The implementation and experimental research on an S-curve acceleration and deceleration control algorithm with the characteristics of end-point and target speed modification on the fly

  • Di Li
  • Jiewen WuEmail author
  • Jiafu Wan
  • Shiyong Wang
  • Song Li
  • Chengliang Liu


For modern equipment manufacturing industries, advanced manufacturing technologies have significant impact on the production quality and efficiency. Specifically, high-speed and high-accuracy technology is widely used in aerospace, automotive, and power-generation equipment to reduce the processing costs and improve the machining accuracy. However, the traditional velocity planning methods cannot satisfy the requirements of advanced equipment in point-to-point movement occasions. To solve these problems, a novel S-curve acceleration and deceleration (Acc/Dec) control model is proposed in this study, and the discretization of the Acc/Dec process was investigated. Furthermore, the derivation of the actual interpolation periods of each segment, actual achieved Acc/Dec, and actual achieved jerk of Acc/Dec zone are addressed in detail. To ensure the positioning accuracy and reduce the computational load, discrete formulae for the deceleration displacement, maximal achieved speed, and displacement of the constant acceleration segment are derived. To satisfy the product diversification and improve the efficiency, the function of the aforementioned S-curve Acc/Dec control algorithm was extended in this study. As a result, the end-point modification and target speed modification algorithms were developed. Finally, a series of numerical simulations and a real experiment were conducted. The results show that the proposed algorithms exhibit a good performance both in terms of reliability and efficiency. Thus, its feasibility was validated.


S-curve acceleration and deceleration Point-to-point velocity planning High-speed and high-accuracy End-point modification algorithm Target speed modification algorithm 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Yang Q, Wu Y, Liu D, Chen L, Lou D, Zhai Z, Liu Z (2016) Characteristics of serrated chip formation in high-speed machining of metallic materials. Int J Adv Manuf Technol 86(5):1201–1206. doi: 10.1007/s00170-015-8265-x Google Scholar
  2. 2.
    Luo F, Zhou Y, Yin J (2007) A universal velocity profile generation approach for high-speed machining of small line segments with look-ahead. Int J Adv Manuf Technol 35:505–518. doi: 10.1007/s00170-006-0735-8 CrossRefGoogle Scholar
  3. 3.
    Zhang L, You Y, Yang X (2013) A control strategy with motion smoothness and machining precision for multi-axis coordinated motion CNC machine tools. Int J Adv Manuf Technol 64(1):335–348. doi: 10.1007/s00170-012-4019-1 CrossRefGoogle Scholar
  4. 4.
    Tsou C, Chang C, Lai T, Huang C (2013) The implementation and performance evaluation of a silicon-based LED packaging module with lens configuration. Microsyst Technol 19(11):1851–1862. doi: 10.1007/s00542-013-1773-4 CrossRefGoogle Scholar
  5. 5.
    Kwong CK, Chan KY, Wong H (2007) An empirical approach to modelling fluid dispensing for electronic packaging. Int J Adv Manuf Technol 34(1):111–121. doi: 10.1007/s00170-006-0552-0 CrossRefGoogle Scholar
  6. 6.
    Erkorkmaz K, Altintas Y (2001) High speed CNC system design. Part I: jerk limited trajectory generation and quintic spline interpolation. Int J Mach Tools Manuf 41(9):1323–1345. doi: 10.1016/S0890-6955(01)00002-5 CrossRefGoogle Scholar
  7. 7.
    Song F, Yu S, Chen T, Sun L (2015) Research on CNC simulation system with instruction interpretations possessed of wireless communication. J Supercomput 72(7):2703–2719CrossRefGoogle Scholar
  8. 8.
    Jeon JW, Ha YY (2000) A generalized approach for the acceleration and deceleration of industrial robots and CNC machine tools. IEEE Trans Ind Electr 47(1):133–139. doi: 10.1109/41.824135 CrossRefGoogle Scholar
  9. 9.
    Jun H, Xiao LJ, Wang YH, Wu ZY (2006) An optimal feedrate model and solution algorithm for a high-speed machine of small line blocks with look-ahead. Int J Adv Manuf Technol 28(9):930–935. doi: 10.1007/s00170-004-1884-2 Google Scholar
  10. 10.
    Kang J, Tao T, Mei XS, Wu XT (2003) Exponential acceleration/deceleration algorithm simulation based on digital signal processor. Acta Simulata Systematica Sinica 15(5):678–680. doi: 10.16182/j.cnki.joss.2003.05.021 Google Scholar
  11. 11.
    Li HK, Li HS, Song LZ, Yin Y, Huang LS, Li W Y (2010) Design of global sliding-mode controlled AC servo controller based on exponential acceleration/deceleration algorithm. IEEE Int. Conf. Mechatronics Autom, ICMA, pp 1507–1511Google Scholar
  12. 12.
    Wang Y, Yang D, Gai R, Wang S, Sun S (2015) Design of trigonometric velocity scheduling algorithm based on pre-interpolation and look-ahead interpolation. Int J Mach Tools Manuf 96:94–105CrossRefGoogle Scholar
  13. 13.
    Leng HB, Wu YJ, Pan XH (2008) Research on cubic polynomial acceleration and deceleration control model for high speed NC machining. J Zhejiang Univ Sci A 9(3):358–365. doi: 10.1631/jzus.A071351 CrossRefzbMATHGoogle Scholar
  14. 14.
    Zheng KJ, Cheng L (2008) Adaptive S-curve acceleration/deceleration control method. In: WCICA 2008 proceedings of 7th World Congress on Intelligent Control and Automation, pp 2752–2756Google Scholar
  15. 15.
    He J, You Y, Chen H, Wang H (2010) A fast nested look-ahead algorithm with S-shape acceleration and deceleration. Acta Aeronautica et Astronautica Sinica 31(4):842–851Google Scholar
  16. 16.
    Chen Y, Wei H, Sun K, Liu M, Wang T (2011) Algorithm for smooth S-curve feedrate profiling generation. Chin J Mech Eng Engl Ed 24(2):237–247CrossRefGoogle Scholar
  17. 17.
    Xia Y, Wang W (2012) S-curve acceleration/deceleration algorithm based on reference table. J Appl Sci Eng Technol 4(2):131–134MathSciNetGoogle Scholar
  18. 18.
    Wang L, Cao J (2013) A look-ahead and adaptive speed control algorithm for high-speed CNC equipment. Int J Adv Manuf Technol 63(5):705–717. doi: 10.1007/s00170-012-3924-7 Google Scholar
  19. 19.
    Chen Y, Ji X, Tao Y (2013) Look-ahead algorithm with whole S-curve acceleration and deceleration. Adv Mech Eng 2013:1–9. doi: 10.1155/2013/974152 Google Scholar
  20. 20.
    Lu TC, Chen SL (2016) Genetic algorithm-based S-curve acceleration and deceleration for five-axis machine tools. Int J Adv Manuf Technol 87:1–14. doi: 10.1007/s00170-016-8464-0 Google Scholar
  21. 21.
    Qiao Z, Wang H, Liu Z, Wang T, Hu M (2015) Nanoscale trajectory planning with flexible Acc/Dec and look-ahead method. Int J Adv Manuf Technol 79(5):1377–1387. doi: 10.1007/s00170-015-6911-y CrossRefGoogle Scholar
  22. 22.
    Dong J, Wang T, Li B, Ding Y (2014) Smooth feedrate planning for continuous short line tool path with contour error constraint. Int J Mach Tools Manuf 76:1–12CrossRefGoogle Scholar
  23. 23.
    Fan W, Gao XS, Yan W, Yuan CM (2012) Interpolation of parametric CNC machining path under confined jounce. Int J Adv Manuf Technol 62(5):719–739. doi: 10.1007/s00170-011-3842-0 CrossRefGoogle Scholar
  24. 24.
    Fan W, Lee CH, Chen JH (2015) A realtime curvature-smooth interpolation scheme and motion planning for CNC machining of short line segments. Int J Mach Tools Manuf 96:27–46CrossRefGoogle Scholar

Copyright information

© Springer-Verlag London 2016

Authors and Affiliations

  1. 1.South China University of TechnologyGuangzhouPeople’s Republic of China
  2. 2.Shanghai Jiao Tong UniversityShanghaiPeople’s Republic of China

Personalised recommendations