Application of the principle of harmonic-disturbance model separation for structural-parametric construction of selectively invariant electromechanical systems

Abstract

The problem of improving the response of harmonic disturbance of electric-motor load torque with simultaneous reduction of the degree of complexity of regulators taking into account additional quality factors of electromechanical systems, such as noise stability, sensitivity to variations in object parameters, and delay of power-converter signals are considered. A selective invariance principle assuming incorporation of the disturbance model into an electric-motor control device is used as the main principle. This paper has some distinctive features. The first one is the application of dual-circuit structures of electromechanical systems with a rapid inner control loop. The second is the application of the separation principle of disturbance model into integral and oscillatory components. The third feature is transfer of one of the disturbance model components into a rapid subsystem. Design procedures of regulator parameters are developed. Comparative investigation of the constructed electromechanical systems on the basis of a complex of main and additional quality factors is performed.