%0 Journal Article
%T 一种适用于前瞻的高精度7段式非对称S曲线加减速控制<br>A High-precision Acceleration and Deceleration Control of 7-segment Dissymmetrical S-shape Curve for Look-ahead
%A 潘海鸿
%A 杨增启
%A 陈琳
%A 董海涛
%A 谭华卿
%A 钟文
%J 机械科学与技术
%D 2015
%X 提出采用一种7段式非对称S曲线加减速控制方法，根据轨迹段的特征推导和规划实际应用中可能出现的8种类型加速度曲线。考虑到工程应用中离散实现上述算法时存在精度损失，提出插补时间圆整和插补点参数内部整数计算方法的精度控制策略以满足高精度的控制要求。基于浮点双精度型TI DSP67系列芯片的控制器硬件平台，对所提出的加减速控制方法和精度控制策略进行实验验证。实验结果表明：该算法能够有效规划8种类型的加减速曲线，并且根据精度控制策略得到的轨迹位置计算精度能达到0.01 μm。<br>A 7-segment dissymmetrical S curve acceleration and deceleration control method was proposed and studied. According to the characteristics of trajectory, we particularly deduced and planned 8 kinds of acceleration curves that exist in practice applications. Accuracy losses will appear when this algorithm was implemented with discrete process in engineering applications. Thus, accuracy control strategies of rounding of interpolation time and internal integer calculation of interpolation parameters were proposed to achieve the requirement of high-precision control. The presented acceleration and deceleration method and accuracy control strategy were carried out on the digital signal processor (DSP) 67 series controller of floating-point double-precision type for verification. Experimental results indicate that the presented method and strategy can effectively plan 8 types curve for acceleration and deceleration, and the position calculation precision of trajectory getting according to the accuracy control strategies can reach 0.01μm
%K 非对称S曲线
%K 加减速控制
%K 前瞻控制
%K 计算精度&lt
%K br&gt
%K acceleration and deceleration planning
%K computational accuracy
%K dissymmetrical S-curve
%K look-ahead control
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract6108.shtml