On a new S-shape acceleration and deceleration control algorithms

Abstract

Acceleration and deceleration control algorithm of S-shape motion profile is a key technology of motion control. A new third-order acceleration and deceleration control algorithm for S-shape motion profile is proposed in this paper. According to the given parameters, the reaction time of maximum Jerk and maximum acceleration are calculated. Then, the distance and velocity after the acceleration stage can be got by loop calculation, and the reaction time of maximum velocity can be calculated based on this speed. So the error,by floating-point transfer to integer data,can be compensated on the uniform phase of maximum velocity. At last,the data at deceleration stage can be got with the symmetry of velocity curve of S-shape acceleration and deceleration control. The proposed algorithms are verified by the three-mover haul platform, which is based on B&R's PLC. The experiment results show that the proposed algorithms of S-curve acceleration and deceleration control can overcome the shortcomings of traditional acceleration and deceleration control algorithms, and the proposed algorithms make the velocity and acceleration smoother without the storage of large amounts of data. This algorithm improves the flexibility of the system effectively, simplifies the implementation of motion profile and saves resources of the PLC. So it has practical value in engineering.