Improved S-shaped acceleration and deceleration model calculation method

The invention discloses an improved S-shaped acceleration and deceleration model calculation method, which comprises the following steps of (1) establishing a new five-section S-shaped acceleration and deceleration model introduced with four-order acceleration limitation, including five stages of acceleration jerk, uniform acceleration, reduced acceleration, uniform deceleration, deceleration andthe like, (2) judging whether the current interpolation speed exceeds the maximum speed allowed by a machine tool or not, and respectively calculating the processing time required by each stage according to different speeds and path lengths, and (3) substituting the obtained machining time into an improved acceleration and deceleration model to obtain an actual machining speed which can be reachedat the key point, and drawing a speed and acceleration planning curve. The method can significantly improve the efficiency. 本发明公开一种改进的S形加减速模型计算方法，包括以下步骤：(1)建立新的引入四阶加速度限制的五段S形加减速模型，包括加加速、匀加速、减加速、匀减速、减减速等五个阶段；(2)判断当前插补速度是否超出机床所