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this article describes problem of variable moment of inertia in robotic system control which is common in the mechatronic system control. Mechatronic approach is important for solution of such problems, but the best approach is to analyse and solve the problems via control of servomotor. Influence of variable moment of inertia is shown on the cascade PID structure. An extension of the control structure based on computing of moment of inertia is proposed to solve variable of moment of inertia problem.

The main contribution of this paper is complex solution of a new energy saving position control algorithm for PMSM drives loaded with composed load torque containing constant, linear and quadratic component. For minimization of energy losses a symmetrical trapezoidal speed-time profile based on prescribed maneuver time is analyzed to prescribe dynamics capable to reach demanded reference set-point. Overall control system designed for verification of energy saving exploits principles of vector control and forced dynamics control including load torque observation. A zero dynamic lag precompensator is included for precise tracking of prescribed state variables. Simulation results confirmed possibility to achieve energy savings for the pre-planned rest to rest maneuver with prescribed dynamics.

Speed and position controller respecting principles of energy optimal control for the drives with permanent magnet synchronous motor and time varying load torque are developed as a contribution to the energy saving and environmental protection. Two approaches to the energy saving controller design are analyzed and compared. The first one is strictly based on energy optimal control theory and derives analytical solutions of the control problem. The second approach for comparison presents approximated solution for the drive’s position controller when the optimal speed trajectory is modified to trapezoidal profile. Results are verified by simulation.

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