Automatic determination of maximum acceleration for motion profiles
First Claim
1. A system for determining an acceleration limit for control of a motion system, comprising:
- a memory;
a processor configured to execute executable components stored on the memory, the executable components comprising;
a friction input component configured to determine a Coulomb friction and a viscous friction coefficient for a motion system comprising a motor and a mechanical load driven by the motor;
a load input component configured to determine a load on the motion system;
a mechanical/electrical constraint input component configured to receive constraint data representing a jerk limit for the motion system and a torque limit for the motion system, wherein the torque limit is defined as a function of speed; and
a maximum acceleration identification component configured to determine a maximum acceleration value for movement of the motion system to a target position or a target speed based on the Coulomb friction, the viscous friction coefficient, the load, the jerk limit, and the torque limit,the maximum acceleration identification component being further configured to output the maximum acceleration value to a motion controller configured to generate a motion profile for transitioning the motion system to the target position or the target speed.
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Accused Products
Abstract
A maximum acceleration identification system determines a suitable maximum acceleration for transitioning a given motion/motor system to a target position or velocity, taking the friction of the motion system into consideration. The maximum acceleration determined by the maximum acceleration identification system can then be used by the motion control system as the acceleration limit for generating motion profiles. Thus, motion profiles can be generated that are closer to the true maximum acceleration supported by the motion system without violating the mechanical and electrical constraints of the system as characterized in part by the viscous friction, resulting in a more time-optimal move. In some embodiments, the maximum acceleration identification system can automatically set the maximum acceleration of the control system'"'"'s profile generator to be equal to the derived value, thereby eliminating the need for the maximum acceleration to be selected and set by the system designer.
22 Citations
20 Claims
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1. A system for determining an acceleration limit for control of a motion system, comprising:
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a memory; a processor configured to execute executable components stored on the memory, the executable components comprising; a friction input component configured to determine a Coulomb friction and a viscous friction coefficient for a motion system comprising a motor and a mechanical load driven by the motor; a load input component configured to determine a load on the motion system; a mechanical/electrical constraint input component configured to receive constraint data representing a jerk limit for the motion system and a torque limit for the motion system, wherein the torque limit is defined as a function of speed; and a maximum acceleration identification component configured to determine a maximum acceleration value for movement of the motion system to a target position or a target speed based on the Coulomb friction, the viscous friction coefficient, the load, the jerk limit, and the torque limit, the maximum acceleration identification component being further configured to output the maximum acceleration value to a motion controller configured to generate a motion profile for transitioning the motion system to the target position or the target speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for generating a motion profile, comprising:
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determining, by a system comprising a processor, a maximum acceleration value for movement of a motion system to a target position or a target velocity based on a Coulomb friction value for the motion system, a viscous friction coefficient value of the motion system, a load on the motion system, a maximum jerk of the motion system, and a maximum torque of the motion system, wherein the motion system comprises a motor and a mechanical load driven by the motor, and wherein the maximum torque is defined as a function of speed; generating, by the system, a motion profile for transitioning the motion system to the target position or the target speed based on the maximum acceleration value; and controlling, by the system, a control signal directed to the motion system based on the motion profile. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory computer-readable medium having stored thereon computer-executable instructions that, in response to execution, cause a computer system to perform operations, comprising:
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receiving a command signal instructing a motion control system to transition a motion system to a target velocity or a target position; determining, in response to the receiving, a maximum acceleration value for movement of the motion system to the target velocity or the target position based on a Coulomb friction for the motion system, a viscous friction of the motion system, a jerk limit of the motion system, and a torque limit of the motion system, the torque limit being defined as a function of speed; generating a motion profile for transitioning the motion system to the target position or the target speed based on the maximum acceleration value; and controlling a control signal directed to the motion system based on the motion profile. - View Dependent Claims (18, 19, 20)
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Specification