摘要
从焊线机送料装置的运动控制流程工艺要求出发,对S曲线加减速算法进行了研究,设置不同的运动参数,结合Turbo PMAC运动控制卡和焊线机送料电机实际应用,规划出多段轨迹混合S曲线,并在分段PID基础上根据实际复杂的工况利用变速度/加速度前馈PID算法减小位置控制的跟随误差、滞后及超调量。通过实验得出此算法是可行的,并为实际运动提供参考。
The S-curve acceleration and deceleration algorithm are studied,from the requirements of motion control process technology in feeding device of wire bonder,set the different motion parameters,combined with Turbo PMAC motion control card and the practical application of feeding motor of wire bonders,planning a suitable S-curve trajectory,and according to the actual complex conditions,using variable speed and acceleration feedforward PID algorithm to reduce the following error position control,lag and overshoot.
出处
《工业控制计算机》
2017年第7期27-28,31,共3页
Industrial Control Computer
