Title: A jerk-constrained asymmetric motion profile for high-speed motion stages to reduce residual vibration
Authors: Huaizhong Li
Addresses: Griffith School of Engineering, Griffith University (Gold Coast Campus), Parklands Drive, Southport Queensland 4214, Australia
Abstract: Control of the motion induced structural vibration is very important for high-speed and high-precision positioning stages. This paper presents a motion profile generation methodology to minimise jerks and residual vibrations for high-speed motion stages in precision manufacturing machines. Acceleration profile is smoothened by using sinusoidal functions. To reduce the residual vibration and settling time at the end point of the motion, the peak jerk constraint level at the deceleration phase is further decreased. In addition, the deceleration bound is also decreased as well. It results in an asymmetrical motion profile. The acceleration profile is used to derive a displacement profile, which can be implemented in a DSP-based motion controller to drive the motor. By using this motion profile, the residual vibration as well as settling time can be greatly reduced compared to traditional profiles like trapezoidal or s-curve profiles.
Keywords: motion control; residual vibration; positioning stage; jerk constraints; asymmetric motion profile; structural vibration; high-precision positioning; jerks; high-speed motion; precision manufacturing.
International Journal of Computer Applications in Technology, 2016 Vol.53 No.2, pp.149 - 156
Received: 08 May 2021
Accepted: 12 May 2021
Published online: 16 Jan 2016 *