The implementation and experimental research on an S-curve acceleration and deceleration control algorithm with the characteristics of end-point and target speed modification on the fly

For modern equipment manufacturing industries, advanced manufacturing technologies have significant impact on the production quality and efficiency. Specifically, high-speed and high-accuracy technology is widely used in aerospace, automotive, and power-generation equipment to reduce the processing costs and improve the machining accuracy. However, the traditional velocity planning methods cannot satisfy the requirements of advanced equipment in point-to-point movement occasions. To solve these problems, a novel S-curve acceleration and deceleration (Acc/Dec) control model is proposed in this study, and the discretization of the Acc/Dec process was investigated. Furthermore, the derivation of the actual interpolation periods of each segment, actual achieved Acc/Dec, and actual achieved jerk of Acc/Dec zone are addressed in detail. To ensure the positioning accuracy and reduce the computational load, discrete formulae for the deceleration displacement, maximal achieved speed, and displacement of the constant acceleration segment are derived. To satisfy the product diversification and improve the efficiency, the function of the aforementioned S-curve Acc/Dec control algorithm was extended in this study. As a result, the end-point modification and target speed modification algorithms were developed. Finally, a series of numerical simulations and a real experiment were conducted. The results show that the proposed algorithms exhibit a good performance both in terms of reliability and efficiency. Thus, its feasibility was validated.