Energy Efficient Motion Control System
First Claim
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1. A method for generating a control signal for controlling an operation of a motion control system suitable for positioning a load, comprising the steps of:
- determining a cost function based on a model of energy consumption of the system and a function of a tracking time;
minimizing the cost function subject to constraints to determine a trajectory of the control signal; and
generating the control signal based on the trajectory and a current state of the system, wherein the steps of the method are performed by a processor.
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Abstract
A control signal for controlling an operation of a motion control system suitable for positioning a load is generated using determining a cost function based on a model of energy consumption of the system and a function of a tracking time; and minimizing the cost function subject to constraints to determine a trajectory of the control signal. The control signal is generated based on the trajectory and a current state of the system, wherein the steps of the method are performed by a processor.
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21 Claims
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1. A method for generating a control signal for controlling an operation of a motion control system suitable for positioning a load, comprising the steps of:
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determining a cost function based on a model of energy consumption of the system and a function of a tracking time; minimizing the cost function subject to constraints to determine a trajectory of the control signal; and generating the control signal based on the trajectory and a current state of the system, wherein the steps of the method are performed by a processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A motion control system, comprising
a motor configured to be controlled based on a control signal; -
a processor configured to execute a trajectory generation module and a control module, wherein the trajectory generation module determines a trajectory of the control signal based an energy model, such that the trajectory optimizes the energy consumption as a function of a tracking time of the system, wherein the energy model is a model of energy consumption of the system, and the control module generates the control signal based on a current state of the system and the trajectory; and an amplifier for generating a control input to the motor based on the control signal. - View Dependent Claims (19, 20, 21)
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Specification