Research On Control Algorithm Based On High-performance Digital Motion Controller

Motion control is a common technical basis of automation in industry, the target pursued of which is high-speed and high-precision (HSHP). So the development of research on HSHP motion control system is significant. Therefore, this paper focuses on study of trajectory planning for high-performance digital motion controller, and gets the smoothest trajectory planning algorithm.Firstly, this paper introduces the technology situation of trajectory planning. According to analysis for the demand of trajectory planning in HSHP motion control system, it is shown that the effect of trajectory smoothness in the movement is significant in the high-performance digital motion controller for which positioning precision is nano-lever.Secondly, several optimal point-to-point control criteria are introduced. It is derived that fifth order displacement equation is the smoothest path, for which the criterion is minimum-jerk control.Thirdly, the detailed calculations of fifth order trajectory planning are provided. Based on the common planning steps of several trajectories such as...