CAJ | 학술논문

在分析S形加减速控制7段模型的基础上，为实现加速度和加加速度限制下插补后位移、速度、加速度同步为零，提出了一种预判S形加减速各段插补时间的算法，并对算法的实现进行了详细的论述。对任意位移、速度组合线段进行测试表明：算法正确、运算效率高，适合插补前加减速控制。
재분석S형가감속공제7단모형적기출상，위실현가속도화가가속도한제하삽보후위이、속도、가속도동보위령，제출료일충예판S형가감속각단삽보시간적산법，병대산법적실현진행료상세적논술。대임의위이、속도조합선단진행측시표명：산법정학、운산효솔고，괄합삽보전가감속공제。
On the analysis of S--shaped acceleration and deceleration （acc/dec）curve model which consisted of seven sections, the paper put forward an algorithm which can satisfy the requirements of the displacement, velocity and acceleration being zero at the end of the interpolation. At the same time, under a limited acceleration and limited jerk,the details of the algorithm how to obtain anticipation interpolation time of every S--shaped acc/dec curve sections were explained. Finaly, the simulation testing shows that the algorithm has good efficiency. It suits pre--interpolation S--shaped acc/ dec control.