods S curve Rounding is to time T；When T ' meets given whole story run duration T, the interpolation displacement under interpolation cycle is calculated.
2. a kind of PVT control method based on S curve according to claim 1, which is characterized in that construction with time t is The equal periods S curve function of independent variable: t=Φ (t')；
Wherein, t ' indicates the rounding time.
3. a kind of PVT control method based on S curve according to claim 1, which is characterized in that as T' > T, construction Equal periods S curve shortens time T' to T；Run duration becomes T after rounding, and proportion function is Φ ' (t).
4. a kind of PVT control method based on S curve according to claim 3, which is characterized in that solve Φ 'maxWith Φ”'max, wherein
According to Φ 'maxAnd Φ "maxObtain the functional equation of Φ (t) He Φ ' (t).
5. a kind of PVT control method based on S curve according to claim 4, which is characterized in that cooked up by S curve Runing time section is [0, T'], and the time interval after waiting periods S curve rounding is [0, T], obtains movement total displacement:
6. a kind of PVT control method based on S curve according to claim 5, which is characterized in that substitute into interpolation cycle Interpolation displacement is obtained in movement total displacement formula.
7. a kind of PVT control method based on S curve according to claim 1, which is characterized in that as T' < T, construction Equal periods S curve extends time T' to T.
8. a kind of PVT control method based on S curve according to claim 1, which is characterized in that solve movement total time When T', given whole story position P, whole story speed V, whole story acceleration are 0.
CN201810842983.1A 2018-07-27 2018-07-27 PVT control method based on S curve Active CN108958169B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810842983.1A CN108958169B (en) 2018-07-27 2018-07-27 PVT control method based on S curve

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810842983.1A CN108958169B (en) 2018-07-27 2018-07-27 PVT control method based on S curve

Publications (2)

Publication Number Publication Date
CN108958169A true CN108958169A (en) 2018-12-07
CN108958169B CN108958169B (en) 2021-04-06

Family

ID=64466007

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810842983.1A Active CN108958169B (en) 2018-07-27 2018-07-27 PVT control method based on S curve

Country Status (1)

Country Link
CN (1) CN108958169B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112532146A (en) * 2020-11-16 2021-03-19 深圳市科曼医疗设备有限公司 Acceleration and deceleration motion control method, device, equipment and medium
CN113253678A (en) * 2021-04-29 2021-08-13 中国科学院微电子研究所 Motion trail planning method for precision motion platform

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0764622A (en) * 1993-08-26 1995-03-10 Matsushita Electric Ind Co Ltd Track interpolating device for robot
EP1517205A2 (en) * 2003-08-05 2005-03-23 Fanuc Ltd Controller for machine
CN1971457A (en) * 2005-11-25 2007-05-30 中国科学院沈阳计算技术研究所有限公司 Speed control method used for numerical control machine
CN101493687A (en) * 2009-03-02 2009-07-29 广西大学 Real time forward looking whole-process acceleration and deceleration controlled NURBS curve self-adapting subsection interpolation method
US20090295323A1 (en) * 2004-12-13 2009-12-03 Siemens Aktiengesellschaft Method and device for guiding the movement of a moving machine element on a numerically controlled machine
CN102298359A (en) * 2011-06-18 2011-12-28 山东大学 Method for controlling acceleration and deceleration in numerical control system to transit smoothly
CN102419570A (en) * 2011-09-29 2012-04-18 上海大学 Acceleration and deceleration look-ahead control method for high-speed machining of numerical control machine tool
CN102540978A (en) * 2010-12-09 2012-07-04 中国科学院沈阳计算技术研究所有限公司 High-speed processing-oriented surface quality preferred spline real-time interpolation method
CN102799146A (en) * 2012-08-08 2012-11-28 成都乐创自动化技术股份有限公司 Method for planning velocity of S-shaped acceleration and deceleration control for control system of numerical control equipment
CN103076759A (en) * 2012-12-31 2013-05-01 北京配天大富精密机械有限公司 Method and device for acquiring S-shaped curve of numerical control system
CN103801973A (en) * 2012-11-09 2014-05-21 沈阳高精数控技术有限公司 Optimized control method of servo motor based on servo tool rest controller
CN103970073A (en) * 2013-01-24 2014-08-06 北京配天大富精密机械有限公司 Acceleration and deceleration planning method and device for numerical control system and numerical control machine tool
CN104135212A (en) * 2014-07-21 2014-11-05 华南理工大学 Flexibility motion control IP (Intellectual Property) core and implementation method thereof
CN106168790A (en) * 2016-02-29 2016-11-30 华南理工大学 A kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position
CN107765639A (en) * 2017-09-30 2018-03-06 山东大学 A kind of rounding error compensating method of S curve acceleration and deceleration

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0764622A (en) * 1993-08-26 1995-03-10 Matsushita Electric Ind Co Ltd Track interpolating device for robot
EP1517205A2 (en) * 2003-08-05 2005-03-23 Fanuc Ltd Controller for machine
US20090295323A1 (en) * 2004-12-13 2009-12-03 Siemens Aktiengesellschaft Method and device for guiding the movement of a moving machine element on a numerically controlled machine
CN1971457A (en) * 2005-11-25 2007-05-30 中国科学院沈阳计算技术研究所有限公司 Speed control method used for numerical control machine
CN101493687A (en) * 2009-03-02 2009-07-29 广西大学 Real time forward looking whole-process acceleration and deceleration controlled NURBS curve self-adapting subsection interpolation method
CN102540978A (en) * 2010-12-09 2012-07-04 中国科学院沈阳计算技术研究所有限公司 High-speed processing-oriented surface quality preferred spline real-time interpolation method
CN102298359A (en) * 2011-06-18 2011-12-28 山东大学 Method for controlling acceleration and deceleration in numerical control system to transit smoothly
CN102419570A (en) * 2011-09-29 2012-04-18 上海大学 Acceleration and deceleration look-ahead control method for high-speed machining of numerical control machine tool
CN102799146A (en) * 2012-08-08 2012-11-28 成都乐创自动化技术股份有限公司 Method for planning velocity of S-shaped acceleration and deceleration control for control system of numerical control equipment
CN103801973A (en) * 2012-11-09 2014-05-21 沈阳高精数控技术有限公司 Optimized control method of servo motor based on servo tool rest controller
CN103076759A (en) * 2012-12-31 2013-05-01 北京配天大富精密机械有限公司 Method and device for acquiring S-shaped curve of numerical control system
CN103970073A (en) * 2013-01-24 2014-08-06 北京配天大富精密机械有限公司 Acceleration and deceleration planning method and device for numerical control system and numerical control machine tool
CN104135212A (en) * 2014-07-21 2014-11-05 华南理工大学 Flexibility motion control IP (Intellectual Property) core and implementation method thereof
CN106168790A (en) * 2016-02-29 2016-11-30 华南理工大学 A kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position
CN107765639A (en) * 2017-09-30 2018-03-06 山东大学 A kind of rounding error compensating method of S curve acceleration and deceleration

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
杨亮亮 等: "始末速度不为零的S型加减速时间规划算法研究", 《机械工程学报》 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112532146A (en) * 2020-11-16 2021-03-19 深圳市科曼医疗设备有限公司 Acceleration and deceleration motion control method, device, equipment and medium
WO2022099788A1 (en) * 2020-11-16 2022-05-19 深圳市科曼医疗设备有限公司 Acceleration and deceleration motion control method and apparatus, device, and medium
CN112532146B (en) * 2020-11-16 2023-02-28 深圳市科曼医疗设备有限公司 Acceleration and deceleration motion control method, device, equipment and medium
CN113253678A (en) * 2021-04-29 2021-08-13 中国科学院微电子研究所 Motion trail planning method for precision motion platform

Also Published As

Publication number Publication date
CN108958169B (en) 2021-04-06

Similar Documents

Publication Publication Date Title
CN107850887B (en) S-shaped curve planning method and device and numerical control machine tool
CN106168790B (en) S-shaped acceleration and deceleration control method for changing target speed and position on line
CN108287527B (en) A kind of improvement S curve Acceleration-deceleration Control Method based on trigonometric function
CN108549328B (en) Self-adaptive speed planning method and system
CN108319228B (en) Acceleration and deceleration control method in numerical control system trajectory planning
CN106444635B (en) A kind of asymmetric S curve Acceleration-deceleration Control Method and device of kinetic control system
CN104181860B (en) Digit Control Machine Tool S type Acceleration-deceleration Control Method
CN103935508B (en) The auxiliary control method that a kind of unmanned vehicle declines and system
CN108958169A (en) A kind of PVT control method based on S curve
CN114077226B (en) S-shaped curve speed planning method, control terminal and computer readable storage medium
CN103076759B (en) Method and device for acquiring S-shaped curve of numerical control system
CN105301957B (en) A kind of new anti-windup saturation PID control method
CN109240215A (en) A kind of PVT control method based on modified S curve acceleration and deceleration
CN106406219B (en) It is a kind of to exempt from programming electronic cam curve generation method for crosscutting
CN106773668A (en) A kind of stable control method for time-varying delay bilateral teleoperation system
CN105955017A (en) Denitration system hierarchical optimization adaptive intelligent control method based on expert fuzzy
CN102681487A (en) Track smoothing method and device of operation equipment in numerical control system, and numerical control machine tool
CN108958173A (en) S curve deceleration planning method under any velocity of displacement based on trapezoidal solution
CN106020122B (en) Digital controlled tracing control method based on Newton iteration
CN108153246A (en) A kind of parameter adaptive S-shaped speed planning interpolating method based on command speed
CN106707753A (en) Pump linear motor adaptive control method
CN103926830A (en) Online self-tuning method and system for parameters of fractional order PI controller
CN107103139A (en) A kind of cascade pumping station water-carriage system traffic control control method
CN109807297B (en) Non-sinusoidal vibration method for continuous casting crystallizer
CN107390643B (en) The continuous numerical control device high speed feed acceleration and deceleration method of jerking movement speed linearity

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant