Development and Research of Selectively Invariant Electromechanical Systems with the Adaptation of Regulators to Velocit
- PDF / 858,954 Bytes
- 15 Pages / 612 x 792 pts (letter) Page_size
- 32 Downloads / 150 Views
ROL IN DETERMINISTIC SYSTEMS
Development and Research of Selectively Invariant Electromechanical Systems with the Adaptation of Regulators to Velocity Level Changes V. V. Apolonskiia, L. G. Kopylovaa, and S. V. Tararykina,* a
Lenin Ivanovo State Energy University (ISEU), Ivanovo, 153003 Russia *e-mail: [email protected] Received August 15, 2019; revised May 8, 2020; accepted May 25, 2020
Abstract—In this paper, we develop structural solutions of the selectively invariant electromechanical systems (SI EMSs) that adapt the regulators presented in the canonical form of controllability (CFC) and in the canonical form of observability (CFO) to changes in the velocity level. Their capabilities to provide the specified quality indicators in a wide velocity range are comparatively analyzed. The obtained results are verified by the digital modeling of the synthesized systems and full-scale tests using real technological equipment. Specific recommendations for designing systems in various applications are elaborated. DOI: 10.1134/S1064230720050032
0. INTRODUCTION In rotary electromechanical systems (EMSs), the inevitable errors in the manufacture, assembly, installation, and design features of mechanical elements are becoming the causes of the appearance of dominant disturbances in the form of the harmonic oscillations of the load moments (Ml) of the electric motors (EMs), which can be expressed [1, 2] by the determined general type of time function: n
M l(t ) = M 0 +
M j =1
j
sin(Ω j t + ϕ0 j ),
where M0 and Mj are the constant component of the moment and the amplitude of its jth harmonic, respectively, Ωj and ϕ0j are the angular velocity and the initial angular position of the jth rotor, n is the total number of rotating masses, and t is time. When using individual electric drives (EDs) that are the most characteristic modern technological equipment, the zero and first harmonics determined by the movement of the main operating body (OB) of the technological machine are dominant in the disturbance spectrum:
M l (t ) = M 0 + M1 sin ( ω1t ) ,
(0.1)
where ω1 is the angular velocity of the OB, ω1 = Ω/i, Ω is the frequency of the EM’s rotation, and i is the gear ratio of the gearbox. Fluctuations in load moments lead to the corresponding changes in the EM’s velocity and the operating bodies (OBs) of technological machines, which can cause a significant deterioration in the quality of the products [1–4]. One of the most effective methods of suppressing these perturbations in precise EDs is to apply the principle of selective invariance [5, 3], which involves including the disturbance model (DM) [6, 7] in the denominator of the transfer function (TF) of the regulator in the form of the forming polynomial that takes the following form for expression (0.1):
G '(s) = s(s 2 + ω12 ) = sG (s),
(0.2)
where s is the Laplace complex variable. However, the DM is embedded in the typical lower order regulators (of the proportional, proportionalintegral, or proportional-integral-differential types) in most well-known technical solution
Data Loading...
