Shaped Time-Optimal Feedback Control for Disk-Drive Systems With Back-Electromotive Force

This paper considers real-time energy-optimal trajectory generation for a servomotor system that performs a single-axis point-to-point positioning task for a fixed time interval. The servomotor system is subject to acceleration and speed constraints. The trajectory generation is formulated as a linear-constrained optimal control problem (LCOCP), and the Pontryagin's maximum principle is applied to derive necessary optimality conditions. Instead of solving multipoint boundary value problems directly, this paper proposes a novel real-time algorithm based on two realizations: solving the LCOCP is equivalent to determining an optimal time interval of the speed-constrained arc and solving a specific acceleration-constrained optimal control problem (ACOCP), and solving an ACOCP is equivalent to determining optimal switch times of acceleration-constrained arcs and solving a specific two-point boundary value problem (TBVP). The proposed algorithm constructs sequences of time intervals, ACOCPs, switch times, and TBVPs, such that all sequences converge to their counterparts of an optimal solution of the LCOCP. Numerical simulation verifies that the proposed algorithm is capable of generating energy-optimal trajectories in real time. Experiments validate that the use of energy-optimal trajectories as references in a servomotor system does not compromise tracking performance but leads to considerable less energy consumption.

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“…any t according to (11) and (12), which is a contradiction. Therefore,λ x = λ x , Δλ x = 0, and (13) can be written as…”

Section: Proofmentioning

confidence: 92%

A Real-Time Energy-Optimal Trajectory Generation Method for a Servomotor System

Wang

Zhao

Bortoff

et al. 2015

IEEE Trans. Ind. Electron.

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“…DC-DC buck converters [1][2][3][4] play an important role in modern Very-Large-Scale Integration (VLSI) system. Controller design for any system needs knowledge about system behavior [5][6][7][8][9]. Usually this involves a mathematical description of the relation among inputs to the process, state variables, and output.…”

Section: Introductionmentioning

confidence: 99%

A Low Voltage Dynamic Synchronous DC-DC Buck Converter

Benlafkih¹,

Mohamed²

2017

IJSSN

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This paper presents the design and modeling of synchronous DC-DC buck converter for device applications low consumption using Matlab/Simulink. In this work, the steady-state and average-value models for buck converter are analysed and it offers the modeled equations and simulation techniques of standard buck converter topology including variable loads. The goals of the designer are stabilized output voltage from a given input DC voltage using a Proportional Integral Derivative (PID) controller.

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“…Time-optimal and approximate time-optimal motor trajectory generation problems have been considered for servo position control and motor speed response control [11], [9], [2], [8], [13], [7], [1], [3]. To improve the unsatisfactory energy efficiency of time-optimal motor positioning trajectories, the energy-optimal motor position control problem has also been studied.…”

Section: Introductionmentioning

confidence: 99%

Real-time energy-optimal trajectory generation for a servo motor

Zhao¹,

Wang²,

Bortoff³

et al. 2013

2013 American Control Conference

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This paper considers the fast generation of speed and acceleration constrained energy-optimal trajectories for a motor system performing a point-to-point positioning task with a fixed final time. An algorithm is proposed to obtain the energy-optimal solution by solving a series of Two-point Boundary Value Problems (TBVPs) with guaranteed convergence. The algorithm is capable of generating energy-optimal trajectories in real-time. American Control Conference (ACC)This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. Abstract-This paper considers the fast generation of speed and acceleration constrained energy-optimal trajectories for a motor system performing a point-to-point positioning task with a fixed final time. An algorithm is proposed to obtain the energy-optimal solution by solving a series of Two-point Boundary Value Problems (TBVPs) with guaranteed convergence. The algorithm is capable of generating energy-optimal trajectories in real-time.

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Shaped Time-Optimal Feedback Control for Disk-Drive Systems With Back-Electromotive Force

Cited by 23 publications

References 15 publications

A Real-Time Energy-Optimal Trajectory Generation Method for a Servomotor System

A Real-Time Energy-Optimal Trajectory Generation Method for a Servomotor System

A Low Voltage Dynamic Synchronous DC-DC Buck Converter

Real-time energy-optimal trajectory generation for a servo motor

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