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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 identif

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.

대표청구항 ▼

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 visco

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; anda 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. 2. The system of claim 1, wherein the maximum acceleration identification component is configured to determine the maximum acceleration value based on a velocity function that models a velocity of the motion system over time for respective stages of the motion profile. 3. The system of claim 1, wherein the maximum acceleration identification component is configured to determine the maximum acceleration value based on a model of a torque of the motion system over time. 4. The system of claim 3, wherein the model of the torque comprises a sum of a viscous friction of the motion system over time, the Coulomb friction of the motion system, the load on the motion system, and an inertia of the motion system, and the viscous friction is modeled as a product of the viscous friction coefficient and a velocity function over time. 5. The system of claim 3, wherein the maximum acceleration identification component is configured to determine the maximum acceleration value by applying an analytical solution to the model of the torque that identifies, as the maximum acceleration value, a highest acceleration value that does not cause the torque to exceed the torque limit. 6. The system of claim 3, wherein the maximum acceleration identification component is configured to set the maximum acceleration value to an acceleration value A that solves min(−A)subject toT(t)=Jt{dot over (v)}(t)+Bv(v(t))+Bcsign(v(t))+W |T(t)|≦Tmax(v(t)) v⁡(t)=V0+sign⁡(V1-V0)⁢J⁢{12⁢t2,0