• Title/Summary/Keyword: Acceleration/deceleration

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Software Acceleration/Deceleration Methods for Industrial Robots and CNC Machine Tools (산업용로보트와 CNC 공작기계를 위한 소프트웨어 가감속 방법)

  • 김동일;송진일;김성권
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.41 no.5
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    • pp.562-572
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    • 1992
  • In this paper, we propose software algorithms which provide acceleration/deceleration characteristics essential to high dynamic performance at the transient states where industrial robots or CNC machine tools start and stop. Software acceleration/deceleration methods are derived from the mathematical analyses of typical hardware systems controlling acceleration/deceleration. These methods make servo motors, which drive axes of motion, start and stop smoothly without vibration in the repeated tools. The path error, which is one of the most significant factors in the performance evaluation of industrial robots or CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analyses show that path error consists of the distance between the required path and generated one through acceleration/deceleration, and that between the generated one through acceleration/deceleration algorithm and the actual one of the end effector of the industrial robot or tool of the CNC equipment.

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Acceleration and Deceleration Profile Development of Reflecting Road Design Consistency (설계일관성을 반영한 감가속도 프로파일 개발 - 지방부 다차로도로를 중심으로 -)

  • Choi, Jaisung;Lee, Jong-Hak;Chong, Sang Min;Cho, Won Bum;Kim, Sangyoup
    • International Journal of Highway Engineering
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    • v.15 no.6
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    • pp.103-111
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    • 2013
  • PURPOSES : Previous Speed Profile reflects the patterns of speeds in sections of tangents to curves in the roads. However these patterns are uniform of speeds and Acceleration/Deceleration. In oder to supplement these shortcomings. this study made a new profile which can contain factors of Acceleration/Deceleration through theories of Previous Speed Profiles. METHODS : For sakes, this study developed the speed prediction model of Rural Multi-Lane Highways and calculated Acceleration/Deceleration by appling a Polynomial model based on developed speed prediction model. Polynomial model is based on second by second. Acceleration/Deceleration Profile is developed with the various scenarios of road geometric conditions. RESULTS : The longer an ahead tangent length is, The higher an acceleration rate in curve occurs due to wide sight distance. However when there are big speed gaps between two curves, the longer tangent length alleviate acceleration rate. CONCLUSIONS : Acceleration/Deceleration Profile can overview th patterns of speeds and Accelerations/Decelerations in the various road geometric conditions. Also this result will help road designer have a proper guidance to exam a potential geometric conditions where may occur the acceleration/deceleration states.

Greenhouse Gas Emission Patterns at Intersections by Drivers (교차로에서 운전자별 온실가스 발생 경향)

  • Lee, Yoon-Seok;Yoo, Hye-Min;Oh, Heung-Un
    • International Journal of Highway Engineering
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    • v.15 no.4
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    • pp.147-154
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    • 2013
  • PURPOSES: To analyze the specific factors of drivers behaviors that amount of cause the greenhouse gas emissions per vehicle. METHODS: Drivers behaviors at intersections are analyzed on the conditions of acceleration and deceleration. RESULTS : First, it is resulted greenhouse gas emissions per vehicle is produced more at intersections than at the main lines of highway. Second, it is resulted that the average speed, the average acceleration rate and the maximum speed are three major factors to produce greenhouse gas per vehicle in acceleration sections. Third, it is resulted that rapid deceleration 20m before entering intersections is the major factor to produce greenhouse gas per vehicle in deceleration sections. CONCLUSIONS: At intersections, sudden acceleration and deceleration is not good for greenhouse gas emissions. Thus, and the average speed, the average acceleration rate and the maximum speed are the chosen as factors to be controlled for drivers' behavior to reduce vehicles' greenhouse gas at intersections.

Estimating Acceleration and Deceleration Lane Lengths by Analyzing Vehicle Speed Variation of Rest Areas for Drowsy Drivers (고속도로 졸음쉼터 진·출입 차량 주행속도 분석 및 적정 가·감속차로 길이 산정 연구)

  • Han, Dajeong;Kim, Eungcheol
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.17 no.6
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    • pp.54-66
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    • 2018
  • In this study, vehicle speeds at acceleration and deceleration lanes of rest areas for drowsy drivers were investigated to analyze effects of acceleration and deceleration lane lengths, grades and curve radius. In addition, we used VISSM to analyze proper lengths of rest area's acceleration and deceleration lanes. Several VISSIM scenarios with different lengths of acceleration and deceleration lane were constructed. Through VISSIM simulation, we collected individual vehicle speed data to analyze speed changes by different lengths of acceleration and deceleration lanes. As a result of the vehicle speed change investigation, grades and curve radii of the rest area affected the speed, most of all lengths of acceleration and deceleration lane showed a great effect on the vehicle speed. In the case of short lengths of acceleration and deceleration lane, speed variation among vehicles was significant. If the deceleration lane length is short, the vehicle enters a state in which the speed is not sufficiently reduced, and if the acceleration lane length is short, the vehicle enters a state in which the speed is not sufficiently accelerated showing high risks of conflicts and accidents. It is recommended that 245m length of deceleration lane and 370m length of acceleration lane should be installed at least to secure safety and manage conflicts relevantly.

Development of Acceleration/Deceleration Method for Real-time Control of Autonomous Mobile Robots (자율 이동 로봇의 실시간 제어를 위한 가.감속 방법의 개발)

  • 이수종
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2000.04a
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    • pp.667-672
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    • 2000
  • This article presents a new acceleration/deceleration method for real-time control of autonomous mobile robots. In this method, a function which produces the table of acceleration/deceleration in real-time is proposed. This function, while satisfying the basic concept of mechanics, can choose both various ranges of velocity and distance ranges for the selected velocities. Moreover it can control motors with real time. This function is convenient to be realized by programming. and it is faster than other functions because it can be made by assembly language.

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Tapping Machine of World′s Fastest Speed (초고속 태핑머신 개발)

  • 김선호;김동훈;김선민;이돈진;이선규;안중환;이상규
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2002.05a
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    • pp.382-386
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    • 2002
  • The tapping is machining process that makes a female screw on the parts to be assembly together. It is used for the high-speed tapping machine with synchronizing function for the high productivity. This paper describes the development of the ultra high-speed tapping machine with 10,000rpm. The key factors in the tapping speed are the acceleration/deceleration velocity and the synchronizing errors between the spindle motor and feeding motor. To minimizing acceleration/deceleration time, the low inertia spindle with synchronous built-in servo motor is developed. To minimizing synchronizing errors, the tapping cycle algorithm under open architecture CNC environment is optimized. The developed tapping machine has 0.13sec/10,000rpm in acceleration/deceleration time and the synchronizing error below 4.0%. It has 0.55sec for cycle time of one female screw, M3 tap, 2 times depth of tap diameter.

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Velocity profile generation methods for industrial robots and CNC machine tools

  • Kim, Dong-Il;Song, Jin-Il;Kim, Sungkwun
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10b
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    • pp.306-311
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    • 1992
  • We propose software algorithms which provide the characteristics of acceleration/deceleration essential to high dynamic performance at the transient state where industrial robots or CNC machine tools start and stop. The path error, which is one of the most significant factors in performance evaluation of industrial robots and CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analysis shows that the path error depends on the acceleration/deceleration routine and the servo control system. In experiments, the entire control algorithm including the proposed acceleration/deceleration algorithms is executed on the motion control system with a floating point digital signal processor(DSP) TMS320C30 as a CPU. The experimental results demonstrate that the proposed algorithms are very effective in controlling axes of motion of industrial robots or CNC machine tools with the desired characteristics.

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Development o f Acceleration/deceleration Function for Real-time Control of Autonomous Mobile Robots (자율 이동 로봇의 실시간 제어를 위한 가.감속 함수의 개발)

  • 이수종;정원지
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.10 no.6
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    • pp.36-41
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    • 2001
  • This article presents a new acceleration/deceleration method for real-time control of autonomous mobile robots. In this method, a function which produces the table of acceleration/deceleration in real-time is proposed. This function, while sat- isfying the basic concept of mechanics, can choose both various ranges of velocity and distance ranges for the selected velocities. Moreover it can control motors in real time. This function is convenient to be realized by programming. In addi- tion, it is faster than other functions because it can be written by assembly language.

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A Study of Rail Wear by Change of Acceleration and Deceleration (가속도/감속도 변화율에 따른 레일마모 현상에 관한 연구)

  • Ha, Kwan-Yong;Kim, Hie-Sik
    • Journal of the Korean Society for Railway
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    • v.10 no.5
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    • pp.607-612
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    • 2007
  • In this paper, operation mode of train was divided into powering, coasting, and braking and rail wear phenomenon has been done comparative analysis by each section. Data of train velocity is transferred to acceleration and deceleration from ATO Logging data. Amount of rail wear has been done comparative analysis by traction force of acceleration and braking force of deceleration and a plan for management of track irregularity is come up with by the result of the analysis.

Analysis of acceleration and deceleration of female hockey players using GPS (GPS를 활용한 여자 하키 선수들의 가속과 감속 분석)

  • Park, Jong-Chul;Kim, Ji-Eung;Choi, Eun-Young
    • Journal of Digital Convergence
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    • v.18 no.6
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    • pp.495-500
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    • 2020
  • This study was intended to quantify the acceleration and deceleration information measured in the competition by using GPS device for the national women's field hockey players and to identify the difference in movement by classifying them by position. For this study, 308 acceleration and deceleration data were collected from 16 women's field hockey players measured at international competitions. According to research results, the frequency of acceleration was in the order of midfield > defender > striker, acceleration distance was midfield > striker > defender. The frequency of deceleration appeared in the order of midfield > defender > striker, deceleration distance was defender > striker > defender. Based on the results of this study, can be used as basic data when setting the strength and amount of training for field hockey players.