This paper quantitatively reports about a practical method to improve both position accuracy and energy efficiency of Servo-Actuated Mechanisms (SAMs) for automated machinery. The method, which is readily applicable on existing systems, is based on the ”smart programming” of the actuator trajectory, which is optimized in order to lower the electric energy consumption, whenever possible, and to improve position accuracy along those portions of the motion law which are process relevant. Both energy demand and tracking precision are computed by means of a virtual prototype of the system. The optimization problem is tackled via a traditional SequentialQuadratic-Programming algorithm, that varies the position of a series of virtual points subsequently interpolated by means of cubic splines. The optimal trajectory is then implemented on a physical prototype for validation purposes. Experimental data confirm the practical viability of the proposed methodology.

Increasing Position Accuracy and Energy Efficiency of Servo-Actuated Mechanisms / Pellicciari, Marcello; Berselli, Giovanni; Balugani, Federico; Gadaleta, Michele. - ELETTRONICO. - 2015-:(2015), pp. 1339-1344. (Intervento presentato al convegno 11th IEEE International Conference on Automation Science and Engineering, CASE 2015 tenutosi a Gothenburg, Sweden nel 24-28 August 2015) [10.1109/CoASE.2015.7294284].

Increasing Position Accuracy and Energy Efficiency of Servo-Actuated Mechanisms

PELLICCIARI, Marcello;BERSELLI, Giovanni;BALUGANI, FEDERICO;GADALETA, MICHELE
2015

Abstract

This paper quantitatively reports about a practical method to improve both position accuracy and energy efficiency of Servo-Actuated Mechanisms (SAMs) for automated machinery. The method, which is readily applicable on existing systems, is based on the ”smart programming” of the actuator trajectory, which is optimized in order to lower the electric energy consumption, whenever possible, and to improve position accuracy along those portions of the motion law which are process relevant. Both energy demand and tracking precision are computed by means of a virtual prototype of the system. The optimization problem is tackled via a traditional SequentialQuadratic-Programming algorithm, that varies the position of a series of virtual points subsequently interpolated by means of cubic splines. The optimal trajectory is then implemented on a physical prototype for validation purposes. Experimental data confirm the practical viability of the proposed methodology.
2015
11th IEEE International Conference on Automation Science and Engineering, CASE 2015
Gothenburg, Sweden
24-28 August 2015
2015-
1339
1344
Pellicciari, Marcello; Berselli, Giovanni; Balugani, Federico; Gadaleta, Michele
Increasing Position Accuracy and Energy Efficiency of Servo-Actuated Mechanisms / Pellicciari, Marcello; Berselli, Giovanni; Balugani, Federico; Gadaleta, Michele. - ELETTRONICO. - 2015-:(2015), pp. 1339-1344. (Intervento presentato al convegno 11th IEEE International Conference on Automation Science and Engineering, CASE 2015 tenutosi a Gothenburg, Sweden nel 24-28 August 2015) [10.1109/CoASE.2015.7294284].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1118790
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