Numerical integration-like algorithm for time-optimal trajectory optimisation of multi-axis motion system based on iterative learning
by Tie Zhang; Cailei Liao; Yanbiao Zou; Zhongqiang Kang; Caicheng Wu
International Journal of Automation and Control (IJAAC), Vol. 17, No. 1, 2023

Abstract: In order to realise the high-velocity and high-precision motion of the multi-axis motion system, a numerical integration-like time-optimal trajectory optimisation algorithm combined with iterative learning is proposed. Based on the established dynamic model of the multi-axis motion system, the mathematical model with time optimisation as the objective function is derived under kinematics and dynamics constraints. The planned trajectory is discretised and the uniform acceleration equation (SUVAT) between any two adjacent discrete points is assumed so that pseudo-velocity planning of the phase plane is carried out by SUVAT equation instead of numerical integration method, after which the optimal solution satisfying the constraints can be obtained. In order to improve the dynamic model and reduce the errors between the calculated and the actual measured torques, a PD-type iterative learning method with forgetting factor is used to continuously update the dynamic model.

Online publication date: Wed, 30-Nov-2022

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Automation and Control (IJAAC):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com