Velocity planning for large inertia servo system based on power and torque constraints

To improve response rate and positioning accuracy of large inertia servo system, the velocity is planned based on power and torque constraints. Globally flexible acceleration and deceleration(a&d) algorithm based on trigonometric function is proposed, and a derivable and continuous velocity planning function is designed to reduce high-frequency component. Quadratic curve is employed to connect acceleration curve in incomplete process. Velocity planning algorithm is designed based on both nominal power and maximum torque constrains utilizing overload characteristic and maximum torque of the servo motor, and the condition of constrains is smoothly changed at the maximum torque point as well. The relation formula of constant speed and a&d time is given by utilizing displacement as command signal to satisfy different requirements. Single pulse interval is calculated based on mean velocity, and a left-end curve implementation method with interval threshold is designed to reduce computation cost for computer program. This method can be also used in other pulse-given servo systems. Testing and application results demonstrates the effectiveness and reliability of the proposed methods. The presented method improves target positioning accuracy and is successfully applied in test system.