提出了一种四阶S型运动轨迹规划的新方法, 根据给定参数计算得到最大速度三阶导数作用时间, 最大加加速度作用时间和最大加速度作用的时间, 通过循环计算的方式得到加速阶段所运动的距离与速度, 以加速阶段所达到的速度作为最大速度计算得到最大速度作用的时间. 此时, 由浮点型转整型数据所产生的误差也可以在其最大速度的匀速阶段得到补偿, 最后, 减速阶段的数据由S曲线加减速控制中速度曲线的对称性得到. 该算法在基于倍福PLC的三动子运料平台中进行了验证, 实验表明, 提出的S型运动轨迹规划算法在不用过多保存曲线数据的情况下也能获得平滑的速度和加速度, 有效地提高了系统的柔性, 同时简化了算法的实现, 大大地节省了PLC的资源.

A new approach for four-order S-shaped motion profile algorithms is proposed in this paper. According to the given parameters, the maximum reaction time of the three order derivative for velocity, maximum Jerk and maximum acceleration can be got. The distance and velocity after the acceleration phase can be got by means of loop calculation. Then, we can get the reaction time of maximum velocity based on the maximum velocity value. And the error caused by the process of floating-point data transfer to integer data, can be compensated on the uniform phase of maximum velocity. At last, we can get the data of deceleration phase from the symmetry of velocity curve of motion profile. The algorithms proposed had been verified by the three-mover haul platform, which is based on BACKOFF's PLC. The experiments state that the velocity and acceleration curves of this new algorithm are smoother than that of traditional motion profile algorithm at the case of without the storage of large amounts of the curve data. The algorithms improve the flexibility of the system effectively, and save resources of the PLC remarkably.