Title :
Real-time energy-optimal trajectory generation for a servo motor
Author :
Yiming Zhao ; Yebin Wang ; Bortoff, Scott A. ; Ueda, Kazunori
Author_Institution :
Mitsubishi Electr. Res. Labs., Cambridge, MA, USA
Abstract :
This paper considers the fast generation of speed and acceleration constrained energy-optimal trajectories for a motor system performing a point-to-point positioning task with a fixed final time. An algorithm is proposed to obtain the energy-optimal solution by solving a series of Two-point Boundary Value Problems (TBVPs) with guaranteed convergence. The algorithm is capable of generating energy-optimal trajectories in real-time.
Keywords :
acceleration control; angular velocity control; boundary-value problems; convergence of numerical methods; machine control; optimal control; position control; servomotors; TBVP; acceleration constrained energy-optimal trajectory generation; convergence; energy-optimal solution; fixed final time; point-to-point positioning task; real-time energy-optimal trajectory generation; servomotor; speed constrained energy-optimal trajectory generation; two-point boundary value problems; Acceleration; Optimal control; Permanent magnet motors; Position control; Switches; Synchronous motors; Trajectory; acceleration constraint; boundary value problem; minimum energy; motion control; optimal control; real-time; servo motor; speed constraint; trajectory generation;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6579993
