Energy-saving trajectory planning for a toggle mechanism driven by a PMSM |
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| Affiliation: | 1. Institute of Engineering Science and Technology, National Kaohsiung First University of Science and Technology, 1 University Road, Yenchau, Kaohsiung 824, Taiwan, ROC;2. Department of Mechanical & Automation Engineering, National Kaohsiung First University of Science and Technology, 1 University Road, Yenchau, Kaohsiung 824, Taiwan, ROC;2. Volgograd State Technical University, V.I. Lenin Avenue, 28, Volgograd 400005, Russia;1. Department of Electrical Engineering and Information Technology, University of Naples Federico II, Italy;2. Control and Power group, Department of Electrical and Electronic Engineering, Imperial College London, United Kingdom;1. Department of Experimental Oncology 2, CRO Aviano National Cancer Institute, Aviano, PN, Italy;2. Department of Molecular Target Medicine, Aichi Medical University, Nagakute 480-1195, Japan;3. MATI (Microgravity Ageing Training Immobility) Excellence Center and Department of Medical and Biological Science, University of Udine, Udine, Italy;4. Department of Pathology, CRO Aviano National Cancer Institute, Aviano, PN, Italy;2. North Bristol NHS Trust, Bristol, UK |
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| Abstract: | In this paper, energy-saving trajectories are planned for a toggle mechanism driven by a permanent magnet synchronous motor (PMSM). The point-to-point (PTP) trajectory is described by a high-degree polynomial, which satisfies the end conditions of displacement, velocity, acceleration and jerk at the initial and final times. The real-coded genetic algorithm (RGA) method is employed to obtain the mechatronic system’s parameters, and to determine the coefficients of the polynomial, and its fitness function is the inverse of various input energies. The numerical simulations and experiments are compared among several degrees’ polynomials during the whole operation motion. Finally, it is found that the input absolute electrical energy (IAEE) occurs when the highest-degree polynomial is chosen. From the percentage of relative error with respect to the absolute input energy of a 7-degree polynomial, it is found that the percentage of relative error achieves 32% as the degree is 24 with enough for minimum input energy degree. The proposed methodology described in this research has the contribution. It can be applied to any mechatronic system which is required to design a minimum-energy point to point trajectory. |
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| Keywords: | Energy saving Input absolute electrical energy (IAEE) Point-to-point trajectory planning Real-coded genetic algorithm (RGA) method Toggle mechanism |
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