The energy balance equation consisting of mechanical and electrical parts of a mechatronic elevator system is studied in this paper. The total input energy is equal to the mechanical and electrical energies, where a weighting factor should be added for the mechatronic system. The calculus of variation is implemented to find the minimum input electrical energy control (MIEEC) and minimum dissipation energy control (MDEC), which are compared and found to have the same results. From numerical simulations, it is confirmed to demonstrate that the energy balance equation must contain a weighting factor in a mechatronic system.

References

References
1.
Canudas de wit
,
C.
,
Seleme
,
I.
, and
Seleme
,
J.
,
1997
, “
Robust Torque Control Design for Induction Motors: The Minimum Energy Approach
,”
Automatica
,
33
(
1
), pp.
63
79
.10.1016/S0005-1098(96)00142-2
2.
Halevi
,
Y.
,
Carpanzano
,
E.
, and
Montalbano
,
G.
,
2014
, “
Minimum Energy Control of Redundant Linear Manipulators
,”
ASME J. Dyn. Syst. Meas. Control
,
136
(
5
), pp.
1
8
.10.1115/1.4027419
3.
Iamratanakul
,
D.
, and
Devasia
,
S.
,
2009
, “
Minimum-Time/Energy, Output Transitions for Dual-Stage Systems
,”
ASME J. Dyn. Syst. Meas. Control
,
131
(
2
), pp.
1
8
.10.1115/1.3072153
4.
Kim
,
H.
, and
Kim
,
B. K.
,
2014
, “
Online Minimum-Energy Trajectory Planning and Control on a Straight-Line Path for Three-Wheeled Omnidirectional Mobile Robots
,”
IEEE Trans. Ind. Electron.
,
61
(
9
), pp.
4771
4779
.10.1109/TIE.2013.2293706
5.
Murphey
,
Y. L.
,
Park
,
J.
,
Kiliaris
,
L.
,
Kuang
,
M. L.
,
Masrur
,
M. A.
,
Phillips
,
A. M.
, and
Wang
,
Q.
,
2013
, “
Intelligent Hybrid Vehicle Power Control—Part II: Online Intelligent Energy Management
,”
IEEE Trans. Veh. Technol.
,
62
(
1
), pp.
69
79
.10.1109/TVT.2012.2217362
6.
Ebrahim
,
O. S.
,
Badr
,
M. A.
,
Elgendy
,
A. S.
, and
Jain
,
P. K.
,
2010
, “
ANN-Based Optimal Energy Control of Induction Motor Drive in Pumping Applications
,”
IEEE Trans. Energy Convers.
,
25
(
3
), pp.
652
660
.10.1109/TEC.2010.2041352
7.
Huang
,
M. S.
,
Hsu
,
Y. L.
, and
Fung
,
R. F.
,
2012
, “
Minimum-Energy Point-to-Point Trajectory Planning for a Motor-Toggle Servomechanism
,”
IEEE/ASME Trans. Mechatron.
,
17
(
2
), pp.
337
344
.10.1109/TMECH.2010.2103366
8.
Chen
,
K. Y.
,
Huang
,
M. S.
, and
Fung
,
R. F.
,
2010
, “
The Comparisons of Minimum-Energy Control of the Mass-Spring-Damper System
,”
8th World Congress on Intelligent Control and Automation
,
Taipei, Taiwan
, Jun. 21–25, pp.
666
671
.
9.
Chen
,
K. Y.
,
Huang
,
M. S.
, and
Fung
,
R. F.
,
2012
, “
Adaptive Tracking Control for a Motor-Table System
,”
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
,
Kaohsiung, Taiwan
, pp.
1054
1059
.
10.
Chen
,
K. Y.
,
Huang
,
M. S.
, and
Fung
,
R. F.
,
2013
, “
Adaptive Minimum-Energy Tracking Control for the Mechatronic Elevator System
,”
IEEE Trans. Control Syst. Technol.
,
PP
(
99
), pp.
1
10
.10.1109/TCST.2013.2278408
11.
Chen
,
K. Y.
,
Huang
,
M. S.
, and
Fung
,
R. F.
,
2014
, “
Dynamic Modeling and Input-Energy Comparison for the Mechatronic Elevator System
,”
Appl. Math. Modell.
,
38
, pp.
2037
2050
.10.1016/j.apm.2013.10.026
12.
Niu
,
S.
,
Ho
,
S. L.
, and
Fu
,
W. N.
,
2013
, “
Power Balanced Electromagnetic Torque Computation in Electric Machines Based on Energy Conservation in Finite-Element Method
,”
IEEE Trans. Magn.
,
49
(
5
), pp.
2385
2388
.10.1109/TMAG.2013.2241030
13.
Fitzgerald
,
A. E.
,
Charles
,
K. J.
, and
Umans
,
S. D.
,
2003
,
Electric Machinery
,
McGraw-Hill
, New York.
14.
Kirk
,
D. E.
,
1985
,
Optimal Control Theory: An Introduction
,
Reprinted at Prentice-Hall
,
Englewood Cliffs, NJ
.
15.
Hsu
,
Y. L.
,
Huang
,
M. S.
, and
Fung
,
R. F.
,
2014
, “
Energy-Saving Trajectory Planning for a Motor-Toggle Mechanism System
,”
Mechatronics
,
24
(1), pp.
23
31
.10.1016/j.mechatronics.2013.11.004
16.
Fung
,
R. F.
,
Chiang
,
C. L.
, and
Wu
,
G. C.
,
2010
, “
System Identification of a Pick-And Place Mechanism Driven by a Permanent Synchronous Motor
,”
Appl. Math. Modell.
,
34
(9), pp.
2323
2335
.10.1016/j.apm.2009.10.040
17.
Fung
,
R. F.
,
Kung
,
Y. S.
, and
Wu
,
G. C.
,
2010
, “
Dynamic Analysis and System Identification of an LCD Glass-Handling Robot Driven by a PMSM
,”
Appl. Math. Modell.
,
34
(5), pp.
1360
1381
.10.1016/j.apm.2009.08.020
You do not currently have access to this content.