中文摘要：

目前,采用梯形加减速算法的FDM3D打印机控制系统中存在电机加速度突变的问题,容易导致步进电机在运行过程中产生失步或过冲.针对此问题,提出了采用S形曲线加减速算法的FDM3D打印机控制系统.在加减速的过程中步进电机的加速度变化符合步进电机的动态特性,使其在加速过程的终点和减速过程的起点加速度均为零.结果表明：该系统不仅解决了步进电机加速度突变的问题,而且改善了整个系统的性能,进一步提高了FDM3D打印机的打印质量.

英文摘要：

At present,the control system of FDM3D printer with trapezoidal acceleration and deceleration algorithm has the problem of abrupt change of motor acceleration,which will cause the stepping motor to be out of step or to overshoot.To solve this problem,this paper proposes a motor control system of 3D printer based on FDM technology which uses the S-shape curve in acceleration and deceleration algorithm.The acceleration variation of the stepping motor conforms to the dynamic characteristic of the stepping motor,making the acceleration of stepping motor is zero at the end of motor acceleration and the starting point of motor deceleration.The results show that this system not only solves the problem of acceleration mutation of stepping motor,but also improves the performance of the whole system,further improving the print quality of FDM3D printer.