Abstract
In this work, an analytical methodology to minimize the energy expenditure of mechatronic systems performing point-to-point (PTP) trajectories based on well-known motion primitives is developed and validated. Both PTP trajectory profiles commonly used in industrial motor drives and more complex ones are investigated. Focusing on generic 1-DoF mechatronic systems moving a constant inertia load (e.g., elevators, cranes, CNC machines, Cartesian axis) and possibly equipped or retrofitted with regenerative devices, the consumed energy formulation is firstly derived. Then, the analytical optimization considering all the selected PTP trajectory profiles is computed and a generic closed-form solution is determined. Finally, numerical and experimental evaluations are done showing the effectiveness of the theoretical results and proposed methodology. In addition, all the different trajectories are compared with respect to energy consumption.
Highlights
The minimization of energy consumption in manufacturing and industrial processes is becoming an important objective of an engineering design process [1,2,3]
The methods presented in this work are meant to be applied on a generic 1-DoF mechatronic system moving a constant inertia load
Different PTP trajectory profiles have been investigated including both profiles commonly used in industrial motor drives and more complex ones
Summary
The minimization of energy consumption in manufacturing and industrial processes is becoming an important objective of an engineering design process [1,2,3]. The motion planning optimization to increase the energy efficiency of such a systems is common in literature, few works (e.g., [21,22,23]) address the problem from an analytical point of view Following this approach would represent a clear advantage allowing to obtain the solution in a quick and direct way relying only on the knowledge of few system physical parameters. This would be important for an implementation of the method in an embedded mechatronic system (e.g., motor servo drive), where the computational power is generally limited With this idea in mind, in this work, different PTP trajectory profiles have been investigated including both motion primitives commonly used in industrial motor drives (e.g., trapezoidal speed profile and double-S profile) and more complex ones (e.g., cycloidal and polynomial profiles).
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