A concurrent optimization approach for energy efficient multiple axis positioning tasks

verfasst von

Christian Hansen, Jens Kotlarski, Tobias Ortmaier

Abstract

Automated production systems typically comprise numerous electrical servo drives, many of which conduct positioning motions, e.g. for handling or manipulation tasks. The power electronics of modern multi-axis systems often comprise coupled DC-links, enabling for internal exchange of recuperative brake energy. However, the motion sequences of manipulators are often commanded at maximum dynamics for minimum time motion, neglecting possible optimization potential, e.g. available idle time, leading to inefficient energy management. A robust trajectory optimization approach based on the particle swarm algorithm and well-established path planning methods is presented for the adaption of multi-axis positioning tasks with only two parameters per axis and positioning motion during system run-time. Experimental results prove that, depending on the positioning task and chosen optimization constraints, energy demands are distinctly reduced. The approach is applicable to diverse multi-axis configurations and enables for considerable energy savings without additional hardware invest.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Artikel

Journal

Journal of Control and Decision

Band

3

Seiten

223-247

Anzahl der Seiten

25

ISSN

2330-7706

Publikationsdatum

01.10.2016

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik, Signalverarbeitung, Information systems, Mensch-Maschine-Interaktion, Computernetzwerke und -kommunikation, Steuerung und Optimierung, Artificial intelligence

Elektronische Version(en)

https://doi.org/10.1080/23307706.2016.1208548 (Zugang: Geschlossen)