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Main language:Uzbek

Optimal and combined control of dynamic objects with torque motors

Field of Science:Engineering
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O_TJ.2024.02.6_999181e9.pdf

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ARTICLE ANNOTATION

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The article discusses the issue of ensuring maximum performance of a gearless drive built on the basis of a torque motor. This problem is proposed to be solved by implementing optimal control using the Pontryagin maximum principle and Feldbaum’s theorem on a finite number of switchings. With mixed (combined) control, a transition from optimal control to automatic control in the final state stabilization zone is ensured. For a gearless drive with a small rotation angle based on a torque motor of the DBM70 type, a synthesis of optimal control with feedforward was carried out. Optimal feedforward control ensures minimum transition time and minimum amplitudes of undamped oscillations in a steady sliding mode. In this case, for individual phase trajectories, a quasi-optimal transition process is realized - the number of switchings is greater than n-1. To eliminate the sliding mode and, accordingly, undamped oscillations in a gearless drive, a combined control is proposed. Combined control includes an optimal control mode with anticipation in the “bringing” section and an automatic control mode in the “stabilization” zone. Dynamic modeling confirmed the correctness of the selected technical solutions and the correctness of the synthesized control. Compared to P- and PI-controllers, combined control in a gearless drive provides an increase in speed by 20–30%. In this case, the static error does not worsen. The results of mathematical modeling confirm the effectiveness of the selected technical solutions.

AUTHORS

U.Xо‘janazarov

TOSHKENT TO'QIMACHILIK VA YENGIL SANOAT INSTITUTI

Tags

# mathematical model# torque motor# maximum speed# anticipation# gearless drive# optimal control# combined control

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