Time-Optimal Trajectory Planning of Permanent Magnet Spherical Motor Based on Genetic Algorithm

被引：0

作者：

Zhao, Lijuan ^{[1
,2
,4
]}

Li, Guoli ^{[1
,2
,3
,4
]}

Guo, Xiwen ^{[1
,2
,3
,4
]}

Li, Shen ^{[1
,2
,4
]}

Wen, Yan ^{[1
,2
,4
]}

Ye, Qiubo ^{[4
]}

机构：

[1] Anhui Univ, Sch Elect Engn & Automat, Hefei, Anhui, Peoples R China

[2] Anhui Univ, Natl Engn Lab Energy Saving Motor & Control Techn, Hefei, Anhui, Peoples R China

[3] Anhui Univ, Engn Res Ctr Power Qual, Minist Educ, Hefei, Anhui, Peoples R China

[4] Anhui Univ, Anhui Prov Lab Ind Energy Saving & Safety, Hefei, Anhui, Peoples R China

来源：

PROCEEDINGS OF THE 2017 12TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) | 2017年

基金：

中国国家自然科学基金;

关键词：

permanent magnet spherical motor (PMSM); trajectory planning; time-optimal; genetic algorithm (GA); B-Spline interpolation; Adams;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

For solving the trajectory problem of high speed motion under specific path for a permanent magnet spherical motor (PMSM) in three-dimensional space, a time optimal trajectory planning method based on the genetic algorithm (GA) was proposed. The basic principle of the structure and dynamic modeling of the PMSM are introduced first. Then, the structure of the B spline interpolation function is analyzed. Finally, the genetic algorithm is used to optimize the piecewise B spline curve and simulated in ADAMS software. The simulation results show that the time of optimized angular displacement, angular velocity and angular acceleration curves are shorter, smooth and continuous. It can also be used to provide the reference for the further work on PMSMs.

引用

页码：828 / 833

页数：6

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