NDLI: Trajectory planning and control for precision positioning table driven by a PMSM

Content Provider	IEEE Xplore Digital Library
Author	Yi-Lung Hsu Ming-Shyan Huang Rong-Fong Fung
Copyright Year	2011
Description	Author affiliation: Department of Mechanical and Automation Engineering National Kaohsiung First University of Science and Technology, 824, Taiwan (Yi-Lung Hsu; Ming-Shyan Huang; Rong-Fong Fung)
Abstract	In this paper, we propose a novel trajectory planning method for a precision positioning table driven by a permanent magnet synchronous motor (PMSM). To generate the mechatronic trajectory we develop a real-coded genetic algorithm (RGA) to search for the optimal trajectory for the motion. In this method, we design a high-degree polynomial to compute minimum-energy trajectories, and consider the problem of initial and final constraints in the algorithm. The RGA determines the parameters, which are to formulate the polynomial, and satisfy the desired fitness function of the minimum input energy. The adaptive control (AC) are developed based on mathematical knowledge of the precision positioning table and the PMSM. The proposed adaptive control is robust not only to parametric uncertainties of mass variations but also to external disturbances. The effectiveness of the proposed trajectory planning and adaptive control are demonstrated by numerical simulations in the point to point motion processes for the precision positioning table.
Starting Page	26
Ending Page	31
File Size	317597
Page Count	6
File Format	PDF
ISBN	9781457708138
e-ISBN	9781457708169
DOI	10.1109/ICICIP.2011.6008192
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechatronics Polynomials Trajectory Planning Mathematical model Adaptive control
Content Type	Text
Resource Type	Article

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