用matlab写一段标准s曲线加减速算法:
时间: 2023-04-04 10:02:06 浏览: 305
您好,我可以回答这个问题。以下是一段标准的 S 曲线加减速算法的 MATLAB 代码:
```
function [t, v, a] = s_curve_profile(distance, vmax, amax, jmax, dt)
% distance: 路程
% vmax: 最大速度
% amax: 最大加速度
% jmax: 最大加加速度
% dt: 时间间隔
% 计算加速段时间和距离
t1 = vmax / amax;
d1 = .5 * amax * t1^2;
% 计算减速段时间和距离
t3 = vmax / amax;
d3 = .5 * amax * t3^2;
% 计算匀速段时间和距离
d2 = distance - d1 - d3;
t2 = d2 / vmax;
% 计算 S 曲线速度和加速度
t = :dt:t1+t2+t3;
v = zeros(size(t));
a = zeros(size(t));
% 加速段
v(t <= t1) = amax * t(t <= t1);
a(t <= t1) = amax;
% 匀速段
v(t > t1 & t <= t1+t2) = vmax;
a(t > t1 & t <= t1+t2) = ;
% 减速段
v(t > t1+t2 & t <= t1+t2+t3) = vmax - amax * (t(t > t1+t2 & t <= t1+t2+t3) - t1 - t2);
a(t > t1+t2 & t <= t1+t2+t3) = -amax;
end
```
这段代码可以根据输入的路程、最大速度、最大加速度和最大加加速度,生成一条标准的 S 曲线速度和加速度曲线。
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