OPTIMAL CONTROL SYSTEM FOR PRECISION ELECTRIC DRIVE WITH GUARANTEED DEGREE OF STABILITY

A. A. Abdullin, V. N. Drozdov, A. A. Plotitsyn


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Abstract

Improved design method of optimal control system for the linear object with elastic coupling is considered. Standard optimal control system design implies the selection of state and input penalty matrix for the quadratic functional. Moreover the system performance quality depends greatly on the specific penalty matrix. Instead of the state and input penalty matrix selection procedure the selection of desired stability degree is proposed. The proposed method of optimal control system design is based on the idea of new state matrix utilization. The new state matrix has its eigenvalues at the specified distance to the right from the eigenvalues of the original state matrix. Thereupon we can assign the closed loop state feedback system matrix eigenvalues at that specified distance to the left from imaginary axis of the complex plane, in the other words, we can achieve the desired stability degree of the system. The proposed method of control algorithm design is demonstrated for a control system of an electric drive with two-mass mechanism (object). Object characteristic was evaluated by amplitudefrequency response obtained during identification experiment. Unavailable or immeasurable variables of the control object state were estimated by reduced-order observer while optimal control system design.


Keywords: optimal control system, reduced-order observer, two-mass mechanism, state regulator, stability degree

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