Optimal velocity profile design in incremental servo motor systems based on a digital signal processor

In controlling an incremental servo motion system, a velocity profile is required to guide the machine to finish its prescribed trajectory. Up to now, a simple trapezoidal velocity profile has usually been used, due to the limitation in the computational speed of the processor being used. A more accurate formulation of the optimal velocity profile is described. By using a digital signal processor (DSP56001), the calculation time could be reduced to be short enough for systems in real-time application. The results of a sample software routine, in which the execution time is estimated, verify the applicability of that controller. The optimal control trajectory is suitable for plants exhibiting a small, but not negligible, viscous friction