The Implementation of S-curve Acceleration and Deceleration Using FPGA

2012 ◽  
Vol 11 (1) ◽  
Author(s):  
Guangyou Yang ◽  
Zhijian Ye ◽  
Yurong Pan ◽  
Zhiyan Ma
Keyword(s):  
Acceleration And Deceleration ◽  
S Curve

A Generic Method to Generate AS-Curve Profile in Commercial Motion Controller

2017 ◽  
Author(s):  
Youdun Bai ◽  
Xin Chen ◽  
Zhijun Yang
Keyword(s):  
Motion Controller ◽  
Residual Vibration ◽  
Practical Applications ◽  
Analytic Polynomial ◽  
Acceleration And Deceleration ◽  
Special Knowledge ◽  
Curve Profile ◽  
S Curve ◽  
Motion Profile ◽  
Better Than

It is well believed that S-curve motion profiles are able to reduce residual vibration, and are widely applied in the motion control fields. Recently, a new asymmetric S-curve (AS-curve) motion profile, which is able to effectively adjust the acceleration and deceleration periods, is proposed to enhance the performance of S-curve motion profile, and proved to be better than the traditional symmetric S-curve in many cases. However, most commercial motion controllers do not support the AS-curve motion profiles inherently. Special knowledge or expensive advanced controlling systems, such as dSPACE system, are required to generate the AS-curve motion command, which limits the applications of the AS-curve motion profile in many practical applications. In this paper, a generic method based on the Position-Velocity-Time (PVT) mode move supported by most commercial motion controllers is proposed to generate exact AS-curve motion command in real machines. The analytic polynomial functions of AS-curve motion profile are also derived to simplify the further application, and the effectiveness of the proposed method is verified by numerical simulation.

scholarly journals A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

Electronics ◽  
2019 ◽  
Vol 8 (6) ◽  
pp. 652 ◽  
Author(s):  
José R. García-Martínez ◽  
Juvenal Rodríguez-Reséndiz ◽  
Edson E. Cruz-Miguel
Keyword(s):  
Velocity Profile ◽  
Open Source ◽  
Low Cost ◽  
High Stress ◽  
Rate Of Change ◽  
Open Architecture ◽  
Raspberry Pi ◽  
Field Programmable ◽  
Acceleration And Deceleration ◽  
S Curve

The velocity profiles are used in the design of trajectories in motion control systems. It is necessary to design smoother movements to avoid high stress in the motor. In this paper, the rate of change in acceleration value is used to develop an S-curve velocity profile which presents an acceleration and deceleration stage smoother than the trapezoidal velocity profile reducing the error at the end of the duty-cycle pre-established in one degree of freedom (DoF) application. Furthermore, a new methodology is developed to generate a seven-segment profile that works with negative velocity and displacement constraints applying an open source architecture in a hybrid electronic platform compounded by a system on a chip (SoC) Raspberry Pi 3 and a field programmable gate array (FPGA). The performance of the motion controller is measured through the comparison of the error obtained in real-time application with a trapezoidal velocity profile. As a result, a low-cost platform and an open architecture system are achieved.

Method for Feed-Rate Optimization Based on S Curve Acceleration and Deceleration Control of Piecewise Tool Path

2012 ◽  
Vol 542-543 ◽  
pp. 551-554
Author(s):  
Xiao Bing Chen ◽  
Wen He Liao
Keyword(s):  
Feed Rate ◽  
Tool Path ◽  
Complex Surface ◽  
Experimental Result ◽  
Threshold Method ◽  
Lower Efficiency ◽  
Acceleration And Deceleration ◽  
S Curve ◽  
Rate Optimization ◽  
Feed Rate Optimization

Aiming at the problem of lower efficiency of complex surface machining with constant feed-rate, a method for feed-rate optimization based on S curve acceleration and deceleration control of piecewise tool path is researched. With constraints of kinematic characters of machine tool and geometric characters of tool path, tool path segments are obtained by curvature threshold method, and feed-rates are planned in these segments, then feed-rate transition of adjacent segments is processed by the method of S curve acceleration and deceleration control. Experimental result indicates that the proposed method is feasible and effective.

Research and Implementation of Real-Time Computing Algorithm of S Curve Acceleration and Deceleration for Step Motor

2016 ◽  
Vol 835 ◽  
pp. 712-717
Author(s):  
Fang Jia ◽  
Xing Yu Wu ◽  
Yu Liang Mao
Keyword(s):  
Real Time ◽  
Rapid Response ◽  
Step Motor ◽  
Computing Algorithm ◽  
Acceleration And Deceleration ◽  
S Curve ◽  
Real Time Computing

The paper established real-time computing algorithm of S Curve to control the process of acceleration and deceleration for step motor on the basis of a reasonable start frequency. Moreover, this paper used economic embedded ARM STM32F103RCT as the main control chip to control the step motor, which realized this designed real-time computing algorithm. Finally, the relevant testing indicated that the algorithm can realize the rapid response of start and stop for step motor, and can effectively avoid undesirable phenomenon of step losing, overshoot and oscillation.

Small Line Segment Interpolation Algorithm for Smoothing Machining

2013 ◽  
Vol 842 ◽  
pp. 420-426
Author(s):  
Xiao Fei Bu ◽  
Hu Lin ◽  
Liao Mo Zheng ◽  
Han Zhang
Keyword(s):  
Feed Rate ◽  
Tool Path ◽  
Linear Acceleration ◽  
Machining Efficiency ◽  
Interpolation Algorithm ◽  
Machining Precision ◽  
Tool Paths ◽  
Rate Acceleration ◽  
Acceleration And Deceleration ◽  
S Curve

To make machining surface smoothing, a smoothing interpolation algorithm based on small line segments is proposed to meet the special requirements of smoothing machining. The algorithm takes the approach of s-curve acceleration and deceleration control for single tool path, yet between adjacent parallel trajectory adopts linear acceleration and deceleration control. This method enables feed rate between adjacent tool paths to transit continuously and meets the requirement of flexible and smooth machining. The article constructs a mathematical model of relationship among machining precision, maximum feed rate, acceleration, jerk and maximum allowable instantaneous feed rate to assure machining precision and machining efficiency. The model ensures that acceleration of single tool path and feed rate between parallel tool paths is continuous and simultaneously tries its best to enhance machining efficiency. In the end, the experiment result shows that the algorithm can meet the requirement of smoothing machining with an assurance of machining precision.

An Interpolation Algorithm Based on S-Curve Feedrate Profile and Look-Ahead Function

2013 ◽  
Vol 300-301 ◽  
pp. 1389-1396 ◽  
Author(s):  
Ke Zheng Sun ◽  
Xue Feng Zhou ◽  
Gong Zhang ◽  
Xian Shuai Chen
Keyword(s):  
Machine Tools ◽  
High Speed ◽  
High Speed Machining ◽  
Interpolation Algorithm ◽  
Processing Efficiency ◽  
Look Ahead ◽  
Interpolation Accuracy ◽  
Acceleration And Deceleration ◽  
S Curve ◽  
Time Division

In this paper, a novel interpolation algorithm for high speed machining is presented, which integrates S-curve acceleration/deceleration method in look-ahead function. A time division based speed planning method is used to implement discrete S-curve acceleration/deceleration method. The implementation of the proposed algorithm is given out. The proposed algorithm improves the processing efficiency and avoids the shock of machine tools caused by frequent acceleration and deceleration. The experiment shows that the proposed algorithm satisfies the requirements of interpolation accuracy and machining efficiency in high speed machining.

scholarly journals A dynamic optimal trajectory generator for Cartesian Path following

Robotica ◽  
2000 ◽  
Vol 18 (5) ◽  
pp. 451-458 ◽  
Author(s):  
Edward Red
Keyword(s):  
Path Length ◽  
Optimal Trajectory ◽  
Path Following ◽  
Current Speed ◽  
Minimum Time ◽  
Constant Acceleration ◽  
Acceleration And Deceleration ◽  
S Curve ◽  
Move Distance ◽  
Trajectory Generator

This paper considers a dynamic and adaptive trajectory generator for negotiating paths using S-curves. Applying constant jerk transitions between the constant acceleration and deceleration periods of the trajectory, the trajectory will optimally transition to the desired speed setting. Optimal is defined to be the minimum time to transition from the current speed to the set speed for the move segment when jerk and acceleration are limited. The S-curve equations will adapt to instantaneous changes in speed setting and path length. An integrated motion planner will determine allowable speeds and transitional profiles based on the remaining move distance.

Research on S-Curve Speed Control for Step Motor Based on the MCU

2013 ◽  
Vol 273 ◽  
pp. 709-713
Author(s):  
Li Jun Q ◽  
Bin Liang
Keyword(s):  
Speed Control ◽  
Step Motor ◽  
Control Methods ◽  
Acceleration And Deceleration ◽  
S Curve

This paper researches the algorithm and equation of S curve, and realizes the process of discretization which converts curves to pulses. Finally, the experiment proved that the algorithm of S-curve of acceleration and deceleration control methods can improve the efficiency and stability of step motor.

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