A Planning Method for Multi-Axis Point-to-Point Synchronization Based on Time Constraints

Shanda, Wang; Luo, Xiwen; Xu, Shijie; Luo, Qian; Han, Bin; Liang, Guanhao; Yan, Jun

doi:10.1109/access.2020.2992343

Cited by 12 publications

(8 citation statements)

References 25 publications

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“…However, step jumps in the jerk degrade the performance to some extent. More details about this motion profile can be referred to in [38][39][40]. Let J peak denote the peak value of the jerk; then, the jerk profile can be expressed as follows:…”

Section: Review Of Seven-segment S-curve Profilementioning

confidence: 99%

See 1 more Smart Citation

Design Procedure for Motion Profiles with Sinusoidal Jerk for Vibration Reduction

Fang,

Zhu,

Zhao

et al. 2023

Applied Sciences

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High-speed motions performed by industrial machines can induce severe vibrations that degrade the positioning accuracy and efficiency. To address this issue, this paper proposes a novel motion profile design method utilizing a sinusoidal jerk model to generate fast and smooth motions with low vibrations. The expressions for the acceleration, velocity, and displacement were obtained through successive integrations of the continuous jerk profile. A minimum-time solution with actuator limits was formulated based on an analysis of the critical constraint conditions. Differing from previous studies, the current study introduces an analytical optimization procedure for the profile parameters to minimize both the motion duration and excitation frequency contents corresponding to the system pole. By examining the correlation between the input motion profiles and system responses, the conditions for vibration elimination were identified, highlighting the significance of specific time intervals in controlling the vibration amplitude. Numerical and experimental studies were conducted to validate the effectiveness of the proposed method. The comparative results illustrate that this method outperforms existing baseline techniques in terms of smoothness and vibration attenuation. The residual-vibration level and settling time are significantly reduced with the optimized sinusoidal jerk profile, even in the presence of modeling errors, contributing to higher productivity.

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Section: Review Of Seven-segment S-curve Profilementioning

confidence: 99%

“…However, step jumps in the jerk degrade the performance to some extent. More details about this motion profile can be referred to in [38][39][40].…”

Section: Review Of Seven-segment S-curve Profilementioning

confidence: 99%

Design Procedure for Motion Profiles with Sinusoidal Jerk for Vibration Reduction

Fang,

Zhu,

Zhao

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…A multi-axis synchronization algorithm is proposed based on a derived solution of a point-to-point time curve considering the kinematic equation of a third-order S-curve for modeling the motion issue. 5 However, the curve parameters are optimized 6 using the particle swarm optimization (PSO) algorithm which can detect the curve zones of deceleration, constant speed and acceleration automatically. A novel electronic line-shaft control Scheme 7 for multi-axis systems is proposed by constructing an observer through which the virtual shaft receives the equivalent load torque as a feedback signal.…”

Section: Related Workmentioning

confidence: 99%

Traditional versus fuzzy optimal coupling in multi‐axis distributed motion control: a pre‐IoT‐ integration procedure

Soliman

Reddy

2020

Adv Control Appl

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For the Internet of Things (IoT)-enabled motion control, the controller's efficient behavior should be justified before the IoT-integration procedure. With the IoT revolution, the remote control of multimotors in the industry can take place. For this aim, a set of four permanent magnetic DC (PMDC) motors is considered in the current study as one of the industrial applications in which the speed synchronization of the motors is required. Optimal individual systems controller tuning is performed using the Particle swarm optimization technique which is also used for the coupling gains and scaling factors tuning of the traditional and fuzzy cross-coupling strategies, respectively, as proposed methods. A comparison between the two proposed coupling strategies and the two existing traditional and fuzzy coupling strategies is carried out as a pre-IoT-integration procedure while considering a load implementation on each motor. The comparison procedure takes place in terms of the individual motors performance indices values and the synchronization error performance indices between every two systems. The obtained results show that the proposed fuzzy cross-coupling strategy gives smaller indices and therefore better synchronization error than the proposed traditional and the other two existing strategies making it more suitable for the IoT-Integration process. A proposed scheme for the IoT-integration is presented.

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“…22,23 In addition, the calculation process of velocity planning is simple and standard. 24 However, the typical S-shaped ACC/DEC algorithm and the corresponding velocity planning method cannot consider the motion time condition, which cannot be used to PVT application directly and needs to be modified.…”

Section: Introductionmentioning

confidence: 99%

Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm

Liu

et al. 2022

International Journal of Advanced Robotic Systems

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Position–velocity–time control mode has been wildly used in industrial application. And velocity planning is one of the most important factors to determine the performance of position–velocity–time motion. To generate smooth trajectory while satisfying the kinematic constraints of the devices such as the maximum velocity, acceleration, and jerk, a novel velocity planning method is proposed. Firstly, a modified S-shaped acceleration/deceleration algorithm is designed to restrict the kinematic parameters. Meanwhile, a series of rules are specified to constrain the velocity profile to simplify the velocity planning process. On this basis, the velocity planning method is proposed based on the modified acceleration/deceleration algorithm. For reasonable position–velocity–time command, the given position–velocity–time conditions can be satisfied with smooth velocity profile, where the kinematic parameters can be limited in their allowable ranges. For unreasonable position–velocity–time commands, a series of planning strategies are designed to adjust the given conditions according to the user needs, which is suitable for the real application. The comparative experiments show that the proposed method can realize the velocity planning for position–velocity–time motion with smooth trajectory while restricting the kinematic parameters. The computational load is also tested to satisfy the real-time requirement. Therefore, the proposed velocity planning method has good performance and strong practicability.

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A Planning Method for Multi-Axis Point-to-Point Synchronization Based on Time Constraints

Cited by 12 publications

References 25 publications

Design Procedure for Motion Profiles with Sinusoidal Jerk for Vibration Reduction

Design Procedure for Motion Profiles with Sinusoidal Jerk for Vibration Reduction

Traditional versus fuzzy optimal coupling in multi‐axis distributed motion control: a pre‐IoT‐ integration procedure

Velocity planning method for position–velocity–time control based on a modified S-shaped acceleration/deceleration algorithm

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