Cascade design of electromechanical systems considering restrictions on the state variables

Abstract

The paper deals with wheel-drive electromechanical systems operating in conditions of uncertainty. Procedures of two types for cascade synthesis of feedback are designed. These procedures provide tracking for given trajectories with a given accuracy of the generalized coordinates of Lagrange mechanical subsystem. In the first procedure, the local feedbacks and corrective actions of states observer are formed standardly as linear functions of the state variables with high gains. These algorithms are easy to implement, but they lead to peak effects in the early of transient processes, and to the excessive consumption of control resources with a significant change in external factors. In the second procedure, restrictions on the ranges of the state variables are provided in the entire process of control due to the formation of local feedbacks and corrective actions of the states observer in the form of S-shaped sigma-functions. It is shown that properties similar to the properties of systems with discontinuous controls operating in the sliding mode, are provided in the closed-loop system via smooth and bounded signals in the prelimit case. Namely, the decomposition of the total motion on multirate components and invariance with respect to disturbances with a given accuracy are provided. For the developed procedures simulation results and comparative analysis are given.