Minimum-energy point-to-point trajectory planning of a simple mechatronic system

摘要

In this paper, we propose a novel minimum-energy point-to-point (PTP) trajectory planning method for a simple mechatronic system, which is a one-dimensional 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 PTP motion. In this method, we design a high-degree polynomial to compute minimum-energy point-to-point trajectories, and consider the problem of initial and final constraints (position, velocity, acceleration and jerk) 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 algorithm is tested in numerical simulations results and yields good results for the comparisons between the seven-degree to twelve-degree polynomial during motion operations.