A novel approach of tuning trapezoidal velocity profile for energy saving in servomotor systems

In industrial servomotor systems, motion planning for energy saving has become one of the most important issues due to energy crisis and heat-reduction request. Departing from existing approaches that are computationally complex, this paper investigates the trapezoidal velocity profile and explores its potential for achieving energy saving, as such profile is very simple and has been widely used in industrial practice. Specially, the tuning of energy-saving trapezoidal velocity profile is successfully formulated into a strictly quasi-convex optimization problem with respect to a selected tuning parameter. By adopting the bisection method, the resultant algorithm is computationally efficient and applicable even for the low-cost industrial controller hardware. Comparative simulation examples are carried out to verify the effectiveness of the proposed method.