Improvements in the constrained real-time path generation for high performance motion control systems are presented in this paper. With respect to the existing solutions, all the cases generating from a set of constraints imposed on the kinematic characteristics of the movements are analysed and solved analytically. The proposed path generator has been employed inside a digital drive system based on interior PM synchronous motor and a last generation digital signal controller. Optimised torque-speed motor control is implemented and exploited to raise the accuracy and dynamical performance of the position controller. Simulation and experimental results are presented and discussed.
Optimisation of Real-Time Complex Path Generation in Constrained Intelligent Motion Applications Based on IPM Motor Drives
PETRELLA, Roberto;
2008-01-01
Abstract
Improvements in the constrained real-time path generation for high performance motion control systems are presented in this paper. With respect to the existing solutions, all the cases generating from a set of constraints imposed on the kinematic characteristics of the movements are analysed and solved analytically. The proposed path generator has been employed inside a digital drive system based on interior PM synchronous motor and a last generation digital signal controller. Optimised torque-speed motor control is implemented and exploited to raise the accuracy and dynamical performance of the position controller. Simulation and experimental results are presented and discussed.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
