On An Improved Sinusoidal Square Curve Acceleration and Deceleration Algorithms in Motion Control

Considering that the traditional linear or the exponential acceleration and deceleration control algorithm does not have continuous acceleration curve, S-curve motion control algorithm does not have continuous jerk, some scholars have proposed a sinusoidal square curve acceleration and deceleration algorithm in which the displacement, velocity, acceleration and jerk are all continuous. But the jerk curve in this algorithm is not smooth enough, which will cause the vibration and the tracking error of the system. An improved sinusoidal square curve acceleration and deceleration algorithm is proposed in this paper. In consideration that the curve of derivable function will become smoother when its order is increasing, a new second-order sine square jerk function is proposed and the relevant algorithm models are given. The simulation results show that the curves of improved algorithms are smoother than those of the original algorithm, which meets the requirements of modern high precision CNC system.