一种用于伺服运动系统的节能梯形轨迹快速生成算法

Real-time Generation of Trapezoidal Velocity Profile for Energy Saving in Servomotor Systems

节能轨迹可有效减小伺服运动系统耗能与发热。针对现有节能轨迹生成算法复杂及难以用于实时工业控制的问题,提出一种被广泛应用于工业实际的梯形轨迹的节能快速生成算法。考虑调整梯形轨迹加速度、速度参数可改变轨迹形状,以梯形轨迹的加速度、速度为参数,建立以节能为目标的梯形轨迹参数优化问题,该问题属非线性约束优化问题;将原非线性约束优化问题转化为具有拟凸性质的等效优化问题,并提出基于牛顿法的快速求解算法;对所提方法进行仿真与试验,验证其有效性,结果表明所提方法相较现有方法节能效果相近,但计算更为快速,能满足实时工业应用要求。

In industrial servomotor systems, profile generation for energy saving is an important issue due to energy crisis and heat-reduction request. Departing from the existing approaches which are computationally complex and difficult to apply in real time, a real-time profile generation approach for energy-saving based on the trapezoidal velocity profile(TVP) is proposed. The adjustable features of the TVP and calculate the energy consumption along such profile are analyzed. The generation of energy-saving TVP is formulated into a quasi-convex optimization problem. By adopting the Newton method, the resultant algorithm is computationally efficient and applicable for real-time applications. Finally, simulations and experiments are carried out to verify the effectiveness of the proposed method. Essentially, this brief provides a new idea for the energy saving in servomotor systems.