January 2012 6.16 The Control Loop 809
6.16.2 Relation between jerk, acceleration, velocity and distance
Acceleration and
jerk
Taking into account the motor and the power module, the machine should be
designed in such a way that acceleration during the acceleration phase is as
constant as possible. This ensures maximum utilization of the drive current.
On the other hand, the machine should also be designed to fulfill the dynamic
requirements. The jerk should be kept to a minimum and the jerk phase should
be maximized in order to prevent the machine from oscillating. This results in
a bell-shaped acceleration curve (see figure).
Legend:
v: Velocity
a: Acceleration
r: Jerk
v
max
: Maximum velocity
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