Energy optimal trajectories for electro-mechanical systems

摘要

Abstract Electro-mechanical systems (EMS) efficiency improvement can result not only in significant energy savings but also can have positive impact on our environment. Progressive applications of EMS control as e.g. dynamical system of multi-parts robots are described by system of non-linear mutually coupled differential equations considering gravity, acceleration, Coriolis and centrifugal couplings together with parameter changes as a function of load. Using Euler-Lagrange optimization we discuss some results in decreasing energy demands for given electro-mechanical systems exploiting electric drives, which are typical for industrial and transportation applications e.g. robotic arm control, train movement control etc.