Trajectory Planning for Non-Stationary Actuator Boundary States
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Solution Overview
Problem
Conventional trajectory planning units are inflexible as they typically require initial and final states to be stationary, limiting their application to non-stationary initial and final states, which restricts their usage in scenarios requiring non-stationary conditions.
Innovation Solution
A trajectory planning unit that allows specification of initial and final velocity and acceleration values, enabling the generation of trajectories that can transform from a non-stationary initial state to a non-stationary final state or vice versa, while adhering to velocity, acceleration, braking acceleration, and jerk limit values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional trajectory planning units are used with stationary initial and final states, then the control is simplified and reliable, but the adaptability to non-stationary conditions is reduced
Solution Approach 1:
The trajectory planning unit is designed to dynamically adapt between stationary and non-stationary boundary conditions. The system allows the initial and final states to be configured as either stationary (velocity=0, acceleration=0) or non-stationary (velocity≠0, acceleration≠0), enabling the same device to handle diverse application scenarios without requiring separate specialized systems.
Solution Approach 2:
The invention changes the boundary condition parameters (initial velocity, initial acceleration, final velocity, final acceleration) from fixed stationary values to variable values that can be specified by the user. This parameter flexibility allows the trajectory planning unit to generate appropriate trajectories for both traditional stationary-to-stationary movements and modern non-stationary applications.
2Adaptability or versatility
If the trajectory planning unit supports non-stationary initial and final states, then the versatility is improved, but the calculation complexity increases
Solution Approach 1:
The trajectory planning unit is designed as a universal controller that can handle multiple types of boundary conditions (stationary-stationary, stationary-non-stationary, non-stationary-stationary, and non-stationary-non-stationary) within a single device. This multi-functionality eliminates the need for separate specialized trajectory planners for different application scenarios.
Solution Approach 2:
The system performs preliminary configuration of boundary condition parameters (initial velocity, initial acceleration, final velocity, final acceleration) before trajectory generation. By allowing users to specify these parameters in advance, the system prepares the necessary information for accurate trajectory calculation without requiring complex real-time adjustments during execution.
3Ease of operation
If specification values for velocity and acceleration are allowed to be non-zero, then the ease of operation is improved, but the precision of trajectory control may be affected
Solution Approach 1:
The trajectory planning unit incorporates feedback mechanisms that continuously monitor the generated trajectory against the specified boundary conditions and system constraints. The system verifies that trajectories starting from non-stationary states still satisfy velocity, acceleration, and jerk limits, ensuring precision control is maintained even when operating in more flexible non-stationary modes.
Data Source
AI summary
A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value. The trajectory planning unit is adapted to provide the trajectory according to at least one specification value which can be specified, the specification value including an initial velocity value, a final velocity value, an initial acceleration value and/or a final acceleration value.