Abstract
The main objective of this study was to design and identify the parameters of an energy-saving point-to-point (PTP) trajectory plan for a toggle mechanism driven by a permanent magnet synchronous motor (PMSM). The parameters of many industrial machines are difficult to obtain when they cannot be taken apart. For system identification, an identification method based on the real-coded genetic algorithm (RGA) is presented in this paper to identify the parameters of a motor-toggle mechanism. The method increases calculation efficiency greatly, and calculations are made by real-code without having to perform the operations of encoding or decoding. With regards to trajectory planning, we propose a novel energy-saving PTP trajectory planning method. The RGA determined the parameters used to formulate the polynomial and satisfy the desired fitness function of minimum absolute input energy (MAIE). The algorithm was tested both in numerical simulations and experimentally. Desirable results were obtained for comparisons between the trapezoidal and 30th-degree polynomials during operation.
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