Synthesis of controllers for electromechanical tracking systems

Abstract

The article presents an algorithm for the synthesis of regulators for servomechanisms, in which the control object is linear. The algorithm is focused on electromechanical systems, the main element of which is a controlled electric drive. The synthesis algorithm is based on the use of the L–Markov moment problem. The advantage of the proposed algorithm with respect to the others is that the regulators synthesized on its basis ensure the minimization of energy for the objects control. The essence of the proposed algorithm of synthesis is that the control, according to the provisions underlying the L – moment problem, can be determined not only through the system of moment functions, but also through the moments. The latter depends both on the time interval during which the object is transferred from the initial state to the final state, but also on the state of the object itself. To solve the problem of controller design for servo systems, the following is proposed: 1. Explicitly express management through moments. 2. Perform «unfreezing» the initial and final states of the object. When «unfreezing» the initial state of the object is considered to be the current phase, and the final state is determined by the monitored signal. The time interval during which the object is transferred from one state to another is set arbitrarily in the general case. However, the longer this interval, the smaller the control rate, but, respectively, the greater the tracking error.