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Automatic determination of maximum acceleration for motion profiles

  • US 9,776,640 B1
  • Filed: 03/30/2016
  • Issued: 10/03/2017
  • Est. Priority Date: 03/30/2016
  • Status: Active Grant
First Claim
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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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