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通过对典型S型加减速控制方法的研究与总结,对时间分段加减速方法做了优化与改进,论证了当约束参数发生变化时S型加减速曲线的实际规划方法。提出了通过指针函数和动态数组进行程序设计的方法,并通过Matlab仿真结果表明该方法能保证S型加减速曲线的柔性,并能准确达到所设定的位移,最后在Cortex-M3开发板上实现了对步进电机的加减速的柔性控制。
Through the research and summary of the typical S-type acceleration and deceleration control method, the method of time-division acceleration and deceleration is optimized and improved, and the actual planning method of S-type acceleration and deceleration curve is demonstrated when the constraint parameters change. A method of program design based on pointer function and dynamic array is proposed. The simulation results show that this method can ensure the flexibility of S-curve acceleration and deceleration, and can accurately reach the set displacement. Finally, on the Cortex-M3 development board Achieve the stepper motor acceleration and deceleration of the flexible control.