© The Institution of Engineering and Technology
This study presents the exact solution to the minimum-time position control problem of electromechanical systems including linear brushless dc motor drivers. In its derivation, the authors consider fully actuator dynamics as well as physical limitations in current, voltage and jerk. In particular, it is given explicitly in feedback form. In order to demonstrate further the practical use of the authors results, the authors also present some simulation results for the case of on-the-fly control quite often required in industrial control systems.
References
-
-
1)
-
Sussmann, H.J.: `A strong version of the maximum principle under weak hypotheses', Proc. 33rd Conf. on Decision Control, 1994, p. 1950–1956.
-
2)
-
R. Gabasov ,
F.M. Kirillova ,
N.V. Balashevich
.
Synthesis of optimal closed systems.
Cybern. Syst. Anal.
,
3 ,
396 -
411
-
3)
-
M. Athans ,
P.L. Falb
.
(1966)
Optimal control.
-
4)
-
R. Gabasov ,
F.M. Kirillova ,
N.V. Balashevich
.
On the synthesis problem for optimal control systems.
SIAM J. Control Optim.
,
4 ,
1008 -
1042
-
5)
-
J.E. Bobrow ,
S. Dubosky ,
J.S. Gibson
.
Time-optimal control of robotic manipulators along specified paths.
Int. J. Robot. Res.
,
3 ,
3 -
17
-
6)
-
Y. Chen ,
A.A. Desrochers
.
Minimum-time control laws for robotic manipulators.
Int. J. Control
,
1 ,
1 -
27
-
7)
-
D.S. Choi ,
S.J. Kim ,
I.J. Ha
.
A phase-plane approach to time-optimal control of single-DOF mechanical systems with friction.
Automatica
,
8 ,
1407 -
1415
-
8)
-
Y.O. Kim ,
I.J. Ha
.
Time-optimal control of a single-DOF mechanical system considering actuator dynamics.
IEEE Trans. Control Syst. Technol.
,
6 ,
919 -
932
-
9)
-
Hu, S., Gao, Z.: `A discrete time optimal control solution for hard disk drives servo design', ISIC 2007, 2007, p. 289–295.
-
10)
-
J.R. Hendershot ,
T.J.E. Miller
.
(1994)
Design of brushless permanent-magnet motors: magna physics.
-
11)
-
J.W. Hong ,
Y.O. Kim ,
I.J. Ha
.
Simplified time-optimal path planning of X-Y gantry systems along circular paths.
Automatica
,
1 ,
149 -
156
-
12)
-
T.H. Kim ,
I.J. Ha
.
Time-optimal control of a single-DOF mechanical systems with friction.
IEEE Trans. Autom. Control
,
5 ,
751 -
755
-
13)
-
K.G. Shin ,
N.D. Mckay
.
Minimum-time control of robotic manipulators with geometric path constraints.
IEEE Trans. Autom. Control
,
6 ,
531 -
541
-
14)
-
J.E. Bobrow
.
Optimal robot path planning using the minimum-time criterion.
IEEE Trans. Robot. Autom.
,
4 ,
443 -
450
-
15)
-
D.G. Luenberger
.
(1969)
Optimization by vector space methods.
-
16)
-
E. Velenis ,
P. Tsiotras
.
Minimum time travel for a vehicle with acceleration limits: theoretical analysis and receding horizon implementation.
J. Optim. Theory Appl.
,
2 ,
275 -
296
-
17)
-
http://nsl.snu.ac.kr/IETsup/TOC_proofs.pdf, accessed September 2010.
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2010.0266
Related content
content/journals/10.1049/iet-cta.2010.0266
pub_keyword,iet_inspecKeyword,pub_concept
6
6