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.
2008
978-1-4244-1741-4
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11390/881347
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