Stimuli-Induced Equilibrium Point-Based Algorithm for Motion Planning of a Heavy-Load Servo System

To tackle the problems of power saturation and high energy consumption of the heavy-load servo system in a servo process, we propose a motion planning algorithm based on the stimuli-induced equilibrium point (SIEP), named the SIEP-MP algorithm. First, we explore the correlation between various modes of the bionic eye system and the heavy-load servo system through head-eye motion control theory and derive the core formula of the SIEP-MP algorithm from psychological field theory. Then, we design a speed loop of the heavy-load servo system by combining a speed controller and a disturbance observer. Furthermore, we create a position loop of the heavy-load servo system by combining a position controller and a feed-forward controller. We verify the low-pass filtering and range-limiting functions of the SIEP-MP algorithm by building the experimental platform, designing the target trajectory, and setting the control parameters. Experimental results demonstrate similar command filtering, elimination of power saturation, and energy-saving functions compared to low-pass filters, and the algorithm has a better mode-switching performance. The proposed SIEP-MP algorithm can ensure the optimal tracking performance of the heavy-load servo system in different modes through mode switching.