Time-Optimal Control of a Single-DOF Mechanical System Considering Actuator Dynamics

摘要

In this paper, we consider time-optimal control of a single degree-of-freedom (DOF) mechanical system in which a linear brushless dc motor (BLDCM) is used as the actuator. The time-optimal solution is obtained in feedback form via three-dimensional (3-D) state-space analysis. In its derivation, we take into full account the actuator dynamics as well as the physical limitations on current, voltage, and jerk. We also improve the well-known s-curve motion profiling so that both the actuator dynamics and the physical limitations are taken into full account. Through some experimental results, we demonstrate that the time-optimal motion profiling still can provide faster trajectories for motion planning than the improved s-curve motion profiling.