The relevance of the work is due to the growing requirements for the dynamic characteristics of electric drives. In particular, together with the requirements of ensuring high accuracy and maximum at given speed limits, a typical task of designing such systems is the mandatory formation of transition diagrams in the form of monotonic time functions.
The purpose of this study is to develop an adaptive algorithm for the synthesis of the third-order sliding mode control systems based on the method of N-i switching. Changing the shape of transient trajectory depends on the magnitude of the movement, which requires adaptation of the settings of the control system of the electric drive to the features of the current positioning mode.
On the basis of the N-i switching method, an algorithm for synthesizing the parameters of a re-lay control system with cascade-subordinated structure, ensures non-oscillatory initiation of a sliding mode at various positioning modes, has been created. It is constructed by integrating the results of a number of previous works, in which the synthesis of relay control systems based on the analysis of the roots of the sliding equation of the position regulator is performed. This algorithm cannot be formally considered as an optimization tool due to the incompatibility of this problem with the aperiodization taken as the purpose, which comes about for certain forms of transient trajectories. But for such cases, the loss of performance relatively optimal one is negligible. Thus, the result of the application of the proposed algorithm in most practically significant cases is an optimal third-order system with aperiodic entry into the sliding mode. When controlling the electric drive, such a system will ensure the monotonous nature of the movement of the working body of the electromechanical system. The developed block diagram is focused on the practical implementation of the algorithm by the software of controllers of precision electric drives.
ALGORITHM FOR SYNTHESIS OF QUASI-OPTIMAL IN SPEED THIRD-ORDER SYSTEMS WITH APERIODIC SLIDING MODE
