Energy efficient motion control system

摘要

A control signal for controlling an operation of a motion control system suitable for positioning a load is generated using determining a cost function based on a model of energy consumption of the system and a function of a tracking time; and minimizing the cost function subject to constraints to determine a trajectory of the control signal. The control signal is generated based on the trajectory and a current state of the system, wherein the steps of the method are performed by a processor.

主权项

1. A method for generating a control signal for controlling an operation of a motion control system suitable for positioning a load, comprising the steps of:
determining a cost function based on a model of energy consumption of the system and a function of a tracking time, determining the model according to
P(x,u)=Ru2+Ktux2,wherein P(x, u) is the energy consumption of the system, x is a state of the motor, u is a control input to the motor, R is a resistance of windings of the motor, x2 is a second component of the state of the motor x representing an angular velocity of the motor, and Kt is a torque constant of the motor;
minimizing the cost function subject to constraints to determine a trajectory of the control signal; and generating the control signal based on the trajectory and a current state of the system, wherein the steps of the method are performed by a processor.