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A New energy optimal control Scheme for a Separately Excited DC Motor Based Incremental Motion Drive

International Journal of Automation and computing 2009年第3期6卷 267-276页

作者： Milan A. Sheta Vivek Agarwal Paluri S. V. Nataraj Systems and control Engineering Indian Institute of Technology Bombay Department of Electrical Engineering Indian Institute of Technology Bombay

This paper considers minimization of resistive and frictional power dissipation in a separately excited DC motor based incremental motion drive （IMD）. The drive is required to displace a given, fixed load through a definite angle in specified time, with minimum energy dissipation in the motor windings and minimum frictional losses. Accordingly, an energy optimal （EO） control strategy is proposed in which the motor is first accelerated to track a specific speed profile for a pre-determined optimal time period. Thereafter, both armature and field power supplies are disconnected, and the motor decelerates and comes to a halt at the desired displacement point in the desired total displacement time. The optimal time period for the initial acceleration phase is computed so that the motor stores just enough energy to decelerate to the final position at the specified displacement time. The parameters, such as the moment of inertia and coefficient of friction, which depend on the load and other external conditions, have been obtained using system identification method. Comparison with earlier control techniques is included. The results show that the proposed EO control strategy results in significant reduction of energy losses compared to the existing ones.

关键词： energy optimal control speed profile incremental motion drive (IMD).

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Attitude control of flapping wing aircraft based on energy optimization and ESO

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Biomimetic Intelligence & Robotics 2021年第1期1卷 36-41页

作者： Luo Li Hongwei Wang Long Cui State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China

Aiming at the problem of insufficient endurance performance of flapping wing aircraft,a stable attitude control algorithm based on energy optimization and ESO(extended state observer)is designed,which effectively reduces the energy consumption in cruise ***,the longitudinal dynamic model of flapping wing aircraft is established,and then the uncertain part of the system and various unknown external disturbances are taken as the total *** module is introduced to observe and track the total disturbance in real ***,the system is transformed into a series integral system through the total disturbance feedback,and then the energy optimal control law is designed on the base of the transformed *** numerical simulation results show that,compared with the traditional PID control method,the designed energy optimal control method reduces the average energy consumption by 35.28%.

关键词： Flapping wing energy optimal control ESO(Extended State Observer)

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