High-Speed Mothion Control of Mechanisms under Average Heat Generation Restriction. 1st Report. Proposition of a Modified Cost Function for Minimun Time Control of a One-Degree-of-Freedom Rigid Body System.

Abstract

The objective of this paper is to solve the minimum time control problem of a one-degree-of-freedom positioning mechanism whose actuator is restricted by the average heat generation. We found that if we use the conventional quadratic cost functions, i.e., total heat generation in one motion, we can't always get the solution when the gravity load is involved. To avoid this difficulty, we proposed a new modified cost function including a term of average heat generation. It is shown that the proposed method derives the minimum time solution even if the gravity affects the mechanism. A closed-form solution under average heat generation is derived, and its calculated examples are illustrated. In order to extensively apply this modified cost function to nonlinear multi-degrees-of-freedom mechanisms, a new numerical analysis method using a 5th-order spline function is proposed.