Optimisation of real-time complex path generation in constrained intelligent motion applications based on IPM motor drives

Improvements in the constrained real-time path generation for high performance motion control systems are presented in this paper. With respect to the existing solutions, all the cases generating from a set of constraints imposed on the kinematic characteristics of the movements are analysed and solved analytically. The proposed path generator has been employed inside a digital drive system based on interior PM synchronous motor and a last generation digital signal controller. Optimised torque-speed motor control is implemented and exploited to raise the accuracy and dynamical performance of the position controller. Simulation and experimental results are presented and discussed.