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Optimal robot speed trajectory by minimization of the actuator motor electromechanical losses

Pouliezos Anastasios, Stavrakakis Georgios, Sergaki Eleftheria

Πλήρης Εγγραφή

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Περίληψη

This paper considers the control problem of a robotic manipulator with separately exciteddc motor drives as actuators. An innovative method is proposed which achieves robot speed-controlrequirements, with simultaneous minimization of total electromechanical losses, while the drives followthe desired speed profiles of the robot joints under various loads and random load disturbances. Ifthere is no demand for a specific speed profile, the optimal speed trajectory is determined by minimizingan electromechanical losses criterion. Controllable energy losses, such as armature copper losses,armature iron losses, field copper losses, stray load losses, brush load losses, friction and windagelosses, can be expressed proportionally to the squares of the armature and the field (exciting) currents,the angular velocity and the magnetic field flux. The controllable energy loss term is also includedin the optimal control integral quadratic performance index, defined for the whole operation period.Thus the appropriate control signals required for following the desired trajectory by simultaneousenergy loss minimization for the whole operation interval are achieved. Two case studies of optimalrobot control with and without minimization of actuator energy losses are presented and compared,showing the energy savings that can be achieved by the proposed methodology.

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