Simple motion trajectory generation for energy saving of industrial machines

This paper considers energy saving of industrial machines using a simple S-curve motion trajectory, which consists of acceleration period, constant velocity period and deceleration period. The S-curve motion trajectory is widely used in industrial applications. We consider a typical dynamics of feed drive systems including inertia term, viscous friction term, Coulomb friction term and the back-EMF term. By assuming that total motion time and total motion distance are given, and the coincidence of acceleration and deceleration times, the consumed energy can be a function of only the acceleration time. We present some properties of the consumed energy with respect to the acceleration time. To predict the required energy for the motion, we propose an identification method of the necessary parameters of industrial feed drive dynamics. The validity of our analysis is confirmed through experiments. In addition, we measure the consumed energy of a commercial gantry crane that is actually used in industry. The presented property is held in this commercial gantry crane.