Development and Practical Implementation of Automatic Tuning Methods for Mechatronic System Digital Controllers

摘要

This study considers the problem of parametrical optimization and automatic tuning of state controllers, including dynamic polynomial controllers, in mechatronic control systems. The proposed method of automatic tuning of polynomial controllers is based on the application of the system reference model and also the reducing scale of optimization task by using a priori information about the controlled object. As a priori information the authors used the structure and the known parameters of a mechatronic object, and the tuning algorithm includes the procedure of parametric synthesis of a controller with the modal control method on each iteration. The results of performed computations showed that the developed method provides a minimal number of iteration and stable convergence of parametric optimization algorithms, which may be used in gradient and simplex search methods.