已知线段长度 L L L，起点速度 v 0 v_0 v0，利用加速度梯形算法计算能达到的最大终点速度和最小终点速度。其中，最大加速度为 a m a_m am。
计算能达到的最大终点速度 v m v_m vm
设加加速时最大加加速度为 J m J_m Jm，减加速时最大加加速度为 J m ′ = J m α J'_m=\dfrac{J_m}{\alpha} Jm′=αJm。
加速到最大加速度时运动的距离S
首先，计算按照最大加加速度，加速到最大加速度
a
m
a_m
am时运动的距离
S
S
S，其加速度变化示意图如下
计算运动的加速度
a
=
{
J
m
t
,
0
⩽
t
⩽
t
1
,
a
m
−
J
m
α
t
,
0
⩽
t
⩽
α
t
1
.
\begin{aligned} a=\begin{cases} J_mt, &0\leqslant t\leqslant t_1, \\ a_m-\dfrac{J_m}{\alpha}t, &0\leqslant t\leqslant \alpha t_1. \end{cases} \end{aligned}
a=⎩⎨⎧Jmt,am−αJmt,0⩽t⩽t1,0⩽t⩽αt1.
其中，
t
1
=
a
m
J
m
t_1=\dfrac{a_m}{J_m}
t1=Jmam。
计算运动的速度
v
=
{
v
0
+
1
2
J
m
t
2
,
0
⩽
t
⩽
t
1
,
v
1
+
a
m
t
−
1
2
J
m
α
t
2
,
0
⩽
t
⩽
α
t
1
.
\begin{aligned} v=\begin{cases} v_0+\dfrac{1}{2}J_mt^2, &0\leqslant t\leqslant t_1, \\ v_1+a_mt-\dfrac{1}{2}\dfrac{J_m}{\alpha}t^2, &0\leqslant t\leqslant \alpha t_1. \end{cases} \end{aligned}
v=⎩⎪⎨⎪⎧v0+21Jmt2,v1+amt−21αJmt2,0⩽t⩽t1,0⩽t⩽αt1.
其中，
v
1
=
v
0
+
1
2
J
m
t
1
2
=
v
0
+
1
2
a
m
t
1
v_1=v_0+\dfrac{1}{2}J_mt_1^2=v_0+\dfrac{1}{2}a_mt_1
v1=v0+21Jmt12=v0+21amt1。
计算运动的距离
s
=
{
v
0
t
+
1
6
J
m
t
3
,
0
⩽
t
⩽
t
1
,
s
1
+
v
1
t
+
1
2
a
m
t
2
−
1
6
J
m
α
t
3
,
0
⩽
t
⩽
α
t
1
.
\begin{aligned} s=\begin{cases} v_0t+\dfrac{1}{6}J_mt^3, &0\leqslant t\leqslant t_1, \\ s_1+v_1t+\dfrac{1}{2}a_mt^2-\dfrac{1}{6}\dfrac{J_m}{\alpha}t^3, &0\leqslant t\leqslant \alpha t_1. \end{cases} \end{aligned}
s=⎩⎪⎨⎪⎧v0t+61Jmt3,s1+v1t+21amt2−61αJmt3,0⩽t⩽t1,0⩽t⩽αt1.
其中，
s
1
=
v
0
t
1
+
1
6
J
m
t
1
3
=
v
0
t
1
+
1
6
a
m
t
1
2
s_1=v_0t_1+\dfrac{1}{6}J_mt_1^3=v_0t_1+\dfrac{1}{6}a_mt_1^2
s1=v0t1+61Jmt13=v0t1+61amt12。
加速到最大加速度时运动的距离
S
S
S为
S
=
s
1
+
v
1
α
t
1
+
1
2
a
m
α
2
t
1
2
−
1
6
J
m
α
2
t
1
3
=
v
0
t
1
+
1
6
a
m
t
1
2
+
(
v
0
+
1
2
a
m
t
1
)
α
t
1
+
1
3
a
m
α
2
t
1
2
=
v
0
t
1
(
1
+
α
)
+
1
6
a
m
t
1
2
(
1
+
3
α
+
2
α
2
)
.
\begin{aligned} S&=s_1+v_1\alpha t_1+\dfrac{1}{2}a_m\alpha^2t_1^2-\dfrac{1}{6}J_m\alpha^2t_1^3 \\ &=v_0t_1+\dfrac{1}{6}a_mt_1^2+(v_0+\dfrac{1}{2}a_mt_1)\alpha t_1+\dfrac{1}{3}a_m\alpha^2t_1^2 \\ &=v_0t_1(1+\alpha)+\dfrac{1}{6}a_mt_1^2(1+3\alpha+2\alpha^2). \end{aligned}
S=s1+v1αt1+21amα2t12−61Jmα2t13=v0t1+61amt12+(v0+21amt1)αt1+31amα2t12=v0t1(1+α)+61amt12(1+3α+2α2).
线段的长度 L > S L>S L>S
若
L
>
S
L>S
L>S，则整个加速过程包含加加速运动、匀加速运动和减加速运动，其加速度变化示意图如下
计算运动的加速度
a
=
{
J
m
t
,
0
⩽
t
⩽
t
1
,
a
m
,
0
⩽
t
⩽
t
2
,
a
m
−
J
m
α
t
,
0
⩽
t
⩽
α
t
1
.
\begin{aligned} a=\begin{cases} J_mt, &0\leqslant t\leqslant t_1, \\ a_m, &0\leqslant t\leqslant t_2, \\ a_m-\dfrac{J_m}{\alpha}t, &0\leqslant t\leqslant \alpha t_1. \end{cases} \end{aligned}
a=⎩⎪⎪⎨⎪⎪⎧Jmt,am,am−αJmt,0⩽t⩽t1,0⩽t⩽t2,0⩽t⩽αt1.
其中，
t
1
=
a
m
J
m
t_1=\dfrac{a_m}{J_m}
t1=Jmam。
计算运动的速度
v
=
{
v
0
+
1
2
J
m
t
2
,
0
⩽
t
⩽
t
1
,
v
1
+
a
m
t
,
0
⩽
t
⩽
t
2
,
v
2
+
a
m
t
−
1
2
J
m
α
t
2
,
0
⩽
t
⩽
α
t
1
.
\begin{aligned} v=\begin{cases} v_0+\dfrac{1}{2}J_mt^2, &0\leqslant t\leqslant t_1, \\ v_1+a_mt, &0\leqslant t\leqslant t_2, \\ v_2+a_mt-\dfrac{1}{2}\dfrac{J_m}{\alpha}t^2, &0\leqslant t\leqslant \alpha t_1. \end{cases} \end{aligned}
v=⎩⎪⎪⎪⎨⎪⎪⎪⎧v0+21Jmt2,v1+amt,v2+amt−21αJmt2,0⩽t⩽t1,0⩽t⩽t2,0⩽t⩽αt1.
其中
{
v
1
=
v
0
+
1
2
J
m
t
1
2
=
v
0
+
1
2
a
m
t
1
,
v
2
=
v
1
+
a
m
t
2
=
v
0
+
1
2
a
m
t
1
+
a
m
t
2
,
v
m
=
v
2
+
a
m
α
t
1
−
1
2
J
m
α
t
1
2
=
v
0
+
1
2
a
m
t
1
+
a
m
t
2
+
1
2
a
m
α
t
1
=
v
0
+
1
2
a
m
t
1
(
1
+
α
)
+
a
m
t
2
.
\begin{aligned} \begin{cases} v_1&=v_0+\dfrac{1}{2}J_mt_1^2 =v_0+\dfrac{1}{2}a_mt_1, \\ v_2&=v_1+a_mt_2 =v_0+\dfrac{1}{2}a_mt_1+a_mt_2, \\ v_m&=v_2+a_m\alpha t_1-\dfrac{1}{2}J_m\alpha t_1^2 =v_0+\dfrac{1}{2}a_mt_1+a_mt_2+\dfrac{1}{2}a_m\alpha t_1 \\ &=v_0+\dfrac{1}{2}a_mt_1(1+\alpha)+a_mt_2. \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎧v1v2vm=v0+21Jmt12=v0+21amt1,=v1+amt2=v0+21amt1+amt2,=v2+amαt1−21Jmαt12=v0+21amt1+amt2+21amαt1=v0+21amt1(1+α)+amt2.
计算运动的距离
s
=
{
v
0
t
+
1
6
J
m
t
3
,
0
⩽
t
⩽
t
1
,
s
1
+
v
1
t
+
1
2
a
m
t
2
,
0
⩽
t
⩽
t
2
,
s
2
+
v
2
t
+
1
2
a
m
t
2
−
1
6
J
m
α
t
3
,
0
⩽
t
⩽
α
t
1
.
\begin{aligned} s=\begin{cases} v_0t+\dfrac{1}{6}J_mt^3, &0\leqslant t\leqslant t_1, \\ s_1+v_1t+\dfrac{1}{2}a_mt^2, &0\leqslant t\leqslant t_2, \\ s_2+v_2t+\dfrac{1}{2}a_mt^2-\dfrac{1}{6}\dfrac{J_m}{\alpha}t^3, &0\leqslant t\leqslant \alpha t_1. \end{cases} \end{aligned}
s=⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧v0t+61Jmt3,s1+v1t+21amt2,s2+v2t+21amt2−61αJmt3,0⩽t⩽t1,0⩽t⩽t2,0⩽t⩽αt1.
其中
{
s
1
=
v
0
t
1
+
1
6
J
m
t
1
3
=
v
0
t
1
+
1
6
a
m
t
1
2
,
s
2
=
s
1
+
v
1
t
2
+
1
2
a
m
t
2
2
=
v
0
t
1
+
1
6
a
m
t
1
2
+
(
v
0
+
1
2
a
m
t
1
)
t
2
+
1
2
a
m
t
2
2
=
v
0
(
t
1
+
t
2
)
+
1
6
a
m
t
1
2
+
1
2
a
m
t
1
t
2
+
1
2
a
m
t
2
2
,
s
m
=
s
2
+
v
2
α
t
1
+
1
2
a
m
α
2
t
1
2
−
1
6
J
m
α
2
t
1
3
=
v
0
(
t
1
+
t
2
)
+
1
6
a
m
t
1
2
+
1
2
a
m
t
1
t
2
+
1
2
a
m
t
2
2
+
(
v
0
+
1
2
a
m
t
1
+
a
m
t
2
)
α
t
1
+
1
3
a
m
α
2
t
1
2
=
v
0
(
t
1
+
t
2
+
α
t
1
)
+
1
6
a
m
t
1
2
(
1
+
3
α
+
2
α
2
)
+
1
2
a
m
t
1
t
2
(
1
+
2
α
)
+
1
2
a
m
t
2
2
=
L
.
\begin{aligned} \begin{cases} s_1&=v_0t_1+\dfrac{1}{6}J_mt_1^3=v_0t_1+\dfrac{1}{6}a_mt_1^2, \\ s_2&=s_1+v_1t_2+\dfrac{1}{2}a_mt_2^2 =v_0t_1+\dfrac{1}{6}a_mt_1^2+(v_0+\dfrac{1}{2}a_mt_1)t_2+\dfrac{1}{2}a_mt_2^2 \\ &=v_0(t_1+t_2)+\dfrac{1}{6}a_mt_1^2+\dfrac{1}{2}a_mt_1t_2+\dfrac{1}{2}a_mt_2^2, \\ s_m&=s_2+v_2\alpha t_1+\dfrac{1}{2}a_m\alpha^2t_1^2-\dfrac{1}{6}J_m\alpha^2t_1^3 \\ &=v_0(t_1+t_2)+\dfrac{1}{6}a_mt_1^2+\dfrac{1}{2}a_mt_1t_2+\dfrac{1}{2}a_mt_2^2 +(v_0+\dfrac{1}{2}a_mt_1+a_mt_2)\alpha t_1+\dfrac{1}{3}a_m\alpha^2t_1^2 \\ &=v_0(t_1+t_2+\alpha t_1)+\dfrac{1}{6}a_mt_1^2(1+3\alpha+2\alpha^2) +\dfrac{1}{2}a_mt_1t_2(1+2\alpha)+\dfrac{1}{2}a_mt_2^2 \\ &=L. \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧s1s2sm=v0t1+61Jmt13=v0t1+61amt12,=s1+v1t2+21amt22=v0t1+61amt12+(v0+21amt1)t2+21amt22=v0(t1+t2)+61amt12+21amt1t2+21amt22,=s2+v2αt1+21amα2t12−61Jmα2t13=v0(t1+t2)+61amt12+21amt1t2+21amt22+(v0+21amt1+amt2)αt1+31amα2t12=v0(t1+t2+αt1)+61amt12(1+3α+2α2)+21amt1t2(1+2α)+21amt22=L.
于是，可以得到两个一元方程
{
1
2
a
m
t
2
2
+
[
1
2
a
m
t
1
(
1
+
2
α
)
+
v
0
]
t
2
+
v
0
t
1
(
1
+
α
)
+
1
6
a
m
t
1
2
(
1
+
3
α
+
2
α
2
)
−
L
=
0
,
v
m
=
v
0
+
1
2
a
m
t
1
(
1
+
α
)
+
a
m
t
2
.
\begin{aligned} \begin{cases} \dfrac{1}{2}a_mt_2^2+\left[\dfrac{1}{2}a_mt_1(1+2\alpha)+v_0\right]t_2 +v_0t_1(1+\alpha)+\dfrac{1}{6}a_mt_1^2(1+3\alpha+2\alpha^2)-L=0, \\ v_m=v_0+\dfrac{1}{2}a_mt_1(1+\alpha)+a_mt_2. \end{cases} \end{aligned}
⎩⎪⎨⎪⎧21amt22+[21amt1(1+2α)+v0]t2+v0t1(1+α)+61amt12(1+3α+2α2)−L=0,vm=v0+21amt1(1+α)+amt2.
求解第一个一元二次方程得到
t
2
t_2
t2，然后代入第二个方程即可得到最大终点速度
v
m
v_m
vm。
线段的长度 L ⩽ S L\leqslant S L⩽S
若
L
⩽
S
L\leqslant S
L⩽S，则整个加速过程只包含加加速运动和减加速运动，其加速度变化示意图如下
计算运动的加速度
a
=
{
J
m
t
,
0
⩽
t
⩽
t
1
,
J
m
t
1
−
J
m
α
t
,
0
⩽
t
⩽
α
t
1
.
\begin{aligned} a=\begin{cases} J_mt, &0\leqslant t\leqslant t_1, \\ J_mt_1-\dfrac{J_m}{\alpha}t, &0\leqslant t\leqslant \alpha t_1. \end{cases} \end{aligned}
a=⎩⎨⎧Jmt,Jmt1−αJmt,0⩽t⩽t1,0⩽t⩽αt1.
计算运动的速度
v
=
{
v
0
+
1
2
J
m
t
2
,
0
⩽
t
⩽
t
1
,
v
1
+
J
m
t
1
t
−
1
2
J
m
α
t
2
,
0
⩽
t
⩽
α
t
1
.
\begin{aligned} v=\begin{cases} v_0+\dfrac{1}{2}J_mt^2, &0\leqslant t\leqslant t_1, \\ v_1+J_mt_1t-\dfrac{1}{2}\dfrac{J_m}{\alpha}t^2, &0\leqslant t\leqslant \alpha t_1. \end{cases} \end{aligned}
v=⎩⎪⎨⎪⎧v0+21Jmt2,v1+Jmt1t−21αJmt2,0⩽t⩽t1,0⩽t⩽αt1.
其中
{
v
1
=
v
0
+
1
2
J
m
t
1
2
,
v
m
=
v
1
+
J
m
t
1
α
t
1
−
1
2
J
m
α
t
1
2
=
v
0
+
1
2
J
m
t
1
2
+
1
2
J
m
α
t
1
2
=
v
0
+
1
2
J
m
t
1
2
(
1
+
α
)
.
\begin{aligned} \begin{cases} v_1&=v_0+\dfrac{1}{2}J_mt_1^2, \\ v_m&=v_1+J_mt_1\alpha t_1-\dfrac{1}{2}J_m\alpha t_1^2 =v_0+\dfrac{1}{2}J_mt_1^2+\dfrac{1}{2}J_m\alpha t_1^2 \\ &=v_0+\dfrac{1}{2}J_mt_1^2(1+\alpha). \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧v1vm=v0+21Jmt12,=v1+Jmt1αt1−21Jmαt12=v0+21Jmt12+21Jmαt12=v0+21Jmt12(1+α).
计算运动的距离
s
=
{
v
0
t
+
1
6
J
m
t
3
,
0
⩽
t
⩽
t
1
,
s
1
+
v
1
t
+
1
2
J
m
t
1
t
2
−
1
6
J
m
α
t
3
,
0
⩽
t
⩽
α
t
1
.
\begin{aligned} s=\begin{cases} v_0t+\dfrac{1}{6}J_mt^3, &0\leqslant t\leqslant t_1, \\ s_1+v_1t+\dfrac{1}{2}J_mt_1t^2-\dfrac{1}{6}\dfrac{J_m}{\alpha}t^3, &0\leqslant t\leqslant \alpha t_1. \end{cases} \end{aligned}
s=⎩⎪⎨⎪⎧v0t+61Jmt3,s1+v1t+21Jmt1t2−61αJmt3,0⩽t⩽t1,0⩽t⩽αt1.
其中
{
s
1
=
v
0
t
1
+
1
6
J
m
t
1
3
,
s
m
=
s
1
+
v
1
α
t
1
+
1
2
J
m
t
1
α
2
t
1
2
−
1
6
J
m
α
2
t
1
3
=
v
0
t
1
+
1
6
J
m
t
1
3
+
(
v
0
+
1
2
J
m
t
1
2
)
α
t
1
+
1
3
J
m
α
2
t
1
3
=
v
0
t
1
(
1
+
α
)
+
1
6
J
m
t
1
3
(
1
+
3
α
+
2
α
2
)
=
L
.
\begin{aligned} \begin{cases} s_1&=v_0t_1+\dfrac{1}{6}J_mt_1^3, \\ s_m&=s_1+v_1\alpha t_1+\dfrac{1}{2}J_mt_1\alpha^2t_1^2-\dfrac{1}{6}J_m\alpha^2t_1^3 \\ &=v_0t_1+\dfrac{1}{6}J_mt_1^3 +(v_0+\dfrac{1}{2}J_mt_1^2)\alpha t_1 +\dfrac{1}{3}J_m\alpha^2t_1^3 \\ &=v_0t_1(1+\alpha)+\dfrac{1}{6}J_mt_1^3(1+3\alpha+2\alpha^2) \\ &=L. \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧s1sm=v0t1+61Jmt13,=s1+v1αt1+21Jmt1α2t12−61Jmα2t13=v0t1+61Jmt13+(v0+21Jmt12)αt1+31Jmα2t13=v0t1(1+α)+61Jmt13(1+3α+2α2)=L.
于是，可以得到两个一元方程
{
1
6
J
m
(
1
+
3
α
+
2
α
2
)
t
1
3
+
v
0
(
1
+
α
)
t
1
−
L
=
0
,
v
m
=
v
0
+
1
2
J
m
t
1
2
(
1
+
α
)
.
\begin{aligned} \begin{cases} \dfrac{1}{6}J_m(1+3\alpha+2\alpha^2)t_1^3+v_0(1+\alpha)t_1-L=0, \\ v_m=v_0+\dfrac{1}{2}J_mt_1^2(1+\alpha). \end{cases} \end{aligned}
⎩⎪⎨⎪⎧61Jm(1+3α+2α2)t13+v0(1+α)t1−L=0,vm=v0+21Jmt12(1+α).
求解第一个一元三次方程得到
t
1
t_1
t1，然后代入第二个方程即可得到最大终点速度
v
m
v_m
vm。
计算能达到的最小终点速度 v m v_m vm
设减减速时最大加加速度为 J m J_m Jm，加减速时最大加加速度为 J m ′ = J m β J'_m=\dfrac{J_m}{\beta} Jm′=βJm。
对于减速运动，由于速度值不小于零，因此先判断是否能够减速到零。
判断能否减速到零
按照给定的条件，从零反向加速，计算能达到的最大终点速度 v m a x v_{max} vmax。如果 v m a x ⩾ v 0 v_{max}\geqslant v_0 vmax⩾v0，则能达到的最小终点速度 v m = 0 v_m=0 vm=0。以下均假设 v m a x < v 0 v_{max}<v_0 vmax<v0，即 v m > 0 v_m>0 vm>0成立。
减速到最大加速度时运动的速度 V V V和距离 S S S
计算按照最大加加速度，减速到最大加速度
a
m
a_m
am时运动的速度
V
V
V和距离
S
S
S，其加速度变化示意图如下
计算运动的加速度
a
=
{
−
J
m
β
t
,
0
⩽
t
⩽
β
t
1
,
−
a
m
+
J
m
t
,
0
⩽
t
⩽
t
1
.
\begin{aligned} a=\begin{cases} -\dfrac{J_m}{\beta}t, &0\leqslant t\leqslant\beta t_1, \\ -a_m+J_mt, &0\leqslant t\leqslant t_1. \end{cases} \end{aligned}
a=⎩⎨⎧−βJmt,−am+Jmt,0⩽t⩽βt1,0⩽t⩽t1.
其中，
t
1
=
a
m
J
m
t_1=\dfrac{a_m}{J_m}
t1=Jmam。
计算运动的速度
v
=
{
v
0
−
1
2
J
m
β
t
2
,
0
⩽
t
⩽
β
t
1
,
v
1
−
a
m
t
+
1
2
J
m
t
2
,
0
⩽
t
⩽
t
1
.
\begin{aligned} v=\begin{cases} v_0-\dfrac{1}{2}\dfrac{J_m}{\beta}t^2, &0\leqslant t\leqslant\beta t_1, \\ v_1-a_mt+\dfrac{1}{2}J_mt^2, &0\leqslant t\leqslant t_1. \end{cases} \end{aligned}
v=⎩⎪⎨⎪⎧v0−21βJmt2,v1−amt+21Jmt2,0⩽t⩽βt1,0⩽t⩽t1.
其中
{
v
1
=
v
0
−
1
2
J
m
β
t
1
2
=
v
0
−
1
2
a
m
β
t
1
,
v
m
=
v
1
−
a
m
t
1
+
1
2
J
m
t
1
2
=
v
0
−
1
2
a
m
β
t
1
−
1
2
a
m
t
1
=
v
0
−
1
2
a
m
t
1
(
1
+
β
)
.
\begin{aligned} \begin{cases} v_1&=v_0-\dfrac{1}{2}J_m\beta t_1^2=v_0-\dfrac{1}{2}a_m\beta t_1, \\ v_m&=v_1-a_mt_1+\dfrac{1}{2}J_mt_1^2=v_0-\dfrac{1}{2}a_m\beta t_1-\dfrac{1}{2}a_mt_1 \\ &=v_0-\dfrac{1}{2}a_mt_1(1+\beta). \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧v1vm=v0−21Jmβt12=v0−21amβt1,=v1−amt1+21Jmt12=v0−21amβt1−21amt1=v0−21amt1(1+β).
计算运动的距离
s
=
{
v
0
t
−
1
6
J
m
β
t
3
,
0
⩽
t
⩽
β
t
1
,
s
1
+
v
1
t
−
1
2
a
m
t
2
+
1
6
J
m
t
3
,
0
⩽
t
⩽
t
1
.
\begin{aligned} s=\begin{cases} v_0t-\dfrac{1}{6}\dfrac{J_m}{\beta}t^3, &0\leqslant t\leqslant\beta t_1, \\ s_1+v_1t-\dfrac{1}{2}a_mt^2+\dfrac{1}{6}J_mt^3, &0\leqslant t\leqslant t_1. \end{cases} \end{aligned}
s=⎩⎪⎨⎪⎧v0t−61βJmt3,s1+v1t−21amt2+61Jmt3,0⩽t⩽βt1,0⩽t⩽t1.
其中
{
s
1
=
v
0
β
t
1
−
1
6
J
m
β
2
t
1
3
=
v
0
β
t
1
−
1
6
a
m
β
2
t
1
2
,
s
m
=
s
1
+
v
1
t
1
−
1
2
a
m
t
1
2
+
1
6
J
m
t
1
3
=
v
0
β
t
1
−
1
6
a
m
β
2
t
1
2
+
(
v
0
−
1
2
a
m
β
t
1
)
t
1
−
1
3
a
m
t
1
2
=
v
0
t
1
(
1
+
β
)
−
1
6
a
m
t
1
2
(
β
2
+
3
β
+
2
)
.
\begin{aligned} \begin{cases} s_1&=v_0\beta t_1-\dfrac{1}{6}J_m\beta^2t_1^3=v_0\beta t_1-\dfrac{1}{6}a_m\beta^2t_1^2, \\ s_m&=s_1+v_1t_1-\dfrac{1}{2}a_mt_1^2+\dfrac{1}{6}J_mt_1^3 =v_0\beta t_1-\dfrac{1}{6}a_m\beta^2t_1^2+(v_0-\dfrac{1}{2}a_m\beta t_1)t_1-\dfrac{1}{3}a_mt_1^2 \\ &=v_0t_1(1+\beta)-\dfrac{1}{6}a_mt_1^2(\beta^2+3\beta+2). \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧s1sm=v0βt1−61Jmβ2t13=v0βt1−61amβ2t12,=s1+v1t1−21amt12+61Jmt13=v0βt1−61amβ2t12+(v0−21amβt1)t1−31amt12=v0t1(1+β)−61amt12(β2+3β+2).
减速到最大加速度时运动的速度
V
V
V和
S
S
S为
{
V
=
v
m
=
v
0
−
1
2
a
m
t
1
(
1
+
β
)
,
S
=
s
m
=
v
0
t
1
(
1
+
β
)
−
1
6
a
m
t
1
2
(
β
2
+
3
β
+
2
)
.
\begin{aligned} \begin{cases} V=v_m=v_0-\dfrac{1}{2}a_mt_1(1+\beta), \\ S=s_m=v_0t_1(1+\beta)-\dfrac{1}{6}a_mt_1^2(\beta^2+3\beta+2). \end{cases} \end{aligned}
⎩⎪⎨⎪⎧V=vm=v0−21amt1(1+β),S=sm=v0t1(1+β)−61amt12(β2+3β+2).
V ⩽ 0 V\leqslant0 V⩽0或者线段的长度 L ⩽ S L\leqslant S L⩽S
若
V
⩽
0
V\leqslant0
V⩽0或者
L
⩽
S
L\leqslant S
L⩽S，则整个减速过程只包含加减速运动和减减速运动，其加速度变化示意图如下
计算运动的加速度
a
=
{
−
J
m
β
t
,
0
⩽
t
⩽
β
t
1
,
−
J
m
t
1
+
J
m
t
,
0
⩽
t
⩽
t
1
.
\begin{aligned} a=\begin{cases} -\dfrac{J_m}{\beta}t, &0\leqslant t\leqslant\beta t_1, \\ -J_mt_1+J_mt, &0\leqslant t\leqslant t_1. \end{cases} \end{aligned}
a=⎩⎨⎧−βJmt,−Jmt1+Jmt,0⩽t⩽βt1,0⩽t⩽t1.
计算运动的速度
v
=
{
v
0
−
1
2
J
m
β
t
2
,
0
⩽
t
⩽
β
t
1
,
v
1
−
J
m
t
1
t
+
1
2
J
m
t
2
,
0
⩽
t
⩽
t
1
.
\begin{aligned} v=\begin{cases} v_0-\dfrac{1}{2}\dfrac{J_m}{\beta}t^2, &0\leqslant t\leqslant\beta t_1, \\ v_1-J_mt_1t+\dfrac{1}{2}J_mt^2, &0\leqslant t\leqslant t_1. \end{cases} \end{aligned}
v=⎩⎪⎨⎪⎧v0−21βJmt2,v1−Jmt1t+21Jmt2,0⩽t⩽βt1,0⩽t⩽t1.
其中
{
v
1
=
v
0
−
1
2
J
m
β
t
1
2
,
v
m
=
v
1
−
J
m
t
1
t
1
+
1
2
J
m
t
1
2
=
v
0
−
1
2
J
m
β
t
1
2
−
1
2
J
m
t
1
2
=
v
0
−
1
2
J
m
t
1
2
(
1
+
β
)
.
\begin{aligned} \begin{cases} v_1&=v_0-\dfrac{1}{2}J_m\beta t_1^2, \\ v_m&=v_1-J_mt_1t_1+\dfrac{1}{2}J_mt_1^2=v_0-\dfrac{1}{2}J_m\beta t_1^2-\dfrac{1}{2}J_mt_1^2 \\ &=v_0-\dfrac{1}{2}J_mt_1^2(1+\beta). \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧v1vm=v0−21Jmβt12,=v1−Jmt1t1+21Jmt12=v0−21Jmβt12−21Jmt12=v0−21Jmt12(1+β).
计算运动的距离
s
=
{
v
0
t
−
1
6
J
m
β
t
3
,
0
⩽
t
⩽
β
t
1
,
s
1
+
v
1
t
−
1
2
J
m
t
1
t
2
+
1
6
J
m
t
3
,
0
⩽
t
⩽
t
1
.
\begin{aligned} s=\begin{cases} v_0t-\dfrac{1}{6}\dfrac{J_m}{\beta}t^3, &0\leqslant t\leqslant\beta t_1, \\ s_1+v_1t-\dfrac{1}{2}J_mt_1t^2+\dfrac{1}{6}J_mt^3, &0\leqslant t\leqslant t_1. \end{cases} \end{aligned}
s=⎩⎪⎨⎪⎧v0t−61βJmt3,s1+v1t−21Jmt1t2+61Jmt3,0⩽t⩽βt1,0⩽t⩽t1.
其中
{
s
1
=
v
0
β
t
1
−
1
6
J
m
β
2
t
1
3
,
s
m
=
s
1
+
v
1
t
1
−
1
2
J
m
t
1
t
1
2
+
1
6
J
m
t
1
3
=
v
0
β
t
1
−
1
6
J
m
β
2
t
1
3
+
(
v
0
−
1
2
J
m
β
t
1
2
)
t
1
−
1
3
J
m
t
1
3
=
v
0
t
1
(
1
+
β
)
−
1
6
J
m
t
1
3
(
β
2
+
3
β
+
2
)
=
L
.
\begin{aligned} \begin{cases} s_1&=v_0\beta t_1-\dfrac{1}{6}J_m\beta^2t_1^3, \\ s_m&=s_1+v_1t_1-\dfrac{1}{2}J_mt_1t_1^2+\dfrac{1}{6}J_mt_1^3 =v_0\beta t_1-\dfrac{1}{6}J_m\beta^2t_1^3+(v_0-\dfrac{1}{2}J_m\beta t_1^2)t_1-\dfrac{1}{3}J_mt_1^3 \\ &=v_0t_1(1+\beta)-\dfrac{1}{6}J_mt_1^3(\beta^2+3\beta+2) \\ &=L. \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎧s1sm=v0βt1−61Jmβ2t13,=s1+v1t1−21Jmt1t12+61Jmt13=v0βt1−61Jmβ2t13+(v0−21Jmβt12)t1−31Jmt13=v0t1(1+β)−61Jmt13(β2+3β+2)=L.
于是，可以得到两个一元方程
{
1
6
J
m
(
β
2
+
3
β
+
2
)
t
1
3
−
v
0
(
1
+
β
)
t
1
+
L
=
0
,
v
m
=
v
0
−
1
2
J
m
t
1
2
(
1
+
β
)
.
\begin{aligned} \begin{cases} \dfrac{1}{6}J_m(\beta^2+3\beta+2)t_1^3-v_0(1+\beta)t_1+L=0, \\ v_m=v_0-\dfrac{1}{2}J_mt_1^2(1+\beta). \end{cases} \end{aligned}
⎩⎪⎨⎪⎧61Jm(β2+3β+2)t13−v0(1+β)t1+L=0,vm=v0−21Jmt12(1+β).
求解第一个一元三次方程得到
t
1
t_1
t1，然后代入第二个方程即可得到最小终点速度
v
m
v_m
vm。
线段长度 L > S L>S L>S
若
L
>
S
L>S
L>S，则整个减速过程包含加减速运动、匀减速运动和减减速运动，其加速度变化示意图如下
计算运动的加速度
a
=
{
−
J
m
β
t
,
0
⩽
t
⩽
β
t
1
−
a
m
,
0
⩽
t
⩽
t
2
,
−
a
m
+
J
m
t
,
0
⩽
t
⩽
t
1
.
\begin{aligned} a=\begin{cases} -\dfrac{J_m}{\beta}t, &0\leqslant t\leqslant\beta t_1 \\ -a_m, &0\leqslant t\leqslant t_2, \\ -a_m+J_mt, &0\leqslant t\leqslant t_1. \end{cases} \end{aligned}
a=⎩⎪⎪⎨⎪⎪⎧−βJmt,−am,−am+Jmt,0⩽t⩽βt10⩽t⩽t2,0⩽t⩽t1.
其中，
t
1
=
a
m
J
m
t_1=\dfrac{a_m}{J_m}
t1=Jmam。
计算运动的速度
v
=
{
v
0
−
1
2
J
m
β
t
2
,
0
⩽
t
⩽
β
t
1
v
1
−
a
m
t
,
0
⩽
t
⩽
t
2
,
v
2
−
a
m
t
+
1
2
J
m
t
2
,
0
⩽
t
⩽
t
1
.
\begin{aligned} v=\begin{cases} v_0-\dfrac{1}{2}\dfrac{J_m}{\beta}t^2, &0\leqslant t\leqslant\beta t_1 \\ v_1-a_mt, &0\leqslant t\leqslant t_2, \\ v_2-a_mt+\dfrac{1}{2}J_mt^2, &0\leqslant t\leqslant t_1. \end{cases} \end{aligned}
v=⎩⎪⎪⎪⎨⎪⎪⎪⎧v0−21βJmt2,v1−amt,v2−amt+21Jmt2,0⩽t⩽βt10⩽t⩽t2,0⩽t⩽t1.
其中
{
v
1
=
v
0
−
1
2
J
m
β
t
1
2
=
v
0
−
1
2
a
m
β
t
1
,
v
2
=
v
1
−
a
m
t
2
=
v
0
−
1
2
a
m
β
t
1
−
a
m
t
2
,
v
m
=
v
2
−
a
m
t
1
+
1
2
J
m
t
1
2
=
v
0
−
1
2
a
m
β
t
1
−
a
m
t
2
−
1
2
a
m
t
1
=
v
0
−
1
2
a
m
t
1
(
1
+
β
)
−
a
m
t
2
.
\begin{aligned} \begin{cases} v_1&=v_0-\dfrac{1}{2}J_m\beta t_1^2=v_0-\dfrac{1}{2}a_m\beta t_1, \\ v_2&=v_1-a_mt_2=v_0-\dfrac{1}{2}a_m\beta t_1-a_mt_2, \\ v_m&=v_2-a_mt_1+\dfrac{1}{2}J_mt_1^2=v_0-\dfrac{1}{2}a_m\beta t_1-a_mt_2-\dfrac{1}{2}a_mt_1 \\ &=v_0-\dfrac{1}{2}a_mt_1(1+\beta)-a_mt_2. \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎧v1v2vm=v0−21Jmβt12=v0−21amβt1,=v1−amt2=v0−21amβt1−amt2,=v2−amt1+21Jmt12=v0−21amβt1−amt2−21amt1=v0−21amt1(1+β)−amt2.
计算运动的距离
s
=
{
v
0
t
−
1
6
J
m
β
t
3
,
0
⩽
t
⩽
β
t
1
s
1
+
v
1
t
−
1
2
a
m
t
2
,
0
⩽
t
⩽
t
2
,
s
2
+
v
2
t
−
1
2
a
m
t
2
+
1
6
J
m
t
3
,
0
⩽
t
⩽
t
1
.
\begin{aligned} s=\begin{cases} v_0t-\dfrac{1}{6}\dfrac{J_m}{\beta}t^3, &0\leqslant t\leqslant\beta t_1 \\ s_1+v_1t-\dfrac{1}{2}a_mt^2, &0\leqslant t\leqslant t_2, \\ s_2+v_2t-\dfrac{1}{2}a_mt^2+\dfrac{1}{6}J_mt^3, &0\leqslant t\leqslant t_1. \end{cases} \end{aligned}
s=⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧v0t−61βJmt3,s1+v1t−21amt2,s2+v2t−21amt2+61Jmt3,0⩽t⩽βt10⩽t⩽t2,0⩽t⩽t1.
其中
{
s
1
=
v
0
β
t
1
−
1
6
J
m
β
2
t
1
3
=
v
0
β
t
1
−
1
6
a
m
β
2
t
1
2
,
s
2
=
s
1
+
v
1
t
2
−
1
2
a
m
t
2
2
=
v
0
β
t
1
−
1
6
a
m
β
2
t
1
2
+
(
v
0
−
1
2
a
m
β
t
1
)
t
2
−
1
2
a
m
t
2
2
=
v
0
(
β
t
1
+
t
2
)
−
1
6
a
m
β
2
t
1
2
−
1
2
a
m
β
t
1
t
2
−
1
2
a
m
t
2
2
,
s
m
=
s
2
+
v
2
t
1
−
1
2
a
m
t
1
2
+
1
6
J
m
t
1
3
=
v
0
(
β
t
1
+
t
2
)
−
1
6
a
m
β
2
t
1
2
−
1
2
a
m
β
t
1
t
2
−
1
2
a
m
t
2
2
+
(
v
0
−
1
2
a
m
β
t
1
−
a
m
t
2
)
t
1
−
1
3
a
m
t
1
2
=
v
0
(
β
t
1
+
t
2
+
t
1
)
−
1
6
a
m
t
1
2
(
β
2
+
3
β
+
2
)
−
1
2
a
m
t
1
t
2
(
β
+
2
)
−
1
2
a
m
t
2
2
=
L
.
\begin{aligned} \begin{cases} s_1&=v_0\beta t_1-\dfrac{1}{6}J_m\beta^2t_1^3=v_0\beta t_1-\dfrac{1}{6}a_m\beta^2t_1^2, \\ s_2&=s_1+v_1t_2-\dfrac{1}{2}a_mt_2^2=v_0\beta t_1-\dfrac{1}{6}a_m\beta^2t_1^2 +(v_0-\dfrac{1}{2}a_m\beta t_1)t_2-\dfrac{1}{2}a_mt_2^2 \\ &=v_0(\beta t_1+t_2)-\dfrac{1}{6}a_m\beta^2t_1^2-\dfrac{1}{2}a_m\beta t_1t_2-\dfrac{1}{2}a_mt_2^2, \\ s_m&=s_2+v_2t_1-\dfrac{1}{2}a_mt_1^2+\dfrac{1}{6}J_mt_1^3 \\ &=v_0(\beta t_1+t_2)-\dfrac{1}{6}a_m\beta^2t_1^2-\dfrac{1}{2}a_m\beta t_1t_2-\dfrac{1}{2}a_mt_2^2 +(v_0-\dfrac{1}{2}a_m\beta t_1-a_mt_2)t_1-\dfrac{1}{3}a_mt_1^2 \\ &=v_0(\beta t_1+t_2+t_1)-\dfrac{1}{6}a_mt_1^2(\beta^2+3\beta+2) -\dfrac{1}{2}a_mt_1t_2(\beta+2)-\dfrac{1}{2}a_mt_2^2 \\ &=L. \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧s1s2sm=v0βt1−61Jmβ2t13=v0βt1−61amβ2t12,=s1+v1t2−21amt22=v0βt1−61amβ2t12+(v0−21amβt1)t2−21amt22=v0(βt1+t2)−61amβ2t12−21amβt1t2−21amt22,=s2+v2t1−21amt12+61Jmt13=v0(βt1+t2)−61amβ2t12−21amβt1t2−21amt22+(v0−21amβt1−amt2)t1−31amt12=v0(βt1+t2+t1)−61amt12(β2+3β+2)−21amt1t2(β+2)−21amt22=L.
于是，可以得到两个一元方程
{
1
2
a
m
t
2
2
+
[
1
2
a
m
t
1
(
β
+
2
)
−
v
0
]
t
2
+
1
6
a
m
t
1
2
(
β
2
+
3
β
+
2
)
−
v
0
t
1
(
1
+
β
)
+
L
=
0
,
v
m
=
v
0
−
1
2
a
m
t
1
(
1
+
β
)
−
a
m
t
2
.
\begin{aligned} \begin{cases} \dfrac{1}{2}a_mt_2^2+\left[\dfrac{1}{2}a_mt_1(\beta+2)-v_0\right]t_2 +\dfrac{1}{6}a_mt_1^2(\beta^2+3\beta+2)-v_0t_1(1+\beta)+L=0, \\ v_m=v_0-\dfrac{1}{2}a_mt_1(1+\beta)-a_mt_2. \end{cases} \end{aligned}
⎩⎪⎨⎪⎧21amt22+[21amt1(β+2)−v0]t2+61amt12(β2+3β+2)−v0t1(1+β)+L=0,vm=v0−21amt1(1+β)−amt2.
求解第一个一元二次方程得到
t
2
t_2
t2，然后代入第二个方程即可得到最小终点速度
v
m
v_m
vm。
在最短时间内运动的距离 Δ S \Delta S ΔS
已知起点速度 v 0 v_0 v0，最大速度 v m ( ⩾ v 0 ) v_m(\geqslant v_0) vm(⩾v0)，最大加速度为 a m a_m am，加加速时最大加加速度为 J m J_m Jm，减加速时最大加加速度为 J m ′ = J m α J'_m=\dfrac{J_m}{\alpha} Jm′=αJm，按照加速度梯形算法计算在最短时间内运动的距离 Δ S \Delta S ΔS。
加速到最大加速度时速度的变化量 Δ V \Delta V ΔV
首先，计算按照最大加加速度，加速到最大加速度
a
m
a_m
am时速度的变化量
Δ
V
\Delta V
ΔV，其加速度变化示意图如下
t
1
=
a
m
J
m
,
Δ
V
=
1
2
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m
(
t
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+
α
t
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=
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t
1
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1
+
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)
.
\begin{aligned} &t_1=\dfrac{a_m}{J_m}, \\ &\Delta V=\dfrac{1}{2}a_m(t_1+\alpha t_1)=\dfrac{1}{2}a_mt_1(1+\alpha). \end{aligned}
t1=Jmam,ΔV=21am(t1+αt1)=21amt1(1+α).
速度变化量 ( v m − v 0 ) > Δ V (v_m-v_0)>\Delta V (vm−v0)>ΔV
若
(
v
m
−
v
0
)
>
Δ
V
(v_m-v_0)>\Delta V
(vm−v0)>ΔV，则加速阶段包含匀加速过程，其加速度变化示意图如下
t
1
=
a
m
J
m
,
v
m
−
v
0
=
1
2
a
m
t
1
(
1
+
α
)
+
a
m
t
2
⟹
t
2
=
v
m
−
v
0
a
m
−
1
2
t
1
(
1
+
α
)
,
Δ
S
=
v
0
(
t
1
+
t
2
+
α
t
1
)
+
1
6
a
m
t
1
2
(
1
+
3
α
+
2
α
2
)
+
1
2
a
m
t
1
t
2
(
1
+
2
α
)
+
1
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a
m
t
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2
.
\begin{aligned} &t_1=\dfrac{a_m}{J_m}, \\ &v_m-v_0=\dfrac{1}{2}a_mt_1(1+\alpha)+a_mt_2 \Longrightarrow t_2=\dfrac{v_m-v_0}{a_m} -\dfrac{1}{2}t_1(1+\alpha), \\ &\Delta S=v_0(t_1+t_2+\alpha t_1)+\dfrac{1}{6}a_mt_1^2(1+3\alpha+2\alpha^2) +\dfrac{1}{2}a_mt_1t_2(1+2\alpha) +\dfrac{1}{2}a_mt_2^2. \end{aligned}
t1=Jmam,vm−v0=21amt1(1+α)+amt2⟹t2=amvm−v0−21t1(1+α),ΔS=v0(t1+t2+αt1)+61amt12(1+3α+2α2)+21amt1t2(1+2α)+21amt22.
速度变化量 ( v m − v 0 ) ⩽ Δ V (v_m-v_0)\leqslant\Delta V (vm−v0)⩽ΔV
若
(
v
m
−
v
0
)
⩽
Δ
V
(v_m-v_0)\leqslant\Delta V
(vm−v0)⩽ΔV，则加速阶段不包含匀加速过程，其加速度变化示意图如下
v
m
−
v
0
=
1
2
J
m
t
1
2
(
1
+
α
)
⟹
t
1
=
2
(
v
m
−
v
0
)
J
m
(
1
+
α
)
,
Δ
S
=
v
0
t
1
(
1
+
α
)
+
1
6
J
m
t
1
3
(
1
+
3
α
+
2
α
2
)
.
\begin{aligned} &v_m-v_0=\dfrac{1}{2}J_mt_1^2(1+\alpha) \Longrightarrow t_1=\sqrt{\dfrac{2(v_m-v_0)}{J_m(1+\alpha)}}, \\ &\Delta S=v_0t_1(1+\alpha)+\dfrac{1}{6}J_mt_1^3(1+3\alpha+2\alpha^2). \end{aligned}
vm−v0=21Jmt12(1+α)⟹t1=Jm(1+α)2(vm−v0),ΔS=v0t1(1+α)+61Jmt13(1+3α+2α2).
加速度梯形算法的完整运动过程
假设已知各运动阶段的时间，如下示意图
完整的运动过程包含7个阶段，依次为加加速阶段、匀加速阶段、减加速阶段、匀速阶段、加减速阶段、匀减速阶段、减减速阶段，设起始速度为
v
0
v_0
v0，加加速阶段最大加加速度为
J
m
J_m
Jm，减减速阶段最大加加速度为
J
n
J_n
Jn，则
运动各阶段加速度为
{
0
⩽
t
⩽
t
1
,
a
=
J
m
t
,
0
⩽
t
⩽
t
2
,
a
=
J
m
t
1
,
0
⩽
t
⩽
α
t
1
,
a
=
J
m
t
1
−
J
m
α
t
,
0
⩽
t
⩽
t
3
,
a
=
0
,
0
⩽
t
⩽
β
t
4
,
a
=
−
J
n
β
t
,
0
⩽
t
⩽
t
5
,
a
=
−
J
n
t
4
,
0
⩽
t
⩽
t
4
,
a
=
−
J
n
t
4
+
J
n
t
.
\begin{aligned} \begin{cases} 0\leqslant t\leqslant t_1, &a=J_mt, \\ 0\leqslant t\leqslant t_2, &a=J_mt_1, \\ 0\leqslant t\leqslant \alpha t_1, &a=J_mt_1-\dfrac{J_m}{\alpha}t, \\ 0\leqslant t\leqslant t_3, &a=0, \\ 0\leqslant t\leqslant \beta t_4, &a=-\dfrac{J_n}{\beta}t, \\ 0\leqslant t\leqslant t_5, &a=-J_nt_4, \\ 0\leqslant t\leqslant t_4, &a=-J_nt_4+J_nt. \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧0⩽t⩽t1,0⩽t⩽t2,0⩽t⩽αt1,0⩽t⩽t3,0⩽t⩽βt4,0⩽t⩽t5,0⩽t⩽t4,a=Jmt,a=Jmt1,a=Jmt1−αJmt,a=0,a=−βJnt,a=−Jnt4,a=−Jnt4+Jnt.
运动各阶段速度为
{
0
⩽
t
⩽
t
1
,
v
=
v
0
+
1
2
J
m
t
2
,
0
⩽
t
⩽
t
2
,
v
=
v
1
+
J
m
t
1
t
,
0
⩽
t
⩽
α
t
1
,
v
=
v
2
+
J
m
t
1
t
−
1
2
J
m
α
t
2
,
0
⩽
t
⩽
t
3
,
v
=
v
3
,
0
⩽
t
⩽
β
t
4
,
v
=
v
4
−
1
2
J
n
β
t
2
,
0
⩽
t
⩽
t
5
,
v
=
v
5
−
J
n
t
4
t
,
0
⩽
t
⩽
t
4
,
v
=
v
6
−
J
n
t
4
t
+
1
2
J
n
t
2
.
⟸
{
v
1
=
v
0
+
1
2
J
m
t
1
2
,
v
2
=
v
1
+
J
m
t
1
t
2
,
v
3
=
v
2
+
J
m
t
1
α
t
1
−
1
2
J
m
α
t
1
2
=
v
2
+
1
2
J
m
α
t
1
2
,
v
4
=
v
3
,
v
5
=
v
4
−
1
2
J
n
β
t
4
2
,
v
6
=
v
5
−
J
n
t
4
t
5
,
v
e
=
v
6
−
J
n
t
4
2
+
1
2
J
n
t
4
2
=
v
6
−
1
2
J
n
t
4
2
.
\begin{aligned} \begin{cases} 0\leqslant t\leqslant t_1, &v=v_0+\dfrac{1}{2}J_mt^2, \\ 0\leqslant t\leqslant t_2, &v=v_1+J_mt_1t, \\ 0\leqslant t\leqslant \alpha t_1, &v=v_2+J_mt_1t-\dfrac{1}{2}\dfrac{J_m}{\alpha}t^2, \\ 0\leqslant t\leqslant t_3, &v=v_3, \\ 0\leqslant t\leqslant \beta t_4, &v=v_4-\dfrac{1}{2}\dfrac{J_n}{\beta}t^2, \\ 0\leqslant t\leqslant t_5, &v=v_5-J_nt_4t, \\ 0\leqslant t\leqslant t_4, &v=v_6-J_nt_4t+\dfrac{1}{2}J_nt^2. \end{cases} \Longleftarrow \begin{cases} v_1&=v_0+\dfrac{1}{2}J_mt_1^2, \\ v_2&=v_1+J_mt_1t_2, \\ v_3&=v_2+J_mt_1\alpha t_1-\dfrac{1}{2}J_m\alpha t_1^2 \\ &=v_2+\dfrac{1}{2}J_m\alpha t_1^2, \\ v_4&=v_3, \\ v_5&=v_4-\dfrac{1}{2}J_n\beta t_4^2, \\ v_6&=v_5-J_nt_4t_5, \\ v_e&=v_6-J_nt_4^2+\dfrac{1}{2}J_nt_4^2 \\ &=v_6-\dfrac{1}{2}J_nt_4^2. \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧0⩽t⩽t1,0⩽t⩽t2,0⩽t⩽αt1,0⩽t⩽t3,0⩽t⩽βt4,0⩽t⩽t5,0⩽t⩽t4,v=v0+21Jmt2,v=v1+Jmt1t,v=v2+Jmt1t−21αJmt2,v=v3,v=v4−21βJnt2,v=v5−Jnt4t,v=v6−Jnt4t+21Jnt2.⟸⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧v1v2v3v4v5v6ve=v0+21Jmt12,=v1+Jmt1t2,=v2+Jmt1αt1−21Jmαt12=v2+21Jmαt12,=v3,=v4−21Jnβt42,=v5−Jnt4t5,=v6−Jnt42+21Jnt42=v6−21Jnt42.
运动各阶段距离为
{
0
⩽
t
⩽
t
1
,
s
=
v
0
t
+
1
6
J
m
t
3
,
0
⩽
t
⩽
t
2
,
s
=
s
1
+
v
1
t
+
1
2
J
m
t
1
t
2
,
0
⩽
t
⩽
α
t
1
,
s
=
s
2
+
v
2
t
+
1
2
J
m
t
1
t
2
−
1
6
J
m
α
t
3
,
0
⩽
t
⩽
t
3
,
s
=
s
3
+
v
3
t
,
0
⩽
t
⩽
β
t
4
,
s
=
s
4
+
v
4
t
−
1
6
J
n
β
t
3
,
0
⩽
t
⩽
t
5
,
s
=
s
5
+
v
5
t
−
1
2
J
n
t
4
t
2
,
0
⩽
t
⩽
t
4
,
s
=
s
6
+
v
6
t
−
1
2
J
n
t
4
t
2
+
1
6
J
n
t
3
.
⟸
{
s
1
=
v
0
t
1
+
1
6
J
m
t
1
3
,
s
2
=
s
1
+
v
1
t
2
+
1
2
J
m
t
1
t
2
2
,
s
3
=
s
2
+
v
2
α
t
1
+
1
2
J
m
t
1
α
2
t
1
2
−
1
6
J
m
α
2
t
1
3
=
s
2
+
v
2
α
t
1
+
1
3
J
m
α
2
t
1
3
,
s
4
=
s
3
+
v
3
t
3
,
s
5
=
s
4
+
v
4
β
t
4
−
1
6
J
n
β
2
t
4
3
,
s
6
=
s
5
+
v
5
t
5
−
1
2
J
n
t
4
t
5
2
,
s
e
=
s
6
+
v
6
t
4
−
1
2
J
n
t
4
3
+
1
6
J
n
t
4
3
=
s
6
+
v
6
t
4
−
1
3
J
n
t
4
3
.
\begin{aligned} \begin{cases} 0\leqslant t\leqslant t_1, &s=v_0t+\dfrac{1}{6}J_mt^3, \\ 0\leqslant t\leqslant t_2, &s=s_1+v_1t+\dfrac{1}{2}J_mt_1t^2, \\ 0\leqslant t\leqslant \alpha t_1, &s=s_2+v_2t+\dfrac{1}{2}J_mt_1t^2-\dfrac{1}{6}\dfrac{J_m}{\alpha}t^3, \\ 0\leqslant t\leqslant t_3, &s=s_3+v_3t, \\ 0\leqslant t\leqslant \beta t_4, &s=s_4+v_4t-\dfrac{1}{6}\dfrac{J_n}{\beta}t^3, \\ 0\leqslant t\leqslant t_5, &s=s_5+v_5t-\dfrac{1}{2}J_nt_4t^2, \\ 0\leqslant t\leqslant t_4, &s=s_6+v_6t-\dfrac{1}{2}J_nt_4t^2+\dfrac{1}{6}J_nt^3. \end{cases} \Longleftarrow \begin{cases} s_1&=v_0t_1+\dfrac{1}{6}J_mt_1^3, \\ s_2&=s_1+v_1t_2+\dfrac{1}{2}J_mt_1t_2^2, \\ s_3&=s_2+v_2\alpha t_1+\dfrac{1}{2}J_mt_1\alpha^2t_1^2-\dfrac{1}{6}J_m\alpha^2t_1^3 \\ &=s_2+v_2\alpha t_1+\dfrac{1}{3}J_m\alpha^2t_1^3, \\ s_4&=s_3+v_3t_3, \\ s_5&=s_4+v_4\beta t_4-\dfrac{1}{6}J_n\beta^2t_4^3, \\ s_6&=s_5+v_5t_5-\dfrac{1}{2}J_nt_4t_5^2, \\ s_e&=s_6+v_6t_4-\dfrac{1}{2}J_nt_4^3+\dfrac{1}{6}J_nt_4^3 \\ &=s_6+v_6t_4-\dfrac{1}{3}J_nt_4^3. \end{cases} \end{aligned}
⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧0⩽t⩽t1,0⩽t⩽t2,0⩽t⩽αt1,0⩽t⩽t3,0⩽t⩽βt4,0⩽t⩽t5,0⩽t⩽t4,s=v0t+61Jmt3,s=s1+v1t+21Jmt1t2,s=s2+v2t+21Jmt1t2−61αJmt3,s=s3+v3t,s=s4+v4t−61βJnt3,s=s5+v5t−21Jnt4t2,s=s6+v6t−21Jnt4t2+61Jnt3.⟸⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧s1s2s3s4s5s6se=v0t1+61Jmt13,=s1+v1t2+21Jmt1t22,=s2+v2αt1+21Jmt1α2t12−61Jmα2t13=s2+v2αt1+31Jmα2t13,=s3+v3t3,=s4+v4βt4−61Jnβ2t43,=s5+v5t5−21Jnt4t52,=s6+v6t4−21Jnt43+61Jnt43=s6+v6t4−31Jnt43.
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