传统的段内加减速控制方法由于整体速度偏低，不能适应高速加工的需要。
Conventional acceleration and deceleration control method plans velocity in single segment of machining path, so it can not meet the need for high speed.
文中着重对S曲线加减速算法进行了深入的研究，推导出以时间最优为目标、具有恒定速度段的S曲线加减速的计算公式，并通过仿真进行验证，得出加速度曲线的各个时间转折点。
In this paper, it studies the algorithm of S-curve with a constant velocity duration in detail, which takes time optimal into account. A simulate example is taken to test each switching point.
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