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Velocity profiling in linear and rotational systems

机译：线性和旋转系统中的速度曲线

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Abstract: Profiling scan velocity in linear and rotational machines (cameras and gimbal sets in particular) is common practice. Typically, these are given as trapezoidal profiles that ramp up from zero to a desired velocity, then ramp down to zero velocity at some later time. These profiles tend to be unidirectional, making implementation at the trapezoidal approach straightforward. The task is somewhat more complicated if one desires bidirectional operation. Consider the case where the displacements are identical for either direction, and scan velocities are dependent on scan direction. If cycle rate, the time required to perform a scan and return to the starting position, is a concern, the interaction between the scan profile and system dynamics needs to be considered. Tradeoffs, such as peak accelerations and settling times, and the type of controller need to be among the considerations. This paper presents some interesting results from these considerations, including a set of equations that may be implemented for either trapezoidal or sinusoidal profiles. It examines these in light of cycle rate requirements, and presents analytical results generated from Advanced Continuous Simulation Language (ACSL).!
机译：摘要：在线性和旋转机器（尤其是相机和万向架）中分析扫描速度是常见的做法。通常，这些是以梯形轮廓形式给出的，梯形轮廓从零上升到所需速度，然后在以后的某个时间下降到零速度。这些配置文件往往是单向的，从而使梯形方法的实现变得简单。如果需要双向操作，则该任务会稍微复杂一些。考虑以下情况：两个方向的位移均相同，并且扫描速度取决于扫描方向。如果担心循环速率（执行扫描并返回到起始位置所需的时间），则需要考虑扫描配置文件和系统动态之间的相互作用。权衡因素，例如峰值加速度和建立时间，以及控制器的类型，都需要考虑在内。本文从这些考虑中提出了一些有趣的结果，包括可以针对梯形或正弦曲线轮廓实施的一组方程式。它根据周期速率要求检查这些内容，并提供从高级连续仿真语言（ACSL）生成的分析结果。

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