S／T曲线速度规划在定点DSP上的实现

本文将S／T曲线速度规划的思想引入全数字伺服驱动系统中,通过提高速度的平滑性,特别是高速启、制动状态,来提高伺服系统的整体控制性能。基于定点数字信号处理器DSP芯片对提出的算法进行了实现。由于定点运算的限制,算法在实现中需要进行特殊的处理,本文对此进行了研究,并提出了一种余码补偿方案。实验研究表明,使用本文提出的方法可以提高系统运行的平稳性和控制的精确度。

This paper introduces the idea of S/T Curve Velocity Profile to full digital servo drive system. The proposed method improves the system control performance by improving the smoothness of velocity, especially the starting and braking period in high speed. It is based on fixed-point DSP chip. Due to the restriction of fixed-point operation of the chip, special treatment is needed to implement the method. The paper studies and proposes a remaining velocity compensation method. Finally the results of experiments show that the proposed method can increase the system smoothness and control accuracy.

中国科学院知识创新工程重大资助项目(KGCX-SW-15)