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Method for generating trajectories for motor controlled actuators

一种电机控制、致动器的技术，应用在程序控制、通用控制系统、控制/调节系统等方向，能够解决直接方法不能够提供实时的电机控制、计算效率和可靠性不够等问题

Inactive Publication Date: 2014-04-23
MITSUBISHI ELECTRIC CORP
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

A combined evaluation of current direct methods including pseudospectral and mesh refinement shows that direct methods are not capable of providing real-time motor control
[0012] Therefore, known methods are insufficient in terms of computational efficiency and reliability for real-time applications of energy-efficient motor control

Method used

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  • Method for generating trajectories for motor controlled actuators
  • Method for generating trajectories for motor controlled actuators
  • Method for generating trajectories for motor controlled actuators

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Embodiment Construction

[0027] image 3 A flowchart is shown of a method for generating a trajectory of a motor-controlled actuator subject to acceleration and velocity constraints according to an embodiment of the invention.

[0028] The method may be performed in a processor 300 connected to memory and input-output interfaces as known in the art. The method considers the energy consumption of the motor motion control system due to the resistance loss and mechanical work of the motor. While the example motor is rotary, other motors such as linear motors can also be used in the present invention.

[0029] Step 310 initializes all data (including parameters for the motor model and positioning task) used to solve the two-point boundary value problem (TBVP). Data is input to method 310 .

[0030] Step 320 solves TBVP using the data and an analytical solution for optimal control of an unconstrained electric machine subject to boundary conditions, as described in detail below.

[0031] Step 330 identi...

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Abstract

A method generates trajectories for motor controlled actuators subject to dynamics, acceleration and velocity constraints. The method solves a constrained optimal control problem with dynamics, acceleration, and velocity constraints. The motor control problem is formulated as an optimal control problem using an energy cost function which is based on numerical optimization results. A solution to the two-point boundary value problem (TBVP) for the unconstrained case of the optimal control problem is obtained. The energy efficient motor control trajectory generation solver is designed for real time energy efficient trajectory generation. The solver converts a difficult multi-point boundary value problem (MBVP) associated with the state and acceleration constrained optimal control problem into an iterative solution for the TBVPs with updated boundary conditions.

Description

technical field [0001] The present invention relates generally to controlling electrical motors, and more particularly to generating trajectories for motor-controlled actuators subject to dynamics constraints, acceleration constraints, and velocity constraints. Background technique [0002] Use motion control systems in various positioning applications such as single-axis positioning and multi-axis positioning. For example, a simple single-axis positioning motion control system typically includes sensors, controllers, amplifiers, and actuator motors. Actuators follow predetermined trajectories subject to state and control constraints (ie, dynamics, acceleration, velocity constraints). The trajectory of the actuator can be designed to reduce vibrations due to the motor. [0003] For the two motor control case, Figures 1A-1C with Figures 2A-2C The optimal prior art time distributions are shown for position, velocity and control inputs respectively. In the first case, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCG05B2219/40465B25J9/1664G05B2219/40454
Inventor 王烨宾赵一明S·A·博托夫
Owner MITSUBISHI ELECTRIC CORP
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