Motion profile planning of repetitive point-to-point control for maximum energy conversion efficiency under acceleration conditions

The motion profile for point-to-point control under acceleration, which is applied to many applications in electro-mechanical systems, should be planned so as to maximize the energy conversion efficiency. Initially, a theoretically ideal profile was derived by adopting Pontryagin's minimum principle, The performance of this energy efficient motion profile is compared to those of three conventional profiles widely used in practice: trapezoidal, variable-rate transymmetric, and exponential. Finally, a selection guide for motion profile is presented for applications in which energy conversion efficiency and peak acceleration become critical, such as the material handling machine, copying machine, various dedicated purpose machines, electric motor cars, and space vehicles. Copyright (C) 1996 Elsevier Science Ltd.