Optimal control of a servo system regenerating conservative energy to a condenser

Teruyuki Izumi, Prasanna Boyagoda, Mutsuo Nakaoka, Eiji Hiraki

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

An Optimal controller for a servo system with a manipulator is developed. The emphasis is on the minimization of the overall energy consumption of the system. The optimum current function is obtained under the minimization criteria of the consumption energy for a manipulator under gravity conditions and otherwise. The solution to the two-point-boundary-value-problem is obtained by using the Generalized Newton-Raphson method. Further when the link of the manipulator is decelerated, the generated electric power from the motor is stored in a condenser. This is achieved while supplying the optimal current by using a DC Chopper circuit. It is shown from experiment that the efficiency of energy storage is improved by increasing the capacitance of the condensers. The overall energy is shown to decrease by this method.

Original languageEnglish
Pages651-656
Number of pages6
Publication statusPublished - Dec 1 1995
Externally publishedYes
EventProceedings of the 1995 International IEEE/IAS Conference on Industrial Automation and Control: Emerging Technologies - Taipei, Taiwan
Duration: May 22 1995May 27 1995

Other

OtherProceedings of the 1995 International IEEE/IAS Conference on Industrial Automation and Control: Emerging Technologies
CityTaipei, Taiwan
Period5/22/955/27/95

ASJC Scopus subject areas

  • Engineering(all)

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    Izumi, T., Boyagoda, P., Nakaoka, M., & Hiraki, E. (1995). Optimal control of a servo system regenerating conservative energy to a condenser. 651-656. Paper presented at Proceedings of the 1995 International IEEE/IAS Conference on Industrial Automation and Control: Emerging Technologies, Taipei, Taiwan, .