一种快速4阶轨迹规划及前馈控制算法

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一种快速4阶轨迹规划及前馈控制算法

机械工程 | 更新时间：2023-11-14

- 一种快速4阶轨迹规划及前馈控制算法
- A Fast Fouth-order Trajectory Planing and Feedforward Control Algorithm
- 工程科学与技术 2011年43卷第3期页码：244-250
- 作者机构：
- 作者简介：
- 基金信息：
  
  大科学工程国家航空遥感系统平台项目
- DOI：
  中图分类号：
- 纸质出版日期：2011，
  
  网络出版日期：2010-12-9，
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周黎,杨世洪,高晓东.一种快速4阶轨迹规划及前馈控制算法[J].工程科学与技术,2011,43(3):244-250.

A Fast Fouth-order Trajectory Planing and Feedforward Control Algorithm[J]. Advanced Engineering Sciences, 2011,43(3):244-250.
周黎,杨世洪,高晓东.一种快速4阶轨迹规划及前馈控制算法[J].工程科学与技术,2011,43(3):244-250. DOI：

A Fast Fouth-order Trajectory Planing and Feedforward Control Algorithm[J]. Advanced Engineering Sciences, 2011,43(3):244-250. DOI：

摘要

中文摘要: 为了满足高速高精度运动控制的要求，研究了一种快速4阶轨迹规划及前馈控制算法。针对现有4阶规划算法计算繁琐、效率低下的不足，改进了整个算法的实现过程，通过预先计算实现轨迹分类，避免了大量无效的计算和比较判断，提高了算法的速度和效率，使之适合在线实时计算。同时对算法的实现问题进行了讨论，对离散化误差进行了分析并提出了补偿措施，建立了基于4阶轨迹规划的前馈控制结构。通过仿真验证了提出的快速4阶轨迹规划及前馈控制算法的有效性和可靠性。

Abstract

Abstract:In order to meet the motion control requirements of high speed and high precision

a fast fouth-order trajectory planning and feedforward control algorithm was investigated. Due to the drawbacks of computation complexity and low efficiency residing in the existing algorithm

the whole computation process was revised. By pre-computing in classifying the trajectory

a large amount of useless computation

comparison and decision-making were avoided. The velocity and efficiency of the revised algorithm were greatly improved so that it is suitable for real time computation. The implementation aspects were also discussed

and the discretization error was analyzed and compensated. Finally the feedforward control structure based on the fouth order trajectory was set up. The simulation result showed the effectiveness and reliability of the algorithm proposed.

关键词

4阶轨迹规划点对点运动前馈控制误差补偿

Keywords

fouth-order trajectory planningpoint-to-point motionfeedforward controlerror compensation

references

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