原始速度函数
设初始速度为
v
0
v_0
v0，最大加速度为
a
m
a_m
am，加速时间为
t
1
t_1
t1，滤波时间为
t
2
t_2
t2，于是有
v
(
t
)
=
v
0
+
a
m
t
,
t
∈
[
0
,
t
1
]
f
(
t
)
=
π
2
t
2
sin
(
π
t
2
t
)
,
t
∈
[
0
,
t
2
]
\begin{aligned} &v(t)=v_0+a_mt, && t\in[0,\ t_1] \\ &f(t)=\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}t), && t\in[0,\ t_2] \\ \end{aligned}
v(t)=v0+amt,f(t)=2t2πsin(t2πt),t∈[0, t1]t∈[0, t2]
构造滤波速度函数
令
v
m
=
v
0
+
a
m
t
1
v_m=v_0+a_mt_1
vm=v0+amt1，
v
(
t
)
=
{
v
0
,
t
∈
[
0
,
t
2
]
v
0
+
a
m
(
t
−
t
2
)
,
t
∈
[
t
2
,
t
1
+
t
2
]
v
m
,
t
∈
[
t
1
+
t
2
,
t
1
+
2
t
2
]
f
(
t
)
=
π
2
t
2
sin
(
π
t
2
t
)
,
t
∈
[
0
,
t
2
]
\begin{aligned} &v(t)=\begin{cases} v_0, & t\in[0,\ t_2] \\ v_0+a_m(t-t_2), & t\in[t_2,\ t_1+t_2] \\ v_m, & t\in[t_1+t_2,\ t_1+2t_2] \\ \end{cases} \\ &f(t)=\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}t),\qquad\quad t\in[0,t_2] \end{aligned}
v(t)=⎩⎪⎨⎪⎧v0,v0+am(t−t2),vm,t∈[0, t2]t∈[t2, t1+t2]t∈[t1+t2, t1+2t2]f(t)=2t2πsin(t2πt),t∈[0,t2]
令
V
(
t
)
=
v
(
x
)
∗
f
(
x
)
=
∫
−
∞
∞
v
(
t
−
x
)
⋅
f
(
x
)
d
x
V(t)=v(x)*f(x)=\int^\infty_{-\infty}v(t-x)\cdot f(x)dx
V(t)=v(x)∗f(x)=∫−∞∞v(t−x)⋅f(x)dx，则被积函数的非零定义域为
{
0
⩽
t
−
x
⩽
t
1
+
2
t
2
0
⩽
x
⩽
t
2
⟹
{
t
−
(
t
1
+
2
t
2
)
⩽
x
⩽
t
0
⩽
x
⩽
t
2
\begin{aligned} \begin{cases} 0\leqslant t-x\leqslant t_1+2t_2 \\ 0\leqslant x\leqslant t_2 \\ \end{cases} \quad\Longrightarrow \begin{cases} t-(t_1+2t_2)\leqslant x\leqslant t \\ 0\leqslant x\leqslant t_2 \\ \end{cases} \end{aligned}
{0⩽t−x⩽t1+2t20⩽x⩽t2⟹{t−(t1+2t2)⩽x⩽t0⩽x⩽t2
推导滤波速度公式
根据 t 1 t_1 t1和 t 2 t_2 t2的大小，分别推导滤波速度公式 V ( t ) V(t) V(t)。
若 t 1 ⩾ t 2 t_1\geqslant t_2 t1⩾t2
当
t
<
0
t<0
t<0 时
V
(
t
)
≡
0.
V(t)\equiv 0.
V(t)≡0.
当
0
⩽
t
⩽
t
2
0\leqslant t\leqslant t_2
0⩽t⩽t2 时
V
(
t
)
=
∫
0
t
v
0
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
−
v
0
2
cos
(
π
t
2
x
)
∣
0
t
=
v
0
2
−
v
0
2
cos
(
π
t
2
t
)
.
V(t)=\int^t_0v_0\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx=-\dfrac{v_0}{2}\cos(\dfrac{\pi}{t_2}x)\Bigg|^t_0=\dfrac{v_0}{2}-\dfrac{v_0}{2}\cos(\dfrac{\pi}{t_2}t).
V(t)=∫0tv0⋅2t2πsin(t2πx)dx=−2v0cos(t2πx)∣∣∣∣∣0t=2v0−2v0cos(t2πt).
当
t
2
⩽
t
⩽
2
t
2
t_2\leqslant t\leqslant 2t_2
t2⩽t⩽2t2 时
V
(
t
)
=
∫
t
−
t
2
t
2
v
0
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
+
∫
0
t
−
t
2
[
v
0
+
a
m
(
t
−
x
−
t
2
)
]
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
−
v
0
2
cos
(
π
t
2
x
)
∣
t
−
t
2
t
2
+
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
cos
(
π
t
2
x
)
+
a
m
2
x
cos
(
π
t
2
x
)
−
a
m
2
⋅
t
2
π
sin
(
π
t
2
x
)
]
∣
0
t
−
t
2
=
v
0
2
+
v
0
2
cos
(
π
t
2
(
t
−
t
2
)
)
+
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
cos
(
π
t
2
(
t
−
t
2
)
)
+
a
m
2
(
t
−
t
2
)
cos
(
π
t
2
(
t
−
t
2
)
)
−
a
m
2
⋅
t
2
π
sin
(
π
t
2
(
t
−
t
2
)
)
]
−
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
]
=
v
0
+
a
m
2
(
t
−
t
2
)
−
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
2
)
)
.
\begin{aligned} V(t)=&\int_{t-t_2}^{t_2}v_0\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx+\int^{t-t_2}_0[v_0+a_m(t-x-t_2)]\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx \\ =&-\dfrac{v_0}{2}\cos(\dfrac{\pi}{t_2}x)\Bigg|^{t_2}_{t-t_2} \\ &+\left[-\dfrac{1}{2}(v_0+a_mt-a_mt_2)\cos(\dfrac{\pi}{t_2}x)+\dfrac{a_m}{2}x\cos(\dfrac{\pi}{t_2}x)-\dfrac{a_m}{2}\cdot\dfrac{t_2}{\pi}\sin(\dfrac{\pi}{t_2}x)\right]\Bigg|_0^{t-t_2} \\ =&\dfrac{v_0}{2}+\dfrac{v_0}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_2)\right) +\left[-\dfrac{1}{2}(v_0+a_mt-a_mt_2)\cos\left(\dfrac{\pi}{t_2}(t-t_2)\right)\right. \\ &\left. +\dfrac{a_m}{2}(t-t_2)\cos\left(\dfrac{\pi}{t_2}(t-t_2)\right) -\dfrac{a_m}{2}\cdot\dfrac{t_2}{\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right) \right] \\ &-\left[-\dfrac{1}{2}(v_0+a_mt-a_mt_2)\right] \\ =&v_0+\dfrac{a_m}{2}(t-t_2)-\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right). \end{aligned}
V(t)====∫t−t2t2v0⋅2t2πsin(t2πx)dx+∫0t−t2[v0+am(t−x−t2)]⋅2t2πsin(t2πx)dx−2v0cos(t2πx)∣∣∣∣∣t−t2t2+[−21(v0+amt−amt2)cos(t2πx)+2amxcos(t2πx)−2am⋅πt2sin(t2πx)]∣∣∣∣∣0t−t22v0+2v0cos(t2π(t−t2))+[−21(v0+amt−amt2)cos(t2π(t−t2))+2am(t−t2)cos(t2π(t−t2))−2am⋅πt2sin(t2π(t−t2))]−[−21(v0+amt−amt2)]v0+2am(t−t2)−2πamt2sin(t2π(t−t2)).
当
2
t
2
⩽
t
⩽
t
1
+
t
2
2t_2\leqslant t\leqslant t_1+t_2
2t2⩽t⩽t1+t2 时
V
(
t
)
=
∫
0
t
2
[
v
0
+
a
m
(
t
−
x
−
t
2
)
]
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
cos
(
π
t
2
x
)
+
a
m
2
x
cos
(
π
t
2
x
)
−
a
m
2
⋅
t
2
π
sin
(
π
t
2
x
)
]
∣
0
t
2
=
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
−
a
m
2
t
2
−
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
]
=
v
0
+
a
m
t
−
3
2
a
m
t
2
.
\begin{aligned} V(t)=&\int_0^{t_2}[v_0+a_m(t-x-t_2)]\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx \\ =&\left[-\dfrac{1}{2}(v_0+a_mt-a_mt_2)\cos(\dfrac{\pi}{t_2}x)+\dfrac{a_m}{2}x\cos(\dfrac{\pi}{t_2}x)-\dfrac{a_m}{2}\cdot\dfrac{t_2}{\pi}\sin(\dfrac{\pi}{t_2}x)\right]\Bigg|^{t_2}_0 \\ =&\dfrac{1}{2}(v_0+a_mt-a_mt_2)-\dfrac{a_m}{2}t_2-[-\dfrac{1}{2}(v_0+a_mt-a_mt_2)] \\ =&v_0+a_mt-\dfrac{3}{2}a_mt_2. \end{aligned}
V(t)====∫0t2[v0+am(t−x−t2)]⋅2t2πsin(t2πx)dx[−21(v0+amt−amt2)cos(t2πx)+2amxcos(t2πx)−2am⋅πt2sin(t2πx)]∣∣∣∣∣0t221(v0+amt−amt2)−2amt2−[−21(v0+amt−amt2)]v0+amt−23amt2.
当
t
1
+
t
2
⩽
t
⩽
t
1
+
2
t
2
t_1+t_2\leqslant t\leqslant t_1+2t_2
t1+t2⩽t⩽t1+2t2 时
V
(
t
)
=
∫
t
−
t
1
−
t
2
t
2
[
v
0
+
a
m
(
t
−
x
−
t
2
)
]
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
+
∫
0
t
−
t
1
−
t
2
v
m
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
cos
(
π
t
2
x
)
+
a
m
2
x
cos
(
π
t
2
x
)
−
a
m
2
⋅
t
2
π
sin
(
π
t
2
x
)
]
∣
t
−
t
1
−
t
2
t
2
−
v
m
2
cos
(
π
t
2
x
)
∣
0
t
−
t
1
−
t
2
=
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
−
a
m
2
t
2
−
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
cos
(
π
t
2
(
t
−
t
1
−
t
2
)
)
+
a
m
2
(
t
−
t
1
−
t
2
)
cos
(
π
t
2
(
t
−
t
1
−
t
2
)
)
−
a
m
2
⋅
t
2
π
sin
(
π
t
2
(
t
−
t
1
−
t
2
)
)
]
−
v
m
2
cos
(
π
t
2
(
t
−
t
1
−
t
2
)
)
+
v
m
2
=
1
2
(
v
0
+
v
m
)
+
1
2
a
m
t
−
a
m
t
2
+
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
1
−
t
2
)
)
.
\begin{aligned} V(t)=&\int_{t-t_1-t_2}^{t_2}[v_0+a_m(t-x-t_2)]\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx +\int_0^{t-t_1-t_2}v_m\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx \\ =&\left[-\dfrac{1}{2}(v_0+a_mt-a_mt_2)\cos(\dfrac{\pi}{t_2}x) +\dfrac{a_m}{2}x\cos(\dfrac{\pi}{t_2}x)-\dfrac{a_m}{2}\cdot\dfrac{t_2}{\pi}\sin(\dfrac{\pi}{t_2}x)\right]\Bigg|^{t_2}_{t-t_1-t_2} \\ &-\dfrac{v_m}{2}\cos(\dfrac{\pi}{t_2}x)\Bigg|_0^{t-t_1-t_2} \\ =&\dfrac{1}{2}(v_0+a_mt-a_mt_2)-\dfrac{a_m}{2}t_2 -\left[-\dfrac{1}{2}(v_0+a_mt-a_mt_2)\cos\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right) \right. \\ &\left. +\dfrac{a_m}{2}(t-t_1-t_2)\cos\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right) -\dfrac{a_m}{2}\cdot\dfrac{t_2}{\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right)\right] \\ &-\dfrac{v_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right)+\dfrac{v_m}{2} \\ =&\dfrac{1}{2}(v_0+v_m)+\dfrac{1}{2}a_mt-a_mt_2+\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right). \end{aligned}
V(t)====∫t−t1−t2t2[v0+am(t−x−t2)]⋅2t2πsin(t2πx)dx+∫0t−t1−t2vm⋅2t2πsin(t2πx)dx[−21(v0+amt−amt2)cos(t2πx)+2amxcos(t2πx)−2am⋅πt2sin(t2πx)]∣∣∣∣∣t−t1−t2t2−2vmcos(t2πx)∣∣∣∣∣0t−t1−t221(v0+amt−amt2)−2amt2−[−21(v0+amt−amt2)cos(t2π(t−t1−t2))+2am(t−t1−t2)cos(t2π(t−t1−t2))−2am⋅πt2sin(t2π(t−t1−t2))]−2vmcos(t2π(t−t1−t2))+2vm21(v0+vm)+21amt−amt2+2πamt2sin(t2π(t−t1−t2)).
当
t
1
+
2
t
2
⩽
t
⩽
t
1
+
3
t
2
t_1+2t_2\leqslant t\leqslant t_1+3t_2
t1+2t2⩽t⩽t1+3t2 时
V
(
t
)
=
∫
t
−
t
1
−
2
t
2
t
2
v
m
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
−
v
m
2
cos
(
π
t
2
x
)
∣
t
−
t
1
−
2
t
2
t
2
=
v
m
2
+
v
m
2
cos
(
π
t
2
(
t
−
t
1
−
2
t
2
)
)
.
\begin{aligned} V(t)=&\int_{t-t_1-2t_2}^{t_2}v_m\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx \\ =&-\dfrac{v_m}{2}\cos(\dfrac{\pi}{t_2}x)\Bigg|_{t-t_1-2t_2}^{t_2} \\ =&\dfrac{v_m}{2}+\dfrac{v_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_1-2t_2)\right). \end{aligned}
V(t)===∫t−t1−2t2t2vm⋅2t2πsin(t2πx)dx−2vmcos(t2πx)∣∣∣∣∣t−t1−2t2t22vm+2vmcos(t2π(t−t1−2t2)).
当
t
>
t
1
+
3
t
2
t>t_1+3t_2
t>t1+3t2 时
V
(
t
)
≡
0.
V(t)\equiv 0.
V(t)≡0.
若 t 1 < t 2 t_1<t_2 t1<t2
当
t
<
0
t<0
t<0 时
V
(
t
)
≡
0.
V(t)\equiv 0.
V(t)≡0.
当
0
⩽
t
⩽
t
2
0\leqslant t\leqslant t_2
0⩽t⩽t2 时
V
(
t
)
=
∫
0
t
v
0
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
v
0
2
−
v
0
2
cos
(
π
t
2
t
)
.
V(t)=\int_0^tv_0\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx=\dfrac{v_0}{2}-\dfrac{v_0}{2}\cos(\dfrac{\pi}{t_2}t).
V(t)=∫0tv0⋅2t2πsin(t2πx)dx=2v0−2v0cos(t2πt).
当
t
2
⩽
t
⩽
t
1
+
t
2
t_2\leqslant t\leqslant t_1+t_2
t2⩽t⩽t1+t2 时
V
(
t
)
=
∫
t
−
t
2
t
2
v
0
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
+
∫
0
t
−
t
2
[
v
0
+
a
m
(
t
−
x
−
t
2
)
]
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
v
0
+
a
m
2
(
t
−
t
2
)
−
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
2
)
)
.
\begin{aligned} V(t)=&\int_{t-t_2}^{t_2}v_0\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx +\int_0^{t-t_2}[v_0+a_m(t-x-t_2)]\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx \\ =&v_0+\dfrac{a_m}{2}(t-t_2)-\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right). \end{aligned}
V(t)==∫t−t2t2v0⋅2t2πsin(t2πx)dx+∫0t−t2[v0+am(t−x−t2)]⋅2t2πsin(t2πx)dxv0+2am(t−t2)−2πamt2sin(t2π(t−t2)).
当
t
1
+
t
2
⩽
t
⩽
2
t
2
t_1+t_2\leqslant t\leqslant 2t_2
t1+t2⩽t⩽2t2 时
V
(
t
)
=
∫
t
−
t
2
t
2
v
0
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
+
∫
t
−
t
1
−
t
2
t
−
t
2
[
v
0
+
a
m
(
t
−
x
−
t
2
)
]
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
+
∫
0
t
−
t
1
−
t
2
v
m
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
−
v
0
2
cos
(
π
t
2
x
)
∣
t
−
t
2
t
2
+
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
cos
(
π
t
2
x
)
+
a
m
2
x
cos
(
π
t
2
x
)
−
a
m
2
⋅
t
2
π
sin
(
π
t
2
x
)
]
∣
t
−
t
1
−
t
2
t
−
t
2
−
v
m
2
cos
(
π
t
2
x
)
∣
0
t
−
t
1
−
t
2
=
v
0
2
+
v
0
2
cos
(
π
t
2
(
t
−
t
2
)
)
+
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
cos
(
π
t
2
(
t
−
t
2
)
)
+
a
m
2
(
t
−
t
2
)
cos
(
π
t
2
(
t
−
t
2
)
)
−
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
2
)
)
]
−
[
−
1
2
(
v
0
+
a
m
t
−
a
m
t
2
)
cos
(
π
t
2
(
t
−
t
1
−
t
2
)
)
+
a
m
2
(
t
−
t
1
−
t
2
)
cos
(
π
t
2
(
t
−
t
1
−
t
2
)
)
−
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
1
−
t
2
)
)
]
−
v
m
2
cos
(
π
t
2
(
t
−
t
1
−
t
2
)
)
+
v
m
2
=
1
2
(
v
0
+
v
m
)
−
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
2
)
)
+
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
1
−
t
2
)
)
.
\begin{aligned} V(t)=&\int_{t-t_2}^{t_2}v_0\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx +\int_{t-t_1-t_2}^{t-t_2}[v_0+a_m(t-x-t_2)]\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx \\ &+\int_0^{t-t_1-t_2}v_m\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx \\ =&-\dfrac{v_0}{2}\cos(\dfrac{\pi}{t_2}x)\Bigg|^{t_2}_{t-t_2} \\ &+\left[-\dfrac{1}{2}(v_0+a_mt-a_mt_2)\cos(\dfrac{\pi}{t_2}x) +\dfrac{a_m}{2}x\cos(\dfrac{\pi}{t_2}x) -\dfrac{a_m}{2}\cdot\dfrac{t_2}{\pi}\sin(\dfrac{\pi}{t_2}x)\right]\Bigg|^{t-t_2}_{t-t_1-t_2} \\ &-\dfrac{v_m}{2}\cos(\dfrac{\pi}{t_2}x)\Bigg|_0^{t-t_1-t_2} \\ =&\dfrac{v_0}{2}+\dfrac{v_0}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_2)\right) +\left[ -\dfrac{1}{2}(v_0+a_mt-a_mt_2)\cos\left(\dfrac{\pi}{t_2}(t-t_2)\right)\right. \\ &\left.+\dfrac{a_m}{2}(t-t_2)\cos\left(\dfrac{\pi}{t_2}(t-t_2)\right) -\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right) \right] \\ &-\left[-\dfrac{1}{2}(v_0+a_mt-a_mt_2)\cos\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right) \right. \\ &\left.+\dfrac{a_m}{2}(t-t_1-t_2)\cos\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right) -\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right) \right] \\ &-\dfrac{v_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right)+\dfrac{v_m}{2} \\ =&\dfrac{1}{2}(v_0+v_m)-\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right) +\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right). \end{aligned}
V(t)====∫t−t2t2v0⋅2t2πsin(t2πx)dx+∫t−t1−t2t−t2[v0+am(t−x−t2)]⋅2t2πsin(t2πx)dx+∫0t−t1−t2vm⋅2t2πsin(t2πx)dx−2v0cos(t2πx)∣∣∣∣∣t−t2t2+[−21(v0+amt−amt2)cos(t2πx)+2amxcos(t2πx)−2am⋅πt2sin(t2πx)]∣∣∣∣∣t−t1−t2t−t2−2vmcos(t2πx)∣∣∣∣∣0t−t1−t22v0+2v0cos(t2π(t−t2))+[−21(v0+amt−amt2)cos(t2π(t−t2))+2am(t−t2)cos(t2π(t−t2))−2πamt2sin(t2π(t−t2))]−[−21(v0+amt−amt2)cos(t2π(t−t1−t2))+2am(t−t1−t2)cos(t2π(t−t1−t2))−2πamt2sin(t2π(t−t1−t2))]−2vmcos(t2π(t−t1−t2))+2vm21(v0+vm)−2πamt2sin(t2π(t−t2))+2πamt2sin(t2π(t−t1−t2)).
当
2
t
2
⩽
t
⩽
t
1
+
2
t
2
2t_2\leqslant t\leqslant t_1+2t_2
2t2⩽t⩽t1+2t2 时
V
(
t
)
=
∫
t
−
t
1
−
t
2
t
2
[
v
0
+
a
m
(
t
−
x
−
t
2
)
]
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
+
∫
0
t
−
t
1
−
t
2
v
m
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
1
2
(
v
0
+
v
m
)
+
1
2
a
m
t
−
a
m
t
2
+
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
1
−
t
2
)
)
.
\begin{aligned} V(t)=&\int_{t-t_1-t_2}^{t_2}[v_0+a_m(t-x-t_2)]\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx +\int_0^{t-t_1-t_2}v_m\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx \\ =&\dfrac{1}{2}(v_0+v_m)+\dfrac{1}{2}a_mt-a_mt_2+\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right). \end{aligned}
V(t)==∫t−t1−t2t2[v0+am(t−x−t2)]⋅2t2πsin(t2πx)dx+∫0t−t1−t2vm⋅2t2πsin(t2πx)dx21(v0+vm)+21amt−amt2+2πamt2sin(t2π(t−t1−t2)).
当
t
1
+
2
t
2
⩽
t
⩽
t
1
+
3
t
2
t_1+2t_2\leqslant t\leqslant t_1+3t_2
t1+2t2⩽t⩽t1+3t2 时
V
(
t
)
=
∫
t
−
t
1
−
2
t
2
t
2
v
m
⋅
π
2
t
2
sin
(
π
t
2
x
)
d
x
=
v
m
2
+
v
m
2
cos
(
π
t
2
(
t
−
t
1
−
2
t
2
)
)
.
V(t)=\int_{t-t_1-2t_2}^{t_2}v_m\cdot\dfrac{\pi}{2t_2}\sin(\dfrac{\pi}{t_2}x)dx =\dfrac{v_m}{2}+\dfrac{v_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_1-2t_2)\right).
V(t)=∫t−t1−2t2t2vm⋅2t2πsin(t2πx)dx=2vm+2vmcos(t2π(t−t1−2t2)).
当
t
>
t
1
+
3
t
2
t>t_1+3t_2
t>t1+3t2 时
V
(
t
)
≡
0.
V(t)\equiv 0.
V(t)≡0.
滤波速度公式
取 t 2 ⩽ t ⩽ t 1 + 2 t 2 t_2\leqslant t\leqslant t_1+2t_2 t2⩽t⩽t1+2t2 时的滤波速度函数作为滤波速度公式，则有
当
t
1
⩾
t
2
t_1\geqslant t_2
t1⩾t2 时
V
(
t
)
=
{
v
0
+
a
m
2
(
t
−
t
2
)
−
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
2
)
)
,
若
t
2
⩽
t
⩽
2
t
2
v
0
+
a
m
t
−
3
2
a
m
t
2
,
若
2
t
2
⩽
t
⩽
t
1
+
t
2
1
2
(
v
0
+
v
m
)
+
1
2
a
m
t
−
a
m
t
2
+
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
1
−
t
2
)
)
,
若
t
1
+
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V(t)=\begin{cases} v_0+\dfrac{a_m}{2}(t-t_2)-\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right), & 若\ t_2\leqslant t\leqslant 2t_2 \\ v_0+a_mt-\dfrac{3}{2}a_mt_2, & 若\ 2t_2\leqslant t\leqslant t_1+t_2 \\ \dfrac{1}{2}(v_0+v_m)+\dfrac{1}{2}a_mt-a_mt_2+\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right), & 若\ t_1+t_2\leqslant t\leqslant t_1+2t_2 \end{cases} \end{aligned}
V(t)=⎩⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎧v0+2am(t−t2)−2πamt2sin(t2π(t−t2)),v0+amt−23amt2,21(v0+vm)+21amt−amt2+2πamt2sin(t2π(t−t1−t2)),若 t2⩽t⩽2t2若 2t2⩽t⩽t1+t2若 t1+t2⩽t⩽t1+2t2
当
t
1
<
t
2
t_1 < t_2
t1<t2 时
V
(
t
)
=
{
v
0
+
a
m
2
(
t
−
t
2
)
−
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
2
)
)
,
若
t
2
⩽
t
⩽
t
1
+
t
2
1
2
(
v
0
+
v
m
)
−
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
2
)
)
+
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
1
−
t
2
)
)
,
若
t
1
+
t
2
⩽
t
⩽
2
t
2
1
2
(
v
0
+
v
m
)
+
1
2
a
m
t
−
a
m
t
2
+
a
m
t
2
2
π
sin
(
π
t
2
(
t
−
t
1
−
t
2
)
)
,
若
2
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V(t)=\begin{cases} v_0+\dfrac{a_m}{2}(t-t_2)-\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right), & 若\ t_2\leqslant t\leqslant t_1+t_2 \\ \dfrac{1}{2}(v_0+v_m)-\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right) +\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right), & 若\ t_1+t_2\leqslant t\leqslant 2t_2 \\ \dfrac{1}{2}(v_0+v_m)+\dfrac{1}{2}a_mt-a_mt_2+\dfrac{a_mt_2}{2\pi}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right), & 若\ 2t_2\leqslant t\leqslant t_1+2t_2 \end{cases} \end{aligned}
V(t)=⎩⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎧v0+2am(t−t2)−2πamt2sin(t2π(t−t2)),21(v0+vm)−2πamt2sin(t2π(t−t2))+2πamt2sin(t2π(t−t1−t2)),21(v0+vm)+21amt−amt2+2πamt2sin(t2π(t−t1−t2)),若 t2⩽t⩽t1+t2若 t1+t2⩽t⩽2t2若 2t2⩽t⩽t1+2t2
滤波速度公式的导数及积分
加速度公式
滤波速度公式的一阶导数，如下
当
t
1
⩾
t
2
t_1\geqslant t_2
t1⩾t2 时
V
′
(
t
)
=
{
a
m
2
−
a
m
2
cos
(
π
t
2
(
t
−
t
2
)
)
,
若
t
2
⩽
t
⩽
2
t
2
a
m
,
若
2
t
2
⩽
t
⩽
t
1
+
t
2
a
m
2
+
a
m
2
cos
(
π
t
2
(
t
−
t
1
−
t
2
)
)
,
若
t
1
+
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V'(t)=\begin{cases} \dfrac{a_m}{2}-\dfrac{a_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_2)\right), & 若\ t_2\leqslant t\leqslant 2t_2 \\ a_m, & 若\ 2t_2\leqslant t\leqslant t_1+t_2 \\ \dfrac{a_m}{2}+\dfrac{a_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right), & 若\ t_1+t_2\leqslant t\leqslant t_1+2t_2 \\ \end{cases} \end{aligned}
V′(t)=⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧2am−2amcos(t2π(t−t2)),am,2am+2amcos(t2π(t−t1−t2)),若 t2⩽t⩽2t2若 2t2⩽t⩽t1+t2若 t1+t2⩽t⩽t1+2t2
当
t
1
<
t
2
t_1<t_2
t1<t2 时
V
′
(
t
)
=
{
a
m
2
−
a
m
2
cos
(
π
t
2
(
t
−
t
2
)
)
,
若
t
2
⩽
t
⩽
t
1
+
t
2
−
a
m
2
cos
(
π
t
2
(
t
−
t
2
)
)
+
a
m
2
cos
(
π
t
2
(
t
−
t
1
−
t
2
)
)
,
若
t
1
+
t
2
⩽
t
⩽
2
t
2
a
m
2
+
a
m
2
cos
(
π
t
2
(
t
−
t
1
−
t
2
)
)
,
若
2
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V'(t)=\begin{cases} \dfrac{a_m}{2}-\dfrac{a_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_2)\right), & 若\ t_2\leqslant t\leqslant t_1+t_2 \\ -\dfrac{a_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_2)\right) +\dfrac{a_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right), & 若\ t_1+t_2\leqslant t\leqslant 2t_2 \\ \dfrac{a_m}{2}+\dfrac{a_m}{2}\cos\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right), & 若\ 2t_2\leqslant t\leqslant t_1+2t_2 \\ \end{cases} \end{aligned}
V′(t)=⎩⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎧2am−2amcos(t2π(t−t2)),−2amcos(t2π(t−t2))+2amcos(t2π(t−t1−t2)),2am+2amcos(t2π(t−t1−t2)),若 t2⩽t⩽t1+t2若 t1+t2⩽t⩽2t2若 2t2⩽t⩽t1+2t2
加加速度公式
滤波速度公式的二阶导数，如下
当
t
1
⩾
t
2
t_1\geqslant t_2
t1⩾t2 时
V
′
′
(
t
)
=
{
a
m
π
2
t
2
sin
(
π
t
2
(
t
−
t
2
)
)
,
若
t
2
⩽
t
⩽
2
t
2
0
,
若
2
t
2
<
t
<
t
1
+
t
2
−
a
m
π
2
t
2
sin
(
π
t
2
(
t
−
t
1
−
t
2
)
)
,
若
t
1
+
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V''(t)=\begin{cases} \dfrac{a_m\pi}{2t_2}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right), & 若\ t_2\leqslant t\leqslant 2t_2 \\ 0, & 若\ 2t_2<t<t_1+t_2 \\ -\dfrac{a_m\pi}{2t_2}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right), & 若\ t_1+t_2\leqslant t\leqslant t_1+2t_2 \\ \end{cases} \end{aligned}
V′′(t)=⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧2t2amπsin(t2π(t−t2)),0,−2t2amπsin(t2π(t−t1−t2)),若 t2⩽t⩽2t2若 2t2<t<t1+t2若 t1+t2⩽t⩽t1+2t2
当
t
1
<
t
2
t_1<t_2
t1<t2 时
V
′
′
(
t
)
=
{
a
m
π
2
t
2
sin
(
π
t
2
(
t
−
t
2
)
)
,
若
t
2
⩽
t
⩽
t
1
+
t
2
a
m
π
2
t
2
sin
(
π
t
2
(
t
−
t
2
)
)
−
a
m
π
2
t
2
sin
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π
t
2
(
t
−
t
1
−
t
2
)
)
,
若
t
1
+
t
2
<
t
<
2
t
2
−
a
m
π
2
t
2
sin
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π
t
2
(
t
−
t
1
−
t
2
)
)
,
若
2
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V''(t)=\begin{cases} \dfrac{a_m\pi}{2t_2}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right), & 若\ t_2\leqslant t\leqslant t_1+t_2 \\ \dfrac{a_m\pi}{2t_2}\sin\left(\dfrac{\pi}{t_2}(t-t_2)\right) -\dfrac{a_m\pi}{2t_2}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right), & 若\ t_1+t_2<t<2t_2 \\ -\dfrac{a_m\pi}{2t_2}\sin\left(\dfrac{\pi}{t_2}(t-t_1-t_2)\right), & 若\ 2t_2\leqslant t\leqslant t_1+2t_2 \\ \end{cases} \end{aligned}
V′′(t)=⎩⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎧2t2amπsin(t2π(t−t2)),2t2amπsin(t2π(t−t2))−2t2amπsin(t2π(t−t1−t2)),−2t2amπsin(t2π(t−t1−t2)),若 t2⩽t⩽t1+t2若 t1+t2<t<2t2若 2t2⩽t⩽t1+2t2
此即为加速度S形算法的加加速度公式，若已知系统最大加加速度为
J
m
J_m
Jm，则可以令
a
m
π
2
t
2
=
J
m
\dfrac{a_m\pi}{2t_2}=J_m
2t2amπ=Jm，于是有
t
2
=
a
m
π
2
J
m
t_2=\dfrac{a_m\pi}{2J_m}
t2=2Jmamπ。
距离公式
根据加速度公式的对称性，按照几何意义积分，可以得到运动距离的公式为
s
=
1
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(
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s=\dfrac{1}{2}(v_0+v_m)(t_1+t_2)
s=21(v0+vm)(t1+t2)
其中
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⇔
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J
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v_m=v_0+a_mt_1\quad \Leftrightarrow\quad t_1=\dfrac{v_m-v_0}{a_m},\ t_2=\dfrac{a_m\pi}{2J_m}
vm=v0+amt1⇔t1=amvm−v0, t2=2Jmamπ。
以上就是滤波方式下加速度S形算法的连续表达式形式。
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