Abstract
Electric drives are characterized by the restriction of intermediate coordinates in transient modes. Such restrictions are implemented by a system with cascade controllers. The N-i switching method, which has a relatively simple mathematical apparatus, provides optimization for the speed of cascade sliding mode control systems. In this work, a comparative study of the typical operating modes of the control system for the position of the output shaft of the electric drive is carried out. At the same time, the parameters of the optimal regulators were varied based on a change in the calculated voltage value of the power converter. Performance optimization is based on the calculated trajectories of the idealized control object. The study of the positional electric drive control system revealed deviations of the transition trajectory from the calculated one. The reason for this effect is the influence of the internal feedback of the electromechanical system, leading to the early entry of the regulators into the sliding mode. 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 jerk of the output shaft for all typical positioning modes. Such dependencies have pronounced extremes, which makes it possible to tune the drive to near optimal speed by preventing premature entry of the regulators into the sliding mode. The results of the research open the prospect on practical realization of adaptive algorithms for the synthesis of cascade sliding mode control systems based on the N-i switching method.
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