A comparative analysis of the efficiency of selectively invariant electromechanical systems

Resumo

Structural–parametric synthesis has been performed, and the effectiveness of the response of control and disturbing actions of different variants of electromechanical systems has been evaluated comparatively by the example of speed control of a typical electric drive with a single-mass (rigid) mechanical part. The following types of electromechanical systems were considered: a system with a current and speed-cascade controller, a system with inertialess state control and a dynamical (polynomial) “input–output” controller, and a system with an integrated dynamical controller, which contains the model of harmonic disturbance of load torque of an electric motor. The research was carried out using the digital-simulation method of synthesized systems in time and frequency domains under the step and harmonic disturbances in a wide range of frequencies. The high efficiency of a selectively invariant system with an internal model of harmonic disturbance is revealed, which is provided not only at the adjustment frequency of the model, but also at other frequencies of the speed range of the electric drive and upon the response of the complex nonsinusoidal disturbances of load torque with a wide spectrum of harmonic components. The prospects of further development of selectively invariant systems are determined, these being the result of the degree of astaticism that has been achieved and the adaptive adjustment of the disturbance model to the level of the operating speed of an electric drive.