Energy-saving optimization method for point-to-point trajectories planned via standard primitives in 1-DoF mechatronic systems

Abstract In this work, an analytical methodology to minimize the energy expenditure of mechatronic systems performing point-to-point (PTP) trajectories based on well-known motion primitives is developed and validated. Both PTP trajectory profiles commonly used in industrial motor drives more complex ones are investigated. Focusing generic 1-DoF moving a constant inertia load (e.g., elevators, cranes, CNC machines, Cartesian axis) possibly equipped or retrofitted with regenerative devices, consumed formulation firstly derived. Then, optimization considering all selected computed closed-form solution determined. Finally, numerical experimental evaluations done showing effectiveness theoretical results proposed methodology. addition, different compared respect consumption.