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

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.