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
)
=
1
t
2
,
t
∈
[
0
,
t
2
]
\begin{aligned} &v(t)=v_0+a_mt,&& t\in[0,\ t_1] \\ &f(t)=\dfrac{1}{t_2},&& t\in[0,\ t_2] \end{aligned}
v(t)=v0+amt,f(t)=t21,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
)
=
1
t
2
,
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{1}{t_2},\qquad\qquad\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)=t21, t∈[0, t2]
令
V
(
t
)
=
v
(
x
)
∗
f
(
x
)
=
∫
−
∞
∞
v
(
x
)
⋅
f
(
t
−
x
)
d
x
V(t)=v(x)\ast f(x)=\int^{\infty}_{-\infty}v(x)\cdot f(t-x)dx
V(t)=v(x)∗f(x)=∫−∞∞v(x)⋅f(t−x)dx，则被积函数的非零定义域为
{
0
<
x
<
t
1
+
2
t
2
0
<
t
−
x
<
t
2
⟹
{
0
<
x
<
t
1
+
2
t
2
t
−
t
2
<
x
<
t
\begin{aligned} \begin{cases} 0<x<t_1+2t_2 \\ 0<t-x<t_2 \end{cases} \Longrightarrow \begin{cases} 0<x<t_1+2t_2 \\ t-t_2<x<t \end{cases} \end{aligned}
{0<x<t1+2t20<t−x<t2⟹{0<x<t1+2t2t−t2<x<t
推导滤波速度公式
若 t 1 ⩾ t 2 t_1\geqslant t_2 t1⩾t2
V ( t ) V(t) V(t)的被积函数的非零定义域如下图所示
当
t
<
0
t<0
t<0时
V
(
t
)
≡
0.
\begin{aligned} V(t)\equiv0. \end{aligned}
V(t)≡0.
当
0
⩽
t
⩽
t
2
0\leqslant t\leqslant t_2
0⩽t⩽t2时
V
(
t
)
=
∫
0
t
v
0
⋅
1
t
2
d
x
=
v
0
t
t
2
.
\begin{aligned} V(t)=\int^t_0v_0\cdot\dfrac{1}{t_2}dx=\dfrac{v_0t}{t_2}. \end{aligned}
V(t)=∫0tv0⋅t21dx=t2v0t.
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
⋅
1
t
2
d
x
+
∫
t
2
t
[
v
0
+
a
m
(
x
−
t
2
)
]
⋅
1
t
2
d
x
=
v
0
t
2
(
2
t
2
−
t
)
+
v
0
−
a
m
t
2
t
2
(
t
−
t
2
)
+
a
m
2
t
2
(
t
2
−
t
2
2
)
=
a
m
2
t
2
t
2
−
a
m
t
+
v
0
+
1
2
a
m
t
2
.
\begin{aligned} V(t)&=\int^{t_2}_{t-t_2}v_0\cdot\dfrac{1}{t_2}dx +\int^t_{t_2}[v_0+a_m(x-t_2)]\cdot\dfrac{1}{t_2}dx \\ &=\dfrac{v_0}{t_2}(2t_2-t) +\dfrac{v_0-a_mt_2}{t_2}(t-t_2) +\dfrac{a_m}{2t_2}(t^2-t_2^2) \\ &=\dfrac{a_m}{2t_2}t^2-a_mt+v_0+\dfrac{1}{2}a_mt_2. \end{aligned}
V(t)=∫t−t2t2v0⋅t21dx+∫t2t[v0+am(x−t2)]⋅t21dx=t2v0(2t2−t)+t2v0−amt2(t−t2)+2t2am(t2−t22)=2t2amt2−amt+v0+21amt2.
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
)
=
∫
t
−
t
2
t
[
v
0
+
a
m
(
x
−
t
2
)
]
⋅
1
t
2
d
x
=
v
0
−
a
m
t
2
t
2
[
t
−
(
t
−
t
2
)
]
+
1
2
t
2
a
m
[
t
2
−
(
t
−
t
2
)
2
]
=
v
0
−
a
m
t
2
+
a
m
t
−
1
2
a
m
t
2
=
a
m
t
+
v
0
−
3
2
a
m
t
2
.
\begin{aligned} V(t)&=\int^t_{t-t_2}[v_0+a_m(x-t_2)]\cdot\dfrac{1}{t_2}dx \\ &=\dfrac{v_0-a_mt_2}{t_2}[t-(t-t_2)] +\dfrac{1}{2t_2}a_m[t^2-(t-t_2)^2] \\ &=v_0-a_mt_2+a_mt-\dfrac{1}{2}a_mt_2 \\ &=a_mt+v_0-\dfrac{3}{2}a_mt_2. \end{aligned}
V(t)=∫t−t2t[v0+am(x−t2)]⋅t21dx=t2v0−amt2[t−(t−t2)]+2t21am[t2−(t−t2)2]=v0−amt2+amt−21amt2=amt+v0−23amt2.
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
2
t
1
+
t
2
[
v
0
+
a
m
(
x
−
t
2
)
]
⋅
1
t
2
d
x
+
∫
t
1
+
t
2
t
v
m
⋅
1
t
2
d
x
=
v
0
−
a
m
t
2
t
2
(
t
1
+
2
t
2
−
t
)
+
a
m
2
t
2
[
(
t
1
+
t
2
)
2
−
(
t
−
t
2
)
2
]
+
v
m
t
2
(
t
−
t
1
−
t
2
)
=
v
0
−
a
m
t
2
t
2
(
t
1
+
2
t
2
−
t
)
+
a
m
2
t
2
(
t
1
2
+
2
t
1
t
2
−
t
2
+
2
t
2
t
)
+
v
m
t
2
(
t
−
t
1
−
t
2
)
=
−
a
m
2
t
2
t
2
+
a
m
(
t
1
+
2
t
2
)
t
2
t
+
v
0
−
a
m
(
t
1
2
+
2
t
1
t
2
+
4
t
2
2
)
2
t
2
.
\begin{aligned} V(t)&=\int^{t_1+t_2}_{t-t_2}[v_0+a_m(x-t_2)]\cdot\dfrac{1}{t_2}dx +\int^t_{t_1+t_2}v_m\cdot\dfrac{1}{t_2}dx \\ &=\dfrac{v_0-a_mt_2}{t_2}(t_1+2t_2-t) +\dfrac{a_m}{2t_2}[(t_1+t_2)^2-(t-t_2)^2] +\dfrac{v_m}{t_2}(t-t_1-t_2) \\ &=\dfrac{v_0-a_mt_2}{t_2}(t_1+2t_2-t) +\dfrac{a_m}{2t_2}(t_1^2+2t_1t_2-t^2+2t_2t) +\dfrac{v_m}{t_2}(t-t_1-t_2) \\ &=-\dfrac{a_m}{2t_2}t^2 +\dfrac{a_m(t_1+2t_2)}{t_2}t +v_0 -\dfrac{a_m(t_1^2+2t_1t_2+4t_2^2)}{2t_2}. \end{aligned}
V(t)=∫t−t2t1+t2[v0+am(x−t2)]⋅t21dx+∫t1+t2tvm⋅t21dx=t2v0−amt2(t1+2t2−t)+2t2am[(t1+t2)2−(t−t2)2]+t2vm(t−t1−t2)=t2v0−amt2(t1+2t2−t)+2t2am(t12+2t1t2−t2+2t2t)+t2vm(t−t1−t2)=−2t2amt2+t2am(t1+2t2)t+v0−2t2am(t12+2t1t2+4t22).
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
2
t
1
+
2
t
2
v
m
⋅
1
t
2
d
x
=
v
m
t
2
(
t
1
+
3
t
2
−
t
)
.
\begin{aligned} V(t)=\int^{t_1+2t_2}_{t-t_2}v_m\cdot\dfrac{1}{t_2}dx =\dfrac{v_m}{t_2}(t_1+3t_2-t). \end{aligned}
V(t)=∫t−t2t1+2t2vm⋅t21dx=t2vm(t1+3t2−t).
当
t
>
t
1
+
3
t
2
t>t_1+3t_2
t>t1+3t2时
V
(
t
)
≡
0.
\begin{aligned} V(t)\equiv0. \end{aligned}
V(t)≡0.
若 t 1 > t 2 t_1>t_2 t1>t2
V ( t ) V(t) V(t)的被积函数的非零定义域如下图所示
当
t
<
0
t<0
t<0时
V
(
t
)
≡
0.
\begin{aligned} V(t)\equiv0. \end{aligned}
V(t)≡0.
当
0
⩽
t
⩽
t
2
0\leqslant t\leqslant t_2
0⩽t⩽t2时
V
(
t
)
=
∫
0
t
v
0
⋅
1
t
2
d
x
=
v
0
t
t
2
.
\begin{aligned} V(t)=\int^t_0v_0\cdot\dfrac{1}{t_2}dx=\dfrac{v_0t}{t_2}. \end{aligned}
V(t)=∫0tv0⋅t21dx=t2v0t.
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
⋅
1
t
2
d
x
+
∫
t
2
t
[
v
0
+
a
m
(
x
−
t
2
)
]
⋅
1
t
2
d
x
=
v
0
t
2
(
2
t
2
−
t
)
+
v
0
−
a
m
t
2
t
2
(
t
−
t
2
)
+
a
m
2
t
2
(
t
2
−
t
2
2
)
=
a
m
2
t
2
t
2
−
a
m
t
+
v
0
+
1
2
a
m
t
2
.
\begin{aligned} V(t)&=\int^{t_2}_{t-t_2}v_0\cdot\dfrac{1}{t_2}dx +\int^t_{t_2}[v_0+a_m(x-t_2)]\cdot\dfrac{1}{t_2}dx \\ &=\dfrac{v_0}{t_2}(2t_2-t) +\dfrac{v_0-a_mt_2}{t_2}(t-t_2) +\dfrac{a_m}{2t_2}(t^2-t_2^2) \\ &=\dfrac{a_m}{2t_2}t^2-a_mt+v_0+\dfrac{1}{2}a_mt_2. \end{aligned}
V(t)=∫t−t2t2v0⋅t21dx+∫t2t[v0+am(x−t2)]⋅t21dx=t2v0(2t2−t)+t2v0−amt2(t−t2)+2t2am(t2−t22)=2t2amt2−amt+v0+21amt2.
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
⋅
1
t
2
d
x
+
∫
t
2
t
1
+
t
2
[
v
0
+
a
m
(
x
−
t
2
)
]
⋅
1
t
2
d
x
+
∫
t
1
+
t
2
t
v
m
⋅
1
t
2
d
x
=
v
0
t
2
(
2
t
2
−
t
)
+
v
0
−
a
m
t
2
t
2
t
1
+
a
m
2
t
2
[
(
t
1
+
t
2
)
2
−
t
2
2
]
+
v
m
t
2
(
t
−
t
1
−
t
2
)
=
a
m
t
1
t
2
t
+
v
0
−
a
m
t
1
2
+
2
a
m
t
1
t
2
2
t
2
=
a
m
t
1
t
2
t
+
v
0
−
a
m
t
1
(
t
1
+
2
t
2
)
2
t
2
.
\begin{aligned} V(t)&=\int^{t_2}_{t-t_2}v_0\cdot\dfrac{1}{t_2}dx +\int^{t_1+t_2}_{t_2}[v_0+a_m(x-t_2)]\cdot\dfrac{1}{t_2}dx +\int^t_{t_1+t_2}v_m\cdot\dfrac{1}{t_2}dx \\ &=\dfrac{v_0}{t_2}(2t_2-t) +\dfrac{v_0-a_mt_2}{t_2}t_1 +\dfrac{a_m}{2t_2}[(t_1+t_2)^2-t_2^2] +\dfrac{v_m}{t_2}(t-t_1-t_2) \\ &=\dfrac{a_mt_1}{t_2}t +v_0 -\dfrac{a_mt_1^2+2a_mt_1t_2}{2t_2} \\ &=\dfrac{a_mt_1}{t_2}t +v_0 -\dfrac{a_mt_1(t_1+2t_2)}{2t_2}. \end{aligned}
V(t)=∫t−t2t2v0⋅t21dx+∫t2t1+t2[v0+am(x−t2)]⋅t21dx+∫t1+t2tvm⋅t21dx=t2v0(2t2−t)+t2v0−amt2t1+2t2am[(t1+t2)2−t22]+t2vm(t−t1−t2)=t2amt1t+v0−2t2amt12+2amt1t2=t2amt1t+v0−2t2amt1(t1+2t2).
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
2
t
1
+
t
2
[
v
0
+
a
m
(
x
−
t
2
)
]
⋅
1
t
2
d
x
+
∫
t
1
+
t
2
t
v
m
⋅
1
t
2
d
x
=
v
0
−
a
m
t
2
t
2
(
t
1
+
2
t
2
−
t
)
+
a
m
2
t
2
[
(
t
1
+
t
2
)
2
−
(
t
−
t
2
)
2
]
+
v
m
t
2
(
t
−
t
1
−
t
2
)
=
v
0
−
a
m
t
2
t
2
(
t
1
+
2
t
2
−
t
)
+
a
m
2
t
2
(
t
1
2
+
2
t
1
t
2
−
t
2
+
2
t
2
t
)
+
v
m
t
2
(
t
−
t
1
−
t
2
)
=
−
a
m
2
t
2
t
2
+
a
m
(
t
1
+
2
t
2
)
t
2
t
+
v
0
−
a
m
(
t
1
2
+
2
t
1
t
2
+
4
t
2
2
)
2
t
2
.
\begin{aligned} V(t)&=\int^{t_1+t_2}_{t-t_2}[v_0+a_m(x-t_2)]\cdot\dfrac{1}{t_2}dx +\int^t_{t_1+t_2}v_m\cdot\dfrac{1}{t_2}dx \\ &=\dfrac{v_0-a_mt_2}{t_2}(t_1+2t_2-t) +\dfrac{a_m}{2t_2}[(t_1+t_2)^2-(t-t_2)^2] +\dfrac{v_m}{t_2}(t-t_1-t_2) \\ &=\dfrac{v_0-a_mt_2}{t_2}(t_1+2t_2-t) +\dfrac{a_m}{2t_2}(t_1^2+2t_1t_2-t^2+2t_2t) +\dfrac{v_m}{t_2}(t-t_1-t_2) \\ &=-\dfrac{a_m}{2t_2}t^2 +\dfrac{a_m(t_1+2t_2)}{t_2}t +v_0 -\dfrac{a_m(t_1^2+2t_1t_2+4t_2^2)}{2t_2}. \end{aligned}
V(t)=∫t−t2t1+t2[v0+am(x−t2)]⋅t21dx+∫t1+t2tvm⋅t21dx=t2v0−amt2(t1+2t2−t)+2t2am[(t1+t2)2−(t−t2)2]+t2vm(t−t1−t2)=t2v0−amt2(t1+2t2−t)+2t2am(t12+2t1t2−t2+2t2t)+t2vm(t−t1−t2)=−2t2amt2+t2am(t1+2t2)t+v0−2t2am(t12+2t1t2+4t22).
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
2
t
1
+
2
t
2
v
m
⋅
1
t
2
d
x
=
v
m
t
2
(
t
1
+
3
t
2
−
t
)
.
\begin{aligned} V(t)=\int^{t_1+2t_2}_{t-t_2}v_m\cdot\dfrac{1}{t_2}dx =\dfrac{v_m}{t_2}(t_1+3t_2-t). \end{aligned}
V(t)=∫t−t2t1+2t2vm⋅t21dx=t2vm(t1+3t2−t).
当
t
>
t
1
+
3
t
2
t>t_1+3t_2
t>t1+3t2时
V
(
t
)
≡
0.
\begin{aligned} V(t)\equiv0. \end{aligned}
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
)
=
{
a
m
2
t
2
t
2
−
a
m
t
+
v
0
+
1
2
a
m
t
2
,
若
t
2
⩽
t
⩽
2
t
2
a
m
t
+
v
0
−
3
2
a
m
t
2
,
若
2
t
2
⩽
t
⩽
t
1
+
t
2
−
a
m
2
t
2
t
2
+
a
m
(
t
1
+
2
t
2
)
t
2
t
+
v
0
−
a
m
(
t
1
2
+
2
t
1
t
2
+
4
t
2
2
)
2
t
2
,
若
t
1
+
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V(t)=\begin{cases} \dfrac{a_m}{2t_2}t^2-a_mt+v_0+\dfrac{1}{2}a_mt_2, &若\ t_2\leqslant t\leqslant 2t_2 \\ a_mt+v_0-\dfrac{3}{2}a_mt_2, &若\ 2t_2\leqslant t\leqslant t_1+t_2 \\ -\dfrac{a_m}{2t_2}t^2+\dfrac{a_m(t_1+2t_2)}{t_2}t+v_0-\dfrac{a_m(t_1^2+2t_1t_2+4t_2^2)}{2t_2}, &若\ t_1+t_2\leqslant t\leqslant t_1+2t_2 \end{cases} \end{aligned}
V(t)=⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧2t2amt2−amt+v0+21amt2,amt+v0−23amt2,−2t2amt2+t2am(t1+2t2)t+v0−2t2am(t12+2t1t2+4t22),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
t
2
t
2
−
a
m
t
+
v
0
+
1
2
a
m
t
2
,
若
t
2
⩽
t
⩽
t
1
+
t
2
a
m
t
1
t
2
t
+
v
0
−
a
m
t
1
(
t
1
+
2
t
2
)
2
t
2
,
若
t
1
+
t
2
⩽
t
⩽
2
t
2
−
a
m
2
t
2
t
2
+
a
m
(
t
1
+
2
t
2
)
t
2
t
+
v
0
−
a
m
(
t
1
2
+
2
t
1
t
2
+
4
t
2
2
)
2
t
2
,
若
2
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V(t)=\begin{cases} \dfrac{a_m}{2t_2}t^2-a_mt+v_0+\dfrac{1}{2}a_mt_2, &若\ t_2\leqslant t\leqslant t_1+t_2 \\ \dfrac{a_mt_1}{t_2}t+v_0-\dfrac{a_mt_1(t_1+2t_2)}{2t_2}, &若\ t_1+t_2\leqslant t\leqslant 2t_2 \\ -\dfrac{a_m}{2t_2}t^2+\dfrac{a_m(t_1+2t_2)}{t_2}t+v_0-\dfrac{a_m(t_1^2+2t_1t_2+4t_2^2)}{2t_2}, &若\ 2t_2\leqslant t\leqslant t_1+2t_2 \end{cases} \end{aligned}
V(t)=⎩⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎧2t2amt2−amt+v0+21amt2,t2amt1t+v0−2t2amt1(t1+2t2),−2t2amt2+t2am(t1+2t2)t+v0−2t2am(t12+2t1t2+4t22),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
t
2
t
−
a
m
,
若
t
2
⩽
t
⩽
2
t
2
a
m
,
若
2
t
2
⩽
t
⩽
t
1
+
t
2
−
a
m
t
2
t
+
a
m
(
t
1
+
2
t
2
)
t
2
,
若
t
1
+
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V'(t)=\begin{cases} \dfrac{a_m}{t_2}t-a_m, &若\ t_2\leqslant t\leqslant 2t_2 \\ a_m, &若\ 2t_2\leqslant t\leqslant t_1+t_2 \\ -\dfrac{a_m}{t_2}t+\dfrac{a_m(t_1+2t_2)}{t_2}, &若\ t_1+t_2\leqslant t\leqslant t_1+2t_2 \end{cases} \end{aligned}
V′(t)=⎩⎪⎪⎪⎨⎪⎪⎪⎧t2amt−am,am,−t2amt+t2am(t1+2t2),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
t
2
t
−
a
m
,
若
t
2
⩽
t
⩽
t
1
+
t
2
a
m
t
1
t
2
,
若
t
1
+
t
2
⩽
t
⩽
2
t
2
−
a
m
t
2
t
+
a
m
(
t
1
+
2
t
2
)
t
2
,
若
2
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V'(t)=\begin{cases} \dfrac{a_m}{t_2}t-a_m, &若\ t_2\leqslant t\leqslant t_1+t_2 \\ \dfrac{a_mt_1}{t_2}, &若\ t_1+t_2\leqslant t\leqslant 2t_2 \\ -\dfrac{a_m}{t_2}t+\dfrac{a_m(t_1+2t_2)}{t_2}, &若\ 2t_2\leqslant t\leqslant t_1+2t_2 \end{cases} \end{aligned}
V′(t)=⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧t2amt−am,t2amt1,−t2amt+t2am(t1+2t2),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
t
2
,
若
t
2
⩽
t
⩽
2
t
2
0
,
若
2
t
2
<
t
<
t
1
+
t
2
−
a
m
t
2
,
若
t
1
+
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V''(t)=\begin{cases} \dfrac{a_m}{t_2}, &若\ t_2\leqslant t\leqslant 2t_2 \\ 0, &若\ 2t_2< t< t_1+t_2 \\ -\dfrac{a_m}{t_2}, &若\ t_1+t_2\leqslant t\leqslant t_1+2t_2 \end{cases} \end{aligned}
V′′(t)=⎩⎪⎪⎪⎨⎪⎪⎪⎧t2am,0,−t2am,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
t
2
,
若
t
2
⩽
t
⩽
t
1
+
t
2
0
,
若
t
1
+
t
2
<
t
<
2
t
2
−
a
m
t
2
,
若
2
t
2
⩽
t
⩽
t
1
+
2
t
2
\begin{aligned} V''(t)=\begin{cases} \dfrac{a_m}{t_2}, &若\ t_2\leqslant t\leqslant t_1+t_2 \\ 0, &若\ t_1+t_2< t< 2t_2 \\ -\dfrac{a_m}{t_2}, &若\ 2t_2\leqslant t\leqslant t_1+2t_2 \end{cases} \end{aligned}
V′′(t)=⎩⎪⎪⎪⎨⎪⎪⎪⎧t2am,0,−t2am,若 t2⩽t⩽t1+t2若 t1+t2<t<2t2若 2t2⩽t⩽t1+2t2
此即为加速度梯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
t
2
=
J
m
\dfrac{a_m}{t_2}=J_m
t2am=Jm，于是有
t
2
=
a
m
J
m
t_2=\dfrac{a_m}{J_m}
t2=Jmam。
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
2
(
v
0
+
v
m
)
(
t
1
+
t
2
)
s=\dfrac{1}{2}(v_0+v_m)(t_1+t_2)
s=21(v0+vm)(t1+t2)
其中
v
m
=
v
0
+
a
m
t
1
⇔
t
1
=
v
m
−
v
0
a
m
v_m=v_0+a_mt_1\ \Leftrightarrow\ t_1=\dfrac{v_m-v_0}{a_m}
vm=v0+amt1 ⇔ t1=amvm−v0，
t
2
=
a
m
J
m
t_2=\dfrac{a_m}{J_m}
t2=Jmam。
以上就是滤波方式下加速度梯形算法的连续表达式形式。
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