Design of Energy Efficient Mechatronic Systems based on Automated Controller Synthesis and Trajectory Planning

基于自动控制器综合和轨迹规划的节能机电系统设计

• 批准号: 281969158
• 负责人: Professor Dr. Joel Greenyer
• 金额: --
• 依托单位: Fachgebiet Software Engineering
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2015
• 资助国家: 德国
• 起止时间: 2014-12-31 至 2020-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/281969158?language=en
• 关键词: Design; Energy; Efficient; Mechatronic; Systems

Due to constantly rising energy prices, the energy efficiency of mechatronic systems, e. g. in industrial manufacturing, is an increasingly important factor. One possibility for energy savings in multi-axis systems is the re-use of recuperated braking energy of single manipulator axes to simultaneously supply other axes in the system. Many multi-axis systems, e. g. automated production systems, already provide the technical requirements to support such a re-use - the challenge lies in the development of optimized software that coordinates the processes in an energy-efficient way. We already developed methods for the planning of energy-efficient trajectories of multi-axis systems. Energetically optimal motion profiles for point-to-point movements of single- and/or multi-axis manipulators can be calculated under consideration of moving loads, friction effects, etc. The existing methods can already yield significant energy savings. However, in systems that combine multiple single- and multi-axis manipulators, the energy saving potential can currently not be fully exploited. The reason is that current methods cannot consider a possible rearrangement of movement sequences on the level of the discrete control process. This would lead to an explosion in the complexity of the optimization problem. Moreover, the current approaches cannot consider the complex and sometimes critical requirements that may be imposed on the movement sequences. In this inter-disciplinary research project, we therefore plan the development of a new method for the design of energy-efficient mechatronic systems, which couples the methods for the energy-optimized trajectory planning and methods for the automatic synthesis of discrete controllers. This method shall already be employed during the design of the discrete control process. Here, the engineers must consider all the requirements of the discrete system behavior; but, at the same time, they should not over-constrain possible alternative control sequences. We support engineers in this task by a specification method, which was elaborated in previous work, allowing them to describe, in the form of scenarios, what a system can, must, or must not do. From such a specification, we can then compute valid discrete controller implementations algorithmically. We extend this approach such that, by initially including coarse assumptions of energy consumed and regenerated by individual axis movements, we can synthesize energy-efficient discrete controllers. If during this process it must be decided between alternative movement sequences that appear similarly efficient, we plan to integrate the energy-efficient trajectory planning approach to choose the most efficient movement sequence based on a more detailed model. By considering the system behavior on different levels, we will enable engineers to more extensively exploit energy saving potentials. We will develop and evaluate this design methodology based on an example case study.

由于能源价格不断上涨，机电系统的能源效率，例如。 g。在工业制造中，是一个越来越重要的因素。多轴系统中节能的一种可能性是重新利用单个机械手轴的回收制动能量，以同时为系统中的其他轴供电。许多多轴系统，例如。 g。自动化生产系统已经提供了支持这种再利用的技术要求 - 挑战在于开发以节能方式协调流程的优化软件。我们已经开发了多轴系统节能轨迹规划方法。可以在考虑移动负载、摩擦效应等的情况下计算单轴和/或多轴机械手的点对点运动的能量最佳运动曲线。现有方法已经可以产生显着的节能效果。然而，在组合多个单轴和多轴机械手的系统中，目前还无法充分发挥节能潜力。原因是当前的方法无法在离散控制过程的层面上考虑运动序列可能的重新排列。这将导致优化问题的复杂性激增。此外，当前的方法无法考虑可能对运动序列施加的复杂且有时关键的要求。因此，在这个跨学科研究项目中，我们计划开发一种新的节能机电系统设计方法，该方法将能量优化轨迹规划方法和离散控制器自动合成方法结合起来。在离散控制过程的设计过程中应已采用该方法。这里，工程师必须考虑离散系统行为的所有要求；但同时，它们不应过度限制可能的替代控制序列。我们通过在之前的工作中详细阐述的规范方法来支持工程师完成这项任务，允许他们以场景的形式描述系统可以做什么、必须做什么或不可以做什么。根据这样的规范，我们可以通过算法计算有效的离散控制器实现。我们扩展了这种方法，通过最初包括各个轴运动消耗和再生的能量的粗略假设，我们可以合成节能的离散控制器。如果在此过程中必须在看起来效率相似的替代运动序列之间做出决定，我们计划集成节能轨迹规划方法，以基于更详细的模型选择最有效的运动序列。通过考虑不同层面的系统行为，我们将使工程师能够更广泛地挖掘节能潜力。我们将根据示例案例研究来开发和评估这种设计方法。