Adaptive selective-invariant control of tracking electric drives with elastic kinematic transmissions

Abstract

Currently, high quality indicators of adaptive versions of selective-invariant electromechanical systems designed to control the speed in a wide range have been obtained. Thus, it lays the groundwork for effective use of the proposed synthesis methods and obtained structural solutions in the systems of contour-positional and tracking control of angular displacements of the working elements of technological machines. The implemented structural-parametric synthesis is based on the methods of the theory of modal control, reduction of regulators, the principles of selective invariance, separation of the rates of movement of local subsystems, adaptive, contour-positional and tracking control. The study has been carried out by detailed computational experiments with models of synthesized electromechanical systems. The features of synthesis and functioning of adaptive selective-invariant systems with elastic kinematic links in the tracking and positioning modes are described. The combination of the principles of tracking, selective-invariant and adaptive control in the structure of a single electromechanical system makes it possible to fully provide new opportunities for the implementation of high-precision dynamic control of working machines.