The invention discloses a speed planning algorithm based on segmented splicing. The speed planning algorithm comprises the steps that S1, the acceleration of a vibration swing system is acquired; s2, based on the acceleration of the vibration swing system, obtaining the total moving distance and the total time of the system; determining an acceleration and deceleration operation stage of the vibration swing system; s3, the acceleration of the vibration swing system is divided into three sections of acceleration modes for cumulative response, adjusting components of three stages in the acceleration and deceleration operation process are obtained, and the acceleration of the corresponding time period is obtained based on the adjusting components; s4, acquiring the speed values of the acceleration and deceleration stages of the vibration and swing system and the final motion position of the vibration and swing system; and combining the total moving distance of the system and the speed values of the acceleration and deceleration stages to obtain the distance of the system running at the required target speed. The method has the advantages that by changing the acceleration values in different time periods, the corresponding speed values are finally changed, the speed is re-planned, the sudden change of the speed is smoothed, and the phenomena of equipment vibration, shaking and the like caused by overhigh speed are reduced.
本发明公开了一种基于分段拼接的速度规划算法,包括S1、获取振动摇摆系统的加速度;S2、基于振动摇摆系统的加速度,获取系统的总移动距离及总时间;确定振动摇摆系统的加减速运行阶段;S3、将振动摇摆系统的加速度分成三段加速度模式累加响应,获取加减速运行过程中三个阶段的调节分量,并基于调节分量获取相应时段的加速度;S4、获取振动摇摆系统加减速阶段的速度值及振动摇摆系统的最终运动位置;结合系统的总移动距离以及加减速阶段的速度值,获取系统以需要的目标速度运行的距离。优点是:通过改变不同时间段内的加速度值,最终改变对应的速度值,完成速度的重新规划,平滑了速度的突变量,减少了因速度过大导致的设备振动、摇晃等现象。
Speed planning algorithm based on segmented splicing
一种基于分段拼接的速度规划算法
2023-12-15
Patent
Electronic Resource
Chinese
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