DOCUMENTATION AND TUTORIAL FOR THE S （年代的文档和教程）.pdf

MyoStat Motion Control 06/08/2003 S-CURVE DOCUMENTATION AND TUTORIAL FOR THE S-CURVE ON THE COOL MUSCLE MyoStat Motion Control 06/08/2003 1. INTRODUCTION The s-curve function allows the user to define a smooth response yet still maintain a high acceleration. In many applications the ideal step response is not one where the maximum speed is reached instantaneously. The jarring effect of high acceleration and deceleration can damage the application, yet a slow acceleration can slow down production dramatically. In these applications the ideal step response is to have a slow initial acceleration, leading into a high acceleration to a low deceleration to the required speed. The resultant speed curve is what is known as an s-curve. Step Response 250 200 d n o c 150 e s S-Curve / s Acceleration e 100 s l High Aceleration u p 50 Low Acceleration 0 0.0 0.1 0.2 0.3 seconds Figure 1: Step response of an S-Curve function. Figure 1 shows how the s-curve can maintain advantages of both a high and low acceleration. High overall acceleration is maintained yet jarring effects are minimised.