目的 为了提高堆垛机运动的平稳性，解决传统S型曲线加减速算法中加加速度不连续而影响堆垛机立柱瞬时振幅的突变冲击问题，新提出一种正矢平方型曲线加减速算法。方法 通过推导堆垛机立柱结构的振动方程，构造以正矢平方函数为核心的加减速算法模型，搭建Simulink振动仿真模型，之后与传统S型、正矢型曲线加减速算法一起代入Simulink振动模型进行对比仿真，再对立柱振幅结果进行分析。结果 正矢型曲线加减速算法的振幅比传统S型曲线加减速算法的约减小了2.6%，正矢平方型曲线加减速算法的振幅比传统S型曲线加减速算法的大约减小了4.2%。结论 所述正矢平方型加减速算法的速度、加速度、加加速度曲线皆连续。基于该算法的堆垛机兼顾平稳性的同时，立柱振幅更小，与其他算法相比，控制结果更优。

The works aims to propose a new versine square shaped curve acceleration and deceleration algorithm to improve the motion stability of stacker and solve the problem of sudden impact of the traditional S-shaped curve acceleration and deceleration algorithm which affects the instantaneous amplitude of stacker column due to the discontinuous jerk. By deducing the vibration equation of the stacker column structure, an acceleration and deceleration algorithm model with versine square function as the core was constructed. Also, the Simulink vibration simulation model was built. Then, it was substituted into the Simulink vibration model together with the traditional S-shaped and versine shaped curve acceleration and deceleration algorithms for comparison and simulation, and the column amplitude results were also analyzed. Compared with the traditional S-shaped curve acceleration and deceleration method, the column amplitudes of the versine and the versine square shaped curve acceleration and deceleration algorithms were reduced by about 2.6% and 4.2% respectively. The velocity, acceleration and jerk curves of the versine square shaped acceleration and deceleration algorithm are all continuous. The stability and the column amplitude of the stacker based on the new proposed algorithm are taken into account simultaneously. Compared with other algorithms, the control result is better.