摘要
提出了一种伺服电动机柔性加减速控制算法,采用2个不同周期的三角函数叠加作为伺服电动机加减速构造函数,加减速所需的转矩与伺服电动机特性更好地匹配,能够降低系统对伺服电动机功率的要求。推导了伺服电动机位移、速度、加速度和加加速度数学表达式,并与三角函数加减速控制算法进行了比较。实验结果表明,该算法能够应用于伺服压力机加工工艺曲线规划设计。
A flexible acceleration and deceleration control algorithm of the servo motor was proposed, in which the two trigonometric functions of different cycles were used to construct the acceleration and deceleration function. This algorithm could better match with the servo motor＇ s characteristics, and reduce the requirement of servo motor power. The calculation formulas of displacement, velocity, acceleration and jerk of the servo motor were derived. The performance of this algorithm was compared with the trigonometric function acceleration and deceleration control algorithm. The experimental results showed that this algorithm could be applied to plan the drawing profiles for the servo press.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2013年第6期269-273,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
'十一五'国家科技重大支撑计划资助项目(2010ZX04004-112)
关键词
伺服压力机
伺服电动机
柔性加减速
控制算法
Servo press Servo motor Flexible acceleration and deceleration Control algorithm
