A Reference Model for the Motion of Electromechanical Control Systems

The construction of reference models with variable structure providing processes of formation of a reference signal that are quasi-optimal in terms of the operation speed criterion for closed-loop systems of regulation of speed or positioning operating devices of electromechanical control systems is considered. The proposed approach provides optimal limitation of the time derivatives of reference signals, as well as limitation of the minimum time of their refining, which makes it possible to avoid the appearance of limit cycles in steady-state modes. The proposed approach does not require a software time setting the lifetime for maximum permissible levels of phase variables (speed, acceleration/deceleration, jerk/impact), i.e., setting the points of time at which they change, which significantly simplifies the parameterization of motion controllers. The proposed models of reference motion may find application in positional and positional-trajectory systems, for example, in the control systems of crane mechanisms, in the systems of ultrajet treatment and diagnostics of composite materials, etc. It is shown that such reference models of mechanical motion can act not only as devices that set phase variables (intensity-setting devices or so-called “S-ramps”) of electromechanical control systems, but also in the capacity of signal correction of control systems that are invariant to the reference signals. The functional structures and the results of simulation modeling of the reference motion of electromechanical control systems in the MATLAB/Simulink software environment are presented, which confirms that the proposed approach is effective.