关键词: S形加减速控制, 五元非线性方程, 牛顿迭代法, 时间最优原则

Abstract:

Due to S_shape acceleration and deceleration control involved solving multiple high-order equation or inequality, and the final solution was non negative, so that it was difficult to calculate.Therefore nonlinear equations of five independent variables of  S_shape acceleration and deceleration control were decomposed into two nonlinear equations of two independent variables and a linear equation according to time optimal principle and the constraints of speed, acceleration. The final solutions were obtained by Newton iterative method and the iterative correction method then the velocity curve and interpolation algorithm were found. The simulation and experiments were presented to prove that the algorithm is simplicity, stable operation and the ability to meet the requirements of high speed and high precision of computer numerical control.

Key words: S_shape acceleration and deceleration control;nonlinear equations of , five , independent variables;Newton iterative method;time optimal , principle