Re: S-Curve Velocity Profile

--- In CAD_CAM_EDM_DRO@egroups.com, pwcag@a... wrote:

>
> > The sine function from -90 degrees to +90 degrees plus an offset

of

> > +1 is ideal.
> >
> >
>
> Mariss,
>
> Do you have any examples on how this
> could be done?
>
> Tom.

Hi,

Tom, The only programming I've done was Z80 assembly language,
writing math for motion control. That certainly included non-linear
acceleration curves, but I don't know how helpful that would be for
you.

The technique was to use piecewise linear approximation; the desired
function was quantified and stored in a look-up table as a set of
acceleration rates. These entries would be scaled to the desired
terminal velocity. The motor velocity would then act as a pointer
into the acceleration table to pick the applicable rate for that
speed range.

Mariss