Energy Near-Optimal Control Strategies for Industrial and Traction Drives with a.c. Motors

Figure 3

Effect of friction components on profiles of acceleration, speed, position, and energy consumption.

(a) Constant friction component, = 10 Nm, = 0, and = 0

(b) Viscous friction component, = 0, = 1 Nms, and = 0

(c) Quadratic friction component, = 0, = 0, and = 0.1 Nms²