Energy-saving optimization method for point-to-point trajectories planned via standard primitives in 1-DoF mechatronic systems

In this work, an analytical methodology to minimize the energy expenditure of mechatronic systems performing point-to-point (PTP) trajectories based on well-known motion primitives is developed and validated. Both PTP trajectory profiles commonly used in industrial motor drives and more complex ones are investigated. Focusing on generic 1-DoF mechatronic systems moving a constant inertia load (e.g., elevators, cranes, CNC machines, Cartesian axis) and possibly equipped or retrofitted with regenerative devices, the consumed energy formulation is firstly derived. Then, the analytical optimization considering all the selected PTP trajectory profiles is computed and a generic closed-form solution is determined. Finally, numerical and experimental evaluations are done showing the effectiveness of the theoretical results and proposed methodology. In addition, all the different trajectories are compared with respect to energy consumption.