摘要
基于S曲线控制的经典算法理论,对其中的Jerk rate即加速度的加速度控制部分进行了比较深入的分析和研究。通过对各种Jerk rate控制策略的举例剖析,可以了解在这些情形下发生设定溢出和静态偏差的根本原因,从而制定出相关的应对策略来克服和避免。同时在分析静态偏差的基础上,得出一种修正设定溢出异常的可行方案,即Jerk修正法。
Based on the classical algorithm theory of S-curve, authors of this paper conducted a deeper research and analysis on the control of Jerk rate, which is the acceleration of acceleration. Through the study on various examples of Jerk rate control policies, the root causes of the set overflow and static deviation in these situations can be determined and thus the corresponding countermeasures can be worked out. Meanwhile, on the basis of the analysis on static deviation, a feasible solution, which is Jerk correction, can be obtained to correct the set overflow.
出处
《宝钢技术》
CAS
2012年第5期45-49,共5页
Baosteel Technology
