A jerk-constrained asymmetric motion profile for high-speed motion stages to reduce residual vibration

Control of the motion induced structural vibration is very important for high-speed and high-precision positioning stages. This paper presents a motion profile generation methodology to minimise jerks and residual vibrations for high-speed motion stages in precision manufacturing machines. Acceleration profile is smoothened by using sinusoidal functions. To reduce the residual vibration and settling time at the end point of the motion, the peak jerk constraint level at the deceleration phase is further decreased. In addition, the deceleration bound is also decreased as well. It results in an asymmetrical motion profile. The acceleration profile is used to derive a displacement profile, which can be implemented in a DSP-based motion controller to drive the motor. By using this motion profile, the residual vibration as well as settling time can be greatly reduced compared to traditional profiles like trapezoidal or s-curve profiles.