Concurrent Optimization for Selection and Control of AC Servomotors on the Powertrain of Industrial Robots

被引：37
作者：
Padilla-Garcia, Erick A. [1 ]
Rodriguez-Angeles, Alejandro [1 ]
Resendiz, Juvenal R. [2 ]
Cruz-Villar, Carlos A. [1 ]
机构：
[1] IPN, CINVESTAV, Dept Elect Engn, Mechatron Sect, Mexico City 07360, DF, Mexico
[2] Autonomous Univ Queretaro, Fac Engn, Queretaro 76010, Mexico
来源：
IEEE ACCESS | 2018年 / 6卷
关键词：
Concurrent optimization; mechatronic design; ac servomotor selection; industrial manipulators; powertrain of robots; MULTIOBJECTIVE GENETIC ALGORITHM; DRIVE SYSTEMS; MOTOR; DESIGN;
D O I：
10.1109/ACCESS.2018.2840537
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
AC servomotors are widely used in industrial robot manipulators to drive high dynamic loads; thus, an appropriate selection and control of the motors contributes to a better performance at specific tasks. In this paper, a concurrent multi-objective dynamic optimization method is proposed for optimal selection and control of synchronous ac servomotors. Three objective functions, energy consumption, tracking error, and total weight of motors, are optimized. Regarding the importance of the reducers to drive the manipulator, our methodology considers as an equality constraint the closed-loop dynamic model of the whole system, where the powertrain (motor-reducer-load) at each actuated-joint is considered. The multi-objective optimization problem is solved by using a genetic algorithm with continuous and discrete variables. The efficiency of the proposed methodology is validated via simulations of an industrial robot.
引用
收藏
页码：27923 / 27938
页数：16
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