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1. 发明申请

US20080180045A1 ELIMINATION OF UNINTENDED VELOCITY REVERSALS IN S-CURVE VELOCITY PROFILES 有权
标题翻译：消除S曲线速度轮廓中意外的速度反转
公开(公告)号：US20080180045A1
公开(公告)日：2008-07-31
申请号：US11668111
申请日：2007-01-29
申请人： BOHUMIR SLADEK , Jacob Strickler Baker
发明人： BOHUMIR SLADEK , Jacob Strickler Baker
IPC分类号： H02P7/00
CPC分类号： G05B19/416 , G05B2219/41408 , G05B2219/49182
摘要： A method is employed to eliminate undesired velocity reversal in a motion profile. A start speed, a start acceleration, a speed limit, an acceleration limit, a deceleration limit, an acceleration jerk limit, and a deceleration jerk limit are programmed for the motion profile. A critical jerk value needed to avoid velocity reversal associated with the motion profile is calculated. The critical jerk value is compared to the programmed deceleration jerk limit. The larger of the critical jerk value and the programmed deceleration jerk limit is set as a computed maximum deceleration jerk limit for use with the motion profile. In this manner, the computed maximum deceleration jerk limit will never be lower than the critical jerk and undesired velocity reversal is eliminated.
摘要翻译：采用一种方法来消除运动曲线中不期望的速度反转。为运动曲线编程起动速度，启动加速度，速度限制，加速限制，减速限制，加速度加加速度极限和减速跳转极限。计算避免与运动曲线相关的速度反转所需的临界加加速度值。将临界加加速度值与编程的减速跳转限制进行比较。临界加加速度值和编程减速冲击极限值越大，就被设置为运动曲线使用的计算出的最大减速冲击极限。以这种方式，计算出的最大减速冲击极限将永远不会低于临界冲击，消除不期望的速度反转。

2. 发明授权

US07479751B2 Elimination of unintended velocity reversals in s-curve velocity profiles 有权
标题翻译：消除s曲线速度剖面中意外的速度反转
公开(公告)号：US07479751B2
公开(公告)日：2009-01-20
申请号：US11668111
申请日：2007-01-29
申请人： Bohumir Sladek , Jacob Strickler Baker
发明人： Bohumir Sladek , Jacob Strickler Baker
IPC分类号： G05B19/416 , G05B11/01
CPC分类号： G05B19/416 , G05B2219/41408 , G05B2219/49182
摘要： A method is employed to eliminate undesired velocity reversal in a motion profile. A start speed, a start acceleration, a speed limit, an acceleration limit, a deceleration limit, an acceleration jerk limit, and a deceleration jerk limit are programmed for the motion profile. A critical jerk value needed to avoid velocity reversal associated with the motion profile is calculated. The critical jerk value is compared to the programmed deceleration jerk limit. The larger of the critical jerk value and the programmed deceleration jerk limit is set as a computed maximum deceleration jerk limit for use with the motion profile. In this manner, the computed maximum deceleration jerk limit will never be lower than the critical jerk and undesired velocity reversal is eliminated.
摘要翻译：采用一种方法来消除运动曲线中不期望的速度反转。为运动曲线编程起动速度，启动加速度，速度限制，加速限制，减速限制，加速度加加速度极限和减速跳转极限。计算避免与运动曲线相关的速度反转所需的临界加加速度值。将临界加加速度值与编程的减速跳转限制进行比较。临界加加速度值和编程减速冲击极限值越大，就被设置为运动曲线使用的计算出的最大减速冲击极限。以这种方式，计算出的最大减速冲击极限将永远不会低于临界冲击，消除不期望的速度反转。

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