A servo movement control method, device, and terminal device are provided. The method includes: controlling an output shaft of the servo to rotate according to a first motion instruction; detecting whether a second motion instruction is received within a first preset time period, and re-planning a second target motion curve to a second target end position from a corresponding target position on a first target motion curve when receiving the second motion instruction; and controlling the output shaft to rotate from an actual position when receiving the second motion instruction to the second target end position according to the second target motion curve. When the second motion instruction is received, the servo is controlled to rotate from the target position to the second target end position according to the second motion instruction, so that the servo is switched from the first motion instruction to the second motion instruction smoothly.

The present disclosure relates to servo control technology, which provides a method, device, and terminal device for servo movement smoothing. The method includes: obtaining a starting position and a control command for a rotation of an output shaft the servo; determining an ending position and a rotation time for the rotation of the output shaft in accordance with the control command; constructing a movement curve of the output shaft based on the starting position, the ending position, and the rotation time; and controlling the output shaft to rotate from the starting position to the ending position in accordance with the movement curve. The above-mentioned method smooths the movement of the servo by constructing a simple linear function, which greatly reduces the calculation amount in comparison with the technical solution using the cubic Bessel formula, and is capable of reducing the requirements for the hardware performance of servos.

A servo movement control method, device, and terminal device are provided. The method includes: controlling an output shaft of the servo to rotate according to a first motion instruction; detecting whether a second motion instruction is received within a first preset time period, and re-planning a second ideal motion curve to a second ideal end position from a corresponding ideal position on a first ideal motion curve when receiving the second motion instruction; and controlling the output shaft to rotate from an actual position when receiving the second motion instruction to the second ideal end position according to the second ideal motion curve. When the second motion instruction is received, the servo is controlled to rotate from the ideal position to the second ideal end position according to the second motion instruction, so that the servo is switched from the first motion instruction to the second motion instruction smoothly.

The present invention realizes deceleration without deviation with respect to a corner speed while maintaining behavior during deceleration at a constant level. This numerical control device comprises: a remaining movement amount calculation unit for calculating a remaining movement amount of a block in a machining program; an excess movement amount calculation unit for calculating, as an excess movement amount, a difference between the remaining movement amount of the block and a movement amount required for deceleration from a present command speed to a corner speed at a designated acceleration; an adjustment amount calculation unit for calculating an acceleration adjustment amount, at the start of the deceleration, for using the entirety of the excess movement amount at interpolation times, on the basis of the excess movement amount, the present command speed, the corner speed, and the designated acceleration; an acceleration calculation unit for calculating a first acceleration obtained by adjusting the acceleration designated at the start of the deceleration using the acceleration adjustment amount and a second acceleration for deceleration to the corner speed at the remaining interpolation times; and a pre-interpolation acceleration/deceleration processing unit for designating the first acceleration at the start of the deceleration and designating the second acceleration at the remaining interpolation times.