Open AccessOPTIMIZATION IN SPEED OF THE RELAY-MODAL CONTROL SYSTEM OF THE SERVO DRIVE BASED ON THE STUDY OF THE MATHEMATICAL MODEL
Author(s) -
Oleksandr Derets,
Олександр Садовой,
Г.О. Дерець
Publication year - 2021
Publication title -
zbìrnik naukovih pracʹ dnìprodzeržinsʹkogo deržavnogo tehnìčnogo unìversitetu. tehnìčnì nauki/zbìrnik naukovih pracʹ dnìprovsʹkogo deržavnogo tehnìčnogo unìversitetu. tehnìčnì nauki
Language(s) - English
Resource type - Journals
eISSN - 2617-8389
pISSN - 2519-2884
DOI - 10.31319/2519-2884.37.2020.8
Subject(s) - control theory (sociology) , relay , parametric statistics , modal , stability (learning theory) , servomechanism , transient (computer programming) , control system , optimal control , computer science , mode (computer interface) , amplitude , control engineering , engineering , control (management) , mathematics , mathematical optimization , power (physics) , statistics , physics , chemistry , electrical engineering , quantum mechanics , artificial intelligence , machine learning , polymer chemistry , operating system
Positional control systems are characterized by the limitation of intermediate coordinates in transients. Such restrictions are implemented by a system with cascading controllers. The N-i switching method provides optimization of the speed of such control systems. In this paper, we study the three-loop system of subordinate regulation. The parameters of the relay-modal controllers were varied based on a change in the calculated amplitude of the control action without changing its real value. The parametric synthesis of such a system is based on optimal trajectories in terms of speed. The study of the control system at various settings revealed a different degree of deviation of transitional trajectories from the calculated one. This effect is due to the replacement of optimal regulator settings with modal ones in order to give the system a margin of stability. The obtained families of transient characteristics make it possible to construct empirical dependences of the duration of regulation on the relative value of the calculated amplitude of the control action. Such dependencies have pronounced extremes, which makes it possible to tune the system to a near optimal speed by preventing the regulators from entering the sliding mode prematurely. The performed simulation of the positional system with extremal settings confirms the effectiveness of the proposed methodology for the correction of dynamic characteristics. The results of the study open up the prospects of the practical implementation of relay-modal control algorithms for cascading systems, the synthesis of which is based on the N-i switching method.