Improving Point-to-Point Motion Profile for a Direct Servo Drive under Constraints

摘要

Optimization in control of electric drives is hardly possible without considering hardware constraints of the system. In order to prevent precision or even system stability loss for servo drives working in exact tracking mode the motion profile should be formed in a way that all of reference values of drive variables do not exceed the constraints. The paper considers third order point-to-point transport motion profile. As the result of a constraints analysis a modified motion profile is proposed. The trajectory generation algorithm utilizes a mathematical model of the drive and linear interpolation of the limiting characteristics in the electromechanical plane. The simulation results show that the time required for a point-to-point motion can be reduced by the order often of percent depending on the parameters ofthe power drive system and technological limits.