Multimode heavy robots motion control and powertrain optimization

Abstract

The paper presents synthesis of a control system of a heavy industrial mobile robot with optimization of its energy consumption. The introduced methods acts to fuel saving. We arranged a special motion control mode of the engine works with a constant power, so the optimal engine mode is achieved and no braking needed during the robot motion. The paper presents a method for optimization the rotor flux of electric powertrain induction motors. The introduced solutions are universal about power characteristics of traction motors and to their working mode. This allows the system to control the traction motors with non-hyperbolic characteristics as well as above rated speed without changing the structure of the control system. Motion control is based on algorithmic framework of the Position-trajectory control. We enlarged the Position-trajectory method to a class of systems which motion coupled with the constant engine power, as well as to a class of systems, which have redundant structure. We introduced the multimode control method able to soft switch the motion modes.