scholarly journals OPTIMIZATION IN SPEED OF THE RELAY-MODAL CONTROL SYSTEM OF THE SERVO DRIVE BASED ON THE STUDY OF THE MATHEMATICAL MODEL

2021 ◽  
Vol 2 (37) ◽  
pp. 43-48
Author(s):  
O. Derets ◽  
A. Sadovoi ◽  
A. Derets
Keyword(s):  
Control System ◽  
Control Systems ◽  
Sliding Mode ◽  
Control Action ◽  
Practical Implementation ◽  
Modal Control ◽  
Servo Drive ◽  
Real Value ◽  
Calculated Amplitude ◽  
Switching Method

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.

scholarly journals ALGORITHM FOR SYNTHESIS OF QUASI-OPTIMAL IN SPEED THIRD-ORDER SYSTEMS WITH APERIODIC SLIDING MODE

2021 ◽  
Vol 1 (38) ◽  
pp. 48-56
Author(s):  
O. Derets ◽  
O. Sadovoi ◽  
H. Derets
Keyword(s):  
Control System ◽  
Control Systems ◽  
Electric Drive ◽  
Sliding Mode ◽  
Block Diagram ◽  
Order System ◽  
Practical Implementation ◽  
Third Order ◽  
Relay Control ◽  
Electric Drives

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.

The FORTH Programming Language for Control Systems: Potential Advantages

1987 ◽  
Vol 20 (4) ◽  
pp. 45-48
Author(s):  
C McCurdy
Keyword(s):  
Control System ◽  
Control Systems ◽  
Programming Language ◽  
Program Development ◽  
Control Action ◽  
Testing Time ◽  
Machine Code ◽  
Design Changes ◽  
Plant Process

When working with the control system1, it was found that the FORTH language offered advantages over: BASIC — in terms of speed of control action machine code — in terms of program development/testing time. Furthermore, in common circumstances where program/alterations have to be made to cope with plant, process or design changes, FORTH is less prone to errors that may occur when adapting machine code.

Decentralized Robust Control over Robot Manipulator

2013 ◽  
Vol 437 ◽  
pp. 605-609 ◽  
Author(s):  
Yuliya A. Lezhnina ◽  
Galina N. Ternovaya ◽  
Elena R. Galyauv ◽  
Irina Y. Kvyatkovskaya
Keyword(s):  
Control System ◽  
Robust Control ◽  
Control Systems ◽  
Robot Manipulator ◽  
Parametric Uncertainty ◽  
Control Action ◽  
Input And Output ◽  
Decentralized Robust Control ◽  
Derivatives Of

The problem of control of systems with structural and parametric uncertainty for the case when derivatives of input and output parameters cannot be measured is solved. The operability of the designed control systems is modeled for anthropomorphic robots manipulator. Selected example demonstrates the compensation of effect of bounded structure and parametric disturbances. As in the control action organization the effect on subsystem is not allowed, i.e. obtained control system is completely decentralized.

scholarly journals Reduction of susceptibility from electromagnetic interference in sensorless FOC of IPMSM

2019 ◽  
Vol 32 (1) ◽  
pp. 51-63
Author(s):  
Lindita Dhamo ◽  
Aida Spahiu ◽  
Mitja Nemec ◽  
Vanja Ambrozic
Keyword(s):  
Control System ◽  
Electromagnetic Interference ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Control Unit ◽  
Practical Implementation ◽  
Processing Unit ◽  
Interior Permanent Magnet ◽  
Ripple Reduction ◽  
Speed Response

This paper presents main problems of practical implementation of Field Oriented Control (FOC) developed for an Interior Permanent Magnet Synchronous Motor (IPMSM). The main sources of Electromagnetic Interferences (EMI) noises are discussed and practical aspects when a position sensor is used are presented. The control system is based on the DSP processing unit, together with inverter and encoder. The main problem addressed in this paper is reduction of vibrations in torque and speed response in a real system by re-placing a hardware device of control system very susceptible to EMI noises, like encoder, with a soft block in control unit like Sliding Mode Observer, less sensitive to EMI. The experimental results with this control structure show considerable ripple reduction at steady state in torque, speed and current, as a consequence of reduction of sensitivity to EMI noises.

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