CONTROL OF ELECTROMECHANICAL SYSTEMS BASED ON MINIMIZATION OF LOCAL FUNCTIONALS OF THE INSTANTANEOUS ENERGY VALUES

A method of control of electromechanical systems, providing a low sensitivity to changes in the parameters of the control object and its dynamic decomposition is presented. Search of control actions carried out by minimizing local functionals (Lyapunov functions for closed systems), as which appear instantaneous energy values and their derivatives. Control laws give properties of stability in general for closed system that allows solving the control tasks for interdependent, nonlinear objects, both for linear one-dimensional systems on mathematical models of local loops. A characteristic feature of the optimization is to achieve not absolute minimum of the functional quality, as in traditional systems, and some minimum value, which provides the allowable on technical specifications dynamic error system. The design of the structure regulators does not require more detailed mathematical model of the control object. Law of control is determined based on differential equation that specifies the desired quality controls the coordinate of electromechanical system. Produced regulators have non-traditional structure and do not contain the parameters of control object, unlike traditional regulators. Results of experimental researches confirmed the effectiveness of proposed control laws and show their advantages compared to traditional laws.