An adjustable look-ahead acceleration/deceleration hybrid interpolation technique with variable maximum feedrate

摘要

Acceleration/deceleration (Acc/Dec) control is one of the key technology for motion control system, whose aim is to generate smooth movement profile and achieve high movement efficiency. This paper proposes an adjustable look-ahead Acc/Dec hybrid interpolation (ALA-ADHI) algorithm, which integrates adjustable asymmetric look-ahead Acc/Dec in the acceleration/deceleration before interpolation (ADBI) with convolution-based Acc/Dec in the acceleration/deceleration after interpolation (ADAI). For the adjustable asymmetric look-ahead Acc/Dec algorithm, the remaining trajectory segments are re-planed if the maximum feedrate is changed. The proposed algorithms are implemented in a field programmable gate array-system on a programmable chip-based motion controller and compared with other algorithms in the aspect of efficiency and smoothness. The experimental results demonstrate that the efficiency and smoothness of the proposed algorithms are improved, and ALA-ADHI algorithm is a better tradeoff for simultaneously considering the efficiency and smoothness than other Acc/Dec algorithms.