Simulation and Investigation of the Positional System of an Electric Drive with Nonlinear Correction

Аннотация

The design principle, structure, and synthesis of parameters of a positional electric-drive system with a nonlinear correction providing a high level of performance when working out a given motion are considered. The structure of the positional system is created on the basis of the standard electric drive with a thyratron (brushless) motor and microprocessor module, in which the program of nonlinear correction switches the feedbacks in the function of error of a given motion. The algorithm of nonlinear correction operates in real time and provides the working out of a given motion in two stages. At the first stage, a positive feedback by the motor-rotation speed is introduced to the speed-regulator input, which provides the system movement with an acceleration limit. As soon as the mismatch error reaches a predetermined value, the algorithm of the second stage begins to operate. Instead of positive feedback to the speed-regulator input, a negative feedback by the motor speed with programmable coefficient is introduced that makes it possible to provide effective braking of the electric drive and generate a transition process with given quality indicators. A comparative analysis is carried out of the operation of the system with the standard electric drive, in which the control is constructed on the basis of the principle of subordinate regulation of coordinates. In addition, it was revealed that introducing into the regulating system of nonlinear corrector makes it possible to reduce the working out time of given motion by 2.4 times. This is because the motion speed in the system with nonlinear correction varies by a triangular law that makes it possible in to fully use the overload capacity of the thyratron motor, while, in the electric-drive system without nonlinear correction, the motion speed varies by a trapezoidal law. The obtained results make it possible to draw a conclusion about the effectiveness of application of a nonlinear correction in positional electrical drives with subordinate regulation of coordinates.