A control for a crank shear which minimizes the RMS current

The minimal-energy problem is formulated and solved for boundary conditions appropriate to a crank shear. Since this exact solution is difficult to implement in a control system, an approximate solution, based on a symmetric-ramp torque profile, is also presented. It is confirmed by experiments that this near-optimum velocity profile yields considerable savings in RMS current over the standard trapezoidal velocity profile.<
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