Energy-saving trajectory planning for a toggle mechanism driven by a PMSM

This paper proposes a methodology to plan an energy-saving trajectory for a toggle mechanism by a permanent magnet synchronous motor (PMSM). The system is first identified by the numerical methods. The trajectory is described by a high-degree polynomial, which is a point-to-point (PTP) function and satisfies the end conditions of displacement, velocity, acceleration and jerk at the initial and final times. The real-coded genetic algorithm (RGA) is employed to determine the coefficients of the polynomial with the fitness function, which is the inverse of the absolute value of the input electric energy. In this paper, some discussions for planning an energy-saving trajectory are made, and three cases of the fitness functions are used.