Research on the Asymmetric S-type Curve Based on the Position

摘要

The acceleration and deceleration section of the symmetric S-type curve are completely symmetrical, which can not meet the different requirements of the actual process and mechanical structure to the acceleration and deceleration section of the motor. Therefore, the asymmetric S-type curve is used to plan the acceleration and deceleration section respectively. First of all, the dichotomy iteration is proposed to solve the problem which has not analytic solutions appearing in the planning process. Secondly, the asymmetric S-type curve is compared with the symmetric S-type curve under different conditions, which indicate that the asymmetric S-type curve is better than the symmetric S-type curve. Finally, the experiment is done on the actual hardware platform. And the actual curve is compared with the theoretical curve, which verify the validity and practicability of the asymmetric S-type curve.