Research on Point-to-Point High-Speed and Low-Vibration Motion Planning Method Considering Time-Frequency Characteristics

XU Weiwei; HUANG Xiaoyong; ZHENG Hongmei; CHEN Ke; TAO Tao; MEI Xuesong

doi:10.7652/xjtuxb202604021

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Research on Point-to-Point High-Speed and Low-Vibration Motion Planning Method Considering Time-Frequency Characteristics

更新时间：2026-04-10

- Research on Point-to-Point High-Speed and Low-Vibration Motion Planning Method Considering Time-Frequency Characteristics
- Journal of Xi'an Jiaotong University Vol. 60, Issue 4, Pages: 250-260(2026)
- 作者机构：
  
  合肥工业大学机械工程学院，230009，合肥
  西安交通大学机械工程学院，710049，西安
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202604021
  CLC： TH161
- Received：10 September 2025，
  
  Online First：18 December 2025，
  
  Published：10 April 2026
- 稿件说明：
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XU Weiwei, HUANG Xiaoyong, ZHENG Hongmei, et al. Research on Point-to-Point High-Speed and Low-Vibration Motion Planning Method Considering Time-Frequency Characteristics[J]. Journal of Xi'an Jiaotong University, 2026, 60(4): 250-260.
DOI：

XU Weiwei, HUANG Xiaoyong, ZHENG Hongmei, et al. Research on Point-to-Point High-Speed and Low-Vibration Motion Planning Method Considering Time-Frequency Characteristics[J]. Journal of Xi'an Jiaotong University, 2026, 60(4): 250-260. DOI： 10.7652/xjtuxb202604021.

摘要

为了提升进给系统在高速点对点运动中的加工效率和定位精度，针对系统在高速运动过程中易受到运动指令的频谱激励而产生的显著振动问题，提出了一种考虑时频特性的运动规划方法，实现高速低振动的运动指令生成。该方法构建了基于时间的5次B样条表达的运动指令，将运动指令的时频特性融入到运动指令规划中。在此基础上，利用短时傅里叶变换推导了加速度运动指令在不同时间段内频谱分量的解析表达式，并结合系统的共振频段构建了运动指令频谱分量约束方程。通过建立考虑振动抑制的时间最优运动指令规划模型，并结合运动学约束和加速度指令的时频谱分量约束，生成高速低振动的运动指令。数值仿真表明，所提出的方法能够显著降低诱发系统共振的频谱分量幅值，改善运动过程中的动态特性。柔性悬臂梁进给系统的实验结果表明，与S形及非对称S形速度规划方法相比，即使存在建模扰动因素下，所提方法仍可实现使系统振动降低50%以上，同时总定位时间缩短超过40%。

Abstract

To enhance the machining efficiency and positioning accuracy of feed systems during high-speed point-to-point motions，and to address the significant vibrations induced by spectral excitation of motion commands during high-speed operation，a motion planning method considering timefrequency characteristics is proposed to generate high-speed，low-vibration motion commands. This method constructs a motion command described by a 5th-order B-spline representation in the time domain，and integrates the time-frequency characteristics of the motion command into the planning process.On this basis，the short-time Fourier transform is utilized to derive analytical expressions for the spectral components of the acceleration command over different time intervals，and constraint equations for these spectral components are established in combination with the system' s resonance frequency bands.By formulating a time-optimal motion command planning model that considers vibration suppression，and incorporating kinematic constraints as well as the timefrequency spectral component constraints of the acceleration command，high-speed，low-vibration motion commands are generated.Numerical simulations demonstrate that the proposed method can significantly reduce the amplitude of spectral components that excite system resonance，thereby improving the dynamic characteristics during motion.Experimental results on a flexible cantilever beam feed system show that，compared with the S-curve and asymmetric S-curve velocity planning methods，the proposed method can still achieve a reduction of over 50% in system vibration and a shortening of more than 40% in total positioning time，even in the presence of modeling disturbances.

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