On the analysis of S-shaped acceleration and deceleration (acc/dec)curve model which consisted of seven sections, the paper put forward an algorithm which can satisfy the requirements of the displacement, velocity and acceleration being zero at the end of the interpolation. At the same time, under a limited acceleration and limited jerk,the details of the algorithm how to obtain anticipation interpolation time of every S-shaped acc/dec curve sections were explained. Finaly, the simulation testing shows that the algorithm has good efficiency. It suits pre-interpolation S-shaped acc/dec control.

在分析S形加减速控制7段模型的基础上，为实现加速度和加加速度限制下插补后位移、速度、加速度同步为零，提出了一种预判S形加减速各段插补时间的算法, 并对算法的实现进行了详细的论述。对任意位移、速度组合线段进行测试表明：算法正确、运算效率高，适合插补前加减速控制。

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S形加减速, 插补算法;加加速度; 数控