前言
三次多项式轨迹虽然在速度上连续,但加速度却不连续,为了使电机在加速度上也获得连续,因此除了首尾位置和速度的约束,还需要对首尾的加速度进行约束。因此共有六个约束条件:起始位置 s 0 s_0 s0 、结束位置 s f s_f sf 、起始速度 s ˙ 0 \dot{s}_0 s˙0 、结束速度 s ˙ f \dot{s}_f s˙f 、起始加速度 s ¨ 0 \ddot{s}_0 s¨0 、结束加速度 s ¨ f \ddot{s}_f s¨f
则可以用五次多项式来表示轨迹:
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(1)
s(t)=a_{0}+a_{1} \, t+a_{2} \, t^{2}+a_{3} \, t^{3} + a_{4} \, t^{4} + a_{5} \, t^{5} \tag{1}
s(t)=a0+a1t+a2t2+a3t3+a4t4+a5t5(1)
求解轨迹方程未知参数
带入约束条件,其中
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(2)
\begin{align} s_{0}=\,& a_{0}\\ s_{f}=\,& a_{0}+a_{1} \, t_{f}+a_{2} \, t_{f}^{2}+a_{3} \, t_{f}^{3}+ a_{4} \, t_{f}^{4} + a_{5} \, t_{f}^{5} \\ \dot{s}_{0}=\,& a_{1}\\ \dot{s}_{f}=\,& a_{1}+2 a_{2} \, t_{f}+3 a_{3} \, t_{f}^{2}+ 4a_{4} \, t_{f}^{3} + 5a_{5} \, t_{f}^{4} \\ \ddot{s}_{0}=\,& 2a_{2}\\ \ddot{s}_{f}=\,& 2a_{2}+6a_{3} \, t + 12a_{4} \, t_{f}^{2} + 20a_{5} \, t_{f}^{3} \end{align} \tag{2}
s0=sf=s˙0=s˙f=s¨0=s¨f=a0a0+a1tf+a2tf2+a3tf3+a4tf4+a5tf5a1a1+2a2tf+3a3tf2+4a4tf3+5a5tf42a22a2+6a3t+12a4tf2+20a5tf3(2)
式(2)可转化为矩阵形式
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(3)
\left[\begin{array}{c}s_{0} \\ s_{f} \\ \dot{s}_{0} \\ \dot{s}_{f} \\ \ddot{s}_{0} \\ \ddot{s}_{f}\end{array}\right] =\left[\begin{array}{cccc} 1 & 0 & 0 & 0 & 0 & 0\\ 1 & t_f & t_{f}^{2} & t_{f}^{3} & t_{f}^{4} & t_{f}^{5}\\ 0 & 1 & 0 & 0 & 0 & 0\\ 0 & 1 & 2 t_f & 3 t_{f}^{2} & 4 t_{f}^{3} & 5 t_{f}^{4}\\ 0 & 0 & 2 & 0 & 0 & 0\\ 0 & 0 & 2 & 6 t_f & 12 t_{f}^{2} & 20 t_{f}^{3}\end{array}\right] \left[\begin{array}{l} a_{0} \\ a_{1} \\ a_{2} \\ a_{3} \\ a_{4} \\ a_{5}\end{array}\right] \tag{3}
s0sfs˙0s˙fs¨0s¨f
=
1100000tf11000tf202tf220tf303tf206tf0tf404tf3012tf20tf505tf4020tf3
a0a1a2a3a4a5
(3)
求解矩阵方程组(当
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det(T6×6)=0)
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(4)
\left[ \begin{array}{l} a_0\\ a_1\\ a_2\\ a_3\\ a_4\\ a_5\\ \end{array} \right] =\left[ \begin{matrix} 1& 0& 0& 0& 0& 0\\ 0& 0& 1& 0& 0& 0\\ 0& 0& 0& 0& \frac{1}{2}& 0\\ -\frac{10}{t_{f}^{3}}& \frac{10}{t_{f}^{3}}& -\frac{6}{t_{f}^{2}}& -\frac{4}{t_{f}^{2}}& -\frac{3}{2t_f}& \frac{1}{2t_f}\\ \frac{15}{t_{f}^{4}}& -\frac{15}{t_{f}^{4}}& \frac{8}{t_{f}^{3}}& \frac{7}{t_{f}^{3}}& \frac{3}{2t_{f}^{2}}& -\frac{1}{t_{f}^{2}}\\ -\frac{6}{t_{f}^{5}}& \frac{6}{t_{f}^{5}}& -\frac{3}{t_{f}^{4}}& -\frac{3}{t_{f}^{4}}& \frac{1}{2t_{f}^{3}}& \frac{1}{2t_{f}^{3}}\\ \end{matrix} \right] \left[ \begin{array}{c} s_0\\ s_f\\ \dot{s}_0\\ \dot{s}_f\\ \ddot{s}_0\\ \ddot{s}_f\\ \end{array} \right] \tag{4}
a0a1a2a3a4a5
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100−tf310tf415−tf56000tf310−tf415tf56010−tf26tf38−tf43000−tf24tf37−tf430021−2tf32tf232tf310002tf1−tf212tf31
s0sfs˙0s˙fs¨0s¨f
(4)
式(4)也可转化为代数形式
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(5)
\left\{ \begin{array}{l} a_0=s_0\\ a_1=\dot{s}_0\\ a_2=\frac{\ddot{s}_0}{2}\\ a_3=\frac{20s_f-20s_0-\left( 8\dot{s}_f+12\dot{s}_0 \right) t_f-\left( 3\ddot{s}_0-\ddot{s}_f \right) t_{f}^{2}}{2t_{f}^{3}}\\ a_4=\frac{30s_0-30s_f+\left( 14\dot{s}_f+16\dot{s}_0 \right) t_f+\left( 3\ddot{s}_0-2\ddot{s}_f \right) t_{f}^{2}}{2t_{f}^{4}}\\ a_5=\frac{12s_f-12s_0-\left( 6\dot{s}_f+6\dot{s}_0 \right) t_f-\left( \ddot{s}_0-\ddot{s}_f \right) t_{f}^{2}}{2t_{f}^{5}}\\ \end{array} \right. \tag{5}
⎩
⎨
⎧a0=s0a1=s˙0a2=2s¨0a3=2tf320sf−20s0−(8s˙f+12s˙0)tf−(3s¨0−s¨f)tf2a4=2tf430s0−30sf+(14s˙f+16s˙0)tf+(3s¨0−2s¨f)tf2a5=2tf512sf−12s0−(6s˙f+6s˙0)tf−(s¨0−s¨f)tf2(5)
输出轨迹方程
{ s ( t ) = a 0 + a 1 t + a 2 t 2 + a 3 t 3 + a 4 t 4 + a 5 t 5 s ˙ ( t ) = a 1 + 2 a 2 t + 3 a 3 t 2 + 4 a 4 t 3 + 5 a 5 t 4 s ¨ ( t ) = 2 a 2 + 6 a 3 t + 12 a 4 t 2 + 20 a 5 t 3 (6) \left\{ \begin{array}{l} s\left( t \right) =\,a_0+a_1\,t+a_2\,t^2+a_3\,t^3+a_4\,t^4+a_5\,t^5\\ \dot{s}\left( t \right) =\,a_1+2a_2\,t+3a_3\,t^2+4a_4\,t^3+5a_5\,t^4\\ \ddot{s}\left( t \right) =\,2a_2+6a_3\,t+12a_4\,t^2+20a_5\,t^3\\ \end{array} \right. \tag{6} ⎩ ⎨ ⎧s(t)=a0+a1t+a2t2+a3t3+a4t4+a5t5s˙(t)=a1+2a2t+3a3t2+4a4t3+5a5t4s¨(t)=2a2+6a3t+12a4t2+20a5t3(6)
总结
多项式轨迹曲线都没办法控制匀速,且次数越高,加速时间越长,平均速度低