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Related Experiment Video

Updated: Jul 16, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Time-Optimal Trajectory Planning Method for Servo PMSM Based on Short-Term Dynamic Feasible Region Constraint.

Hui Li¹, Jianfu Li^1,2, Xuewei Xiang¹

¹State Key Laboratory of Power Transmission Equipment Technology, School of Electrical Engineering, Chongqing University, Chongqing 400044, China.

Sensors (Basel, Switzerland)

|July 15, 2026

Summary

This study introduces a novel time-optimal trajectory planning method for servo permanent magnet synchronous motors (SPMSMs). The approach enhances response speed by utilizing short-term dynamic performance within feasible operating regions.

Keywords:

dynamical constraints jerk and time-optimal servo PMSM trajectory planning

Related Experiment Videos

Last Updated: Jul 16, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Area of Science:

Electrical Engineering
Control Systems Engineering
Robotics

Background:

Traditional time-optimal trajectory planning for SPMSMs relies on steady-state characteristics, limiting exploitation of short-term dynamic capabilities.
This limitation hinders achieving faster response speeds in applications requiring rapid movements.

Purpose of the Study:

To develop a time-optimal trajectory planning method for SPMSMs that leverages short-term dynamic performance.
To improve the response speed of SPMSMs by introducing a dynamic feasible region constraint.

Main Methods:

Derived a dynamic trapezoidal domain operation boundary considering motor working point, temperature, and trajectory control.
Proposed a dynamic constraint method using average thermal power to define torque overload limits based on the short-term dynamic torque-speed boundary.
Developed a sequential least squares-based algorithm for time-optimal trajectory optimization to reduce computational load for millisecond-level responses.
Calibrated positioning time considering variations in working temperature and angle.

Main Results:

The proposed method effectively improves the response speed of SPMSMs.
Simulation and experimental results validated the effectiveness of the dynamic constraint and optimization algorithm.
The approach successfully accounts for varying working temperatures and angles in trajectory planning.

Conclusions:

The novel trajectory planning method enhances SPMSM response speed by utilizing short-term dynamic capabilities.
The dynamic feasible region constraint and optimization algorithm are effective for real-time applications.
This method offers a significant improvement over traditional approaches for SPMSM trajectory planning.