trapezoidal operation in velocity-time graph

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Hi guys,
I want to make trapezoidal operation in velocity-time graph. Like below.
How can i do it?
  4 个评论
Irfan Ahmet YILDIRIM
I'm trying "trapveltraj" code but unfortunately I have not solved yet.

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回答(1 个)

Zuber Khan
Zuber Khan 2024-9-16
编辑:Zuber Khan 2024-9-18
Hi,
You can use MATLAB's "trapveltraj" function to create a trapezoidal velocity-time profile as shown. This function is typically used to generate trapezoidal velocity profiles for motion trajectories.
You can follow the below mentioned steps for same.
  • Compute the total distance travelled using the given velocity-time data. This can be done by integrating the velocity over time. One such way to calculate it is by using the "trapz" function as shown below.
totalDistance = trapz(time, velocity);
For more information on "trapz" function, you can refer to the following documentation.
  • Calculate the average velocity over the entire cycle, which will be the plateau value of your trapezoidal profile.
  • Define the acceleration and deceleration slopes based on your requirements.
  • Then, you can use "trapveltraj" to generate the velocity profile. Kindly note that you will need to specify the waypoints and the desired time for each segment (acceleration, constant velocity, deceleration). You can refer to the following code snippet as an example.
waypoints = [0,averageVelocity,averageVelocity,0];
timePoints = [0,accelerationTime,accelerationTime + constantVelocityTime, ...
accelerationTime + constantVelocityTime + decelerationTime];
[q,qd,qdd,tSamples,pp] = trapveltraj(waypoints, numel(timePoints), ...
'AccelTime', accelerationTime);
You can also specify additional name-value arguements in the "trapveltraj" function based on the available information. For better understanding on "trapveltraj" function, kindly refer to the following documentation.
Although, it is difficult to arrive at an exact solution without the given data or specific code, but I hope it helps.
Regards,
Zuber

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