Development and practical implementation of automatic tuning methods for mechatronic system digital controllers

Currently, the great potential abilities of digital state controllers widely applied in mechatronic systems may be fully realized only with the presence of automatic tuning instruments. The importance of automatic tuning in this case is related to high number of variable parameters for state controllers as well as to parametric indeterminacy of the majority mechatronic controlled objects. The application of optimization methods for automatic tuning of such controllers in real time mode is complicated by a large number of experiments, a significant influence of initial conditions on the result, and the local extremes of the fitness function due to the nonlinearity of real objects.Methods of state space, modal control, digital system design, numerical optimization algorithms and simulation in MatLab environment were used.The development, implementation and experimental research of automatic tuning methods for digital polynomial controllers are performed during the studying. The proposed approach based on application of reference model, obtained by optimizing the system according to a complex quality criterion, as well as using a priori information about a mechatronic object. The tuning method includes variation of the object unknown parameters in accordance with the accepted optimization algorithm and calculation of the controller parameters values by modal control method at each iteration.As a result of computer simulation and field experiments, the efficiency of the proposed methods for automatic tuning of digital polynomial controllers of mechatronic systems was confirmed. Using the reference model of the system and a priori information about the control object allows us to solve tuning problems with a minimum number of experiments in real time.