• 信息技术 •

### 数控系统的直线和S形加减速离散算法

1. 1.北京航空航天大学，北京，100191
2.中国农业大学，北京，100083
• 出版日期:2010-03-10 发布日期:2010-03-22

### An Algorithm of Sampled-data Linear and S shape Acceleration and Deceleration for CNC Controller

Chen Youdong1;Wei Hongxing1;Wang Qikui2

1. 1.Beihang University，Beijing，100191
2.China Agricultural University，Beijing，100083
• Online:2010-03-10 Published:2010-03-22

Abstract:

A new method of sampled-data linear and S-shape acceleration/deceleration for industrial robots and CNC machine tools were put forward, which eliminated the running stage at low speed for a long time after deceleration because the actual deceleration point did not overlap the theoretical deceleration point. The velocity of iterative formula for acceleration/deceleration was proposed. The velocity was recalculated based on the acceleration so that the distance was exactly the integral times of the velocity. The acceleration and jerk was recalculated based on the velocity. It avoided the prediction of the deceleration point by every sampled time. The simulation and experimental results demonstrate that the proposed method can eliminate the running stage at low speed for a long time and significantly improve the productivity by avoiding the prediction of decelerating point.

Key words: