Trajectory planning and control for precision positioning table driven by a PMSM

In this paper, we propose a novel trajectory planning method for a precision positioning table driven by a permanent magnet synchronous motor (PMSM). To generate the mechatronic trajectory we develop a real-coded genetic algorithm (RGA) to search for the optimal trajectory for the motion. In this method, we design a high-degree polynomial to compute minimum-energy trajectories, and consider the problem of initial and final constraints in the algorithm. The RGA determines the parameters, which are to formulate the polynomial, and satisfy the desired fitness function of the minimum input energy. The adaptive control (AC) are developed based on mathematical knowledge of the precision positioning table and the PMSM. The proposed adaptive control is robust not only to parametric uncertainties of mass variations but also to external disturbances. The effectiveness of the proposed trajectory planning and adaptive control are demonstrated by numerical simulations in the point to point motion processes for the precision positioning table.