The point-to-point multi-region energy-saving trajectory planning for a mechatronic elevator system

- The system driven by a permanent magnet synchronous motor is completely modeled.
- The energy equations in the electrical and mechanical parts are also formulated.
- The multi-region trajectories of high-degree polynomials with constraints are planned.
- The methodology in the trajectory planning can be applied for any mechatronic system.

A mechatronic elevator system driven by a permanent magnet synchronous motor (PMSM) is completely modeled by the mechanical and electrical equations. The electrical energy equation, including input, dissipation, magnetic and kinetic energies, is formulated for energetic analysis. The adjusting fraction, defined as the flight time from null to maximum acceleration with respect to the total acceleration time, is optimized by the self-learning particle swarm optimization (SLPSO) method in minimizing the input absolute electrical energy (IAEE). In this paper, multi-region trajectories of high-degree polynomials with constraints of maximum acceleration and velocity are planned, and the flight time and the IAEE are compared numerically. The main contribution of this paper is to propose a methodology in the point-to-point (PTP) multi-region energy-saving trajectory planning for any mechatronic system.