Comparison of Energy Near-Optimal Control Laws for the Drives with Constant and Linear Frictions

  • Ján VittekEmail author
  • Branislav Ftorek
  • Peter Butko
  • Tomáš Fedor
  • Ľuboš Struharňanský
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 423)


Design and verification of two energy saving position control algorithms for drives loaded with combined constant and linear friction and load torques is main contribution of this paper. To decrease energy demands energy near-optimal control law based on copper losses minimization is compared with a control law based on symmetrical trapezoidal speed-time profile. Both algorithms respects prescribed maneuver time and have prescribed acceleration to achieve the demanded position. Overall control system exploits principles of vector control and forced dynamics control. A zero dynamic lag pre-compensator is included for precise tracking of prescribed state variables. Energy demands of both control algorithms are verified and compared by simulation, results of which confirmed possibility to achieve energy savings for pre-planned rest to rest maneuver.


Position Control Total Energy Expenditure Load Torque Position Control System Copper Loss 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This work was supported by R&D operational program Centre of excellence of power electronics systems and materials for their components I No. OPVaV-2008/2.1/01-SORO, ITMS 262220120003 and Centre of excellence of power electronics systems and materials for their components II. No. OPVaV-2009/2.1/02-SORO, ITMS 26220120046 funded by European regional development fund (ERDF). The authors also wish to thank the Slovak Grant Agency VEGA for support of research grant 1/0794/14.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Ján Vittek
    • 1
    Email author
  • Branislav Ftorek
    • 1
  • Peter Butko
    • 1
  • Tomáš Fedor
    • 1
  • Ľuboš Struharňanský
    • 1
  1. 1.Faculty of Electrical EngineeringUniversity of ŽilinaŽilinaSlovakia

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