Abstract
Set-point tracking servo systems encounter the problem of the trade-off between the swiftness and smoothness in tracking task. To deal with this problem, the proximate time-optimal servomechanism based on transition process (PTSTP) is proposed in this paper. The PTSTP control scheme incorporates a transition process (TP) into the framework of proximate time-optimal servomechanism (PTOS) to eliminate the conservatism of the original PTOS without the controller changing. The target position signal amplitude and the ultimate ability of actuator are utilized to design the time-optimal TP to make the jumping target position signal turns to a smooth signal, which can significantly reduce system overshoot. Therefore, the system swiftness and smoothness performance are guaranteed by PTSTP. Then, the stability of the proposed method is analyzed theoretically. Finally, the experimental results show that the controlled system is able to track the target position signal with different amplitude fast and smoothly in an electro-optical set-point tracking servo system.
Highlights
(1) A proximate time-optimal servomechanism based on transition process (PTSTP) control scheme is proposed to reduce transition time and avoid big chatter simultaneously in set-point tracking processes, which incorporates a TP into the framework of PTOS
To observe the changes in the various states of the system when tracking the small-range signal (SRS) by using the PTOS and PTSTP control scheme, the tracking implementation of 10◦, 5◦, and 1◦ target position signals is shown in Figures 10–12, in which the rtp is designed by Equation (23)
This paper proposes a PTSTP control scheme by embedding the TP in the framework of PTOS, and theoretically gives the region of system stability
Summary
Set-point tracking systems, such as hard disk drive reading systems [1], surface mount device placement systems [2], electro-optical tracking systems [3,4], as well as mechanical arm control systems, play an significant role in the field of modern industrial process and are widely applied in energy exploration [5], celestial target observation, space beam communication [6], and other fields [7,8,9]. To improve the set-point tracking performance of the PTOS control scheme in a SRS, Zhou et al [18] proposed proximate time-optimal sliding-mode control scheme, which uses time-varying sliding surface and a third-order velocity profile to reduce the settling time; the paper does not analyze the system stability. (1) A proximate time-optimal servomechanism based on transition process (PTSTP) control scheme is proposed to reduce transition time and avoid big chatter simultaneously in set-point tracking processes, which incorporates a TP into the framework of PTOS. PTSTP has no limitations on the amplitude of the target position signal, which fully reflects the effectiveness of the control scheme for set-point tracking in the whole range.
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