Currently there is a big variety of structure solutions of the selective invariant electromechanical systems with different layout schemes of disturbance internal model for electric drives with robust kinematic units. However, methods of structural parametric synthesis for controllers with combined triggering model only were developed selective invariant systems with “robust” kinematic of mechanical part. Consequently, further improvement of the structure variety of systems for special effects of elastic kinematic units of mechanical part is of current interest. It can be performed by including the distributed model of harmonic disturbance into the synthesis process. Structural parametric synthesis is based on the methods of modal control theory, regulators reduction, selective invariant principals, velocity separation in local sub-systems, regulation by coordinates of state and by output, cascade and slaved coordinates regulation, splitting of disturbance model to separate elements in managing contours. Investigation was performed by specified computing experiments with synthesized electromechanical system models. Now, new structure solutions of selective invariant electromechanical systems with elastic mechanical elements are developed. They are created by using the additional separation principle for disturbance model into separate parts and moving them in to the contours of “fast” and “slow” sub-systems. Acquired models of synthesized systems were compared upon the complex of main quality indicators, the comparison was based on the performed computing experiments. The acquired results of complex performance of set requirements demonstrate main pros and cons for each variant of selective invariant electromechanical systems with elastic elements, determine areas of their preferred usage and allow the developers to simplify the solution of structure optimization based on selected schema of compromises.
Development and research of selectively invariant electromechanical systems with elastic kinematic units based on the separation of the harmonic disturbance model
