Two approaches comparison to energy optimal position control with constant and linear torques

Description and verification of two approaches to the energy optimal and near-optimal position control of the electrical drives loaded with combined constant and linear friction and load torques is the main contribution of this paper. The first approach is based on Euler-Lagrange minimization of copper and friction losses of the drive. The second approach to energy demands minimization uses symmetrical trapezoidal speed profiles for rest to rest position maneuver. Both approaches are expressed analytically and respect prescribed maneuver time and prescribed acceleration computed in energy saving profile generator. Overall control system for verification complains with vector control and forced dynamics control principles and is capable of precise tracking of prescribed state variables to achieve the position set-point. Results gained show better energy management of mathematical approach.