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

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.