The Research Of Velocity Planning Algorithm On Multi Axis Motion Controller

The current robot control industry is facing unprecedented development opportunities,but also facing severe challenges. The existing robot control although the system can achievethe opening requirement to a certain extent, but the lack of interactivity and flexibility, theconfiguration process is complex, and cannot be modified dynamically and configurationprocess. In this paper, based on LSOA (Lightweight Service Oriented Architecture) opencontrol system architecture, I will deeply research the key technology of motion controller,including the look-ahead control acceleration and deceleration algorithm for small line blocks,and the adaptive look-ahead control strategy, focusing on solving the trajectory deviation,controlled equipment vibration problems caused by the path length, corners and highcurvature of track geometry.This paper introduces the open control system architecture based on LSOA, the hardwareand software function of DSP open motion controller. Based on the motion control algorithmof domestic and international, through a detailed analysis of relationship of displacement,velocity and acceleration, establish a general acceleration and deceleration arithmetic model.In addition, considering the deviation between the theoretical and actual velocity trajectory,propose an error correction of velocity roundness error. Considering the method used in thecurve into small segments, present a look-ahead control algorithm. By making a distinctionbetween the straight line and arc segment, and analyzing the geometric characteristics ofsmall line segments, determine the optimal speed of convergence points without spacecoordinate limits. In addition, referring to the control strategies of parameter curve look-aheadalgorithm, the factors of arc curvature and the chord error is introduced into small linelook-ahead control, in order to adjusting the maximum speed of arc segments adaptively. Inthe end, by using bidirectional search algorithm, make small line segments to achieve theoverall constraint.The simulation experimental results show that, under the acceleration and decelerationfunction of control system, the proposed control strategy can plan acceleration and deceleration path effectively, and improve the speed and accuracy.