Scheduled step time optimal motion control

摘要

A time optimal control system for electrical motor driven point-to- point displacement of a mechanical member uses a three step voltage application process of 1) applying full supply voltage to achieve maximum acceleration; 2) applying full supply voltage in the opposite direction to achieve maximum deceleration; and 3) removing the voltage to alter the system to decay to the final desired position. The scheduling of the steps 2) and 3) is determined during step 1) by continuously calculating a predicted final position that would occur if the supply voltage were reversed at that moment, given the then current system velocity and acceleration, and comparing the predicated final position with the desired final position.