Structural and Parametric Synthesis and Optimization of Controllers of Selective-Invariant Electromechanical Systems with Harmonic Load Torque

摘要

Based on modal control methods, structural and parametric synthesis is carried out and an integrated assessment is given for quality factors for different types of astatic electromechanical systems that are constructed based on a combination of the harmonic disturbance internal model principle (selective invari-ance) with other principles of control theory (cascade control, subordinate control with series compensation, state control, polynomial output control, and separation of motion rates). Methods are proposed for comparison and structural optimization of systems synthesized by using a combination of the specified methods in accordance with a defined complex of main and additional quality criteria: optimization of the constant and harmonic components of load torque disturbances, the range of acceptable variations of the inertia moment of the mechanical part, the level of pulsations of output speed signals when noise is on its measuring channel, the maximum value of signals time delay in the power converter when the system is stable, and the total degree of regulator dynamic blocks. The results show how the selected quality factors that are the most important for a designer are emphasized when the designer applies a combination of different system generation principles, which makes it possible to reasonably choose the most effective structural solution.