Energy-Optimal Planning of a Driving System with Coulomb and Viscous Frictions

摘要

Energy conservation is a current requirement in industry. This paper discusses an energy-optimal planning of a servo system, which is driven by a DC motor and a reduction gear. Controllable energy loss, such as Joule loss, Coulomb friction loss and viscous friction loss can be expressed by crossing time t_c, when input torque of reduction gear is changed from positive to negative. In a position control system, minimization of the dissipated energy is determined by optimal crossing time t_c. This conclusion is confirmed by simulations.