A Fast Computation Method for Minimum-Time Control Using Time-Varying Optimal Regulator Theory

摘要

This paper proposes a method to generate a position command which reduces both the time needed for a desired motion and the mechanical vibration. Based on the initially given position command, the optimal command is generated by scaling time axis to minimize both the motion time and the high frequency component of motor torque. To obtain optimal time-scaling function, a fast computation method is proposed to solve nonlinear constrained optimization problem using time- varying optimal regulator theory recursively. This method is applied to an example composed of two masses and a spring, in which the calculation time is reduced to 1/7 of general nonlinear programing methods.