Abstract

The paper presents the results of synthesis of motion controllers of positional tracking and positional trajectory electromechanical control systems that provide generation of optimal finite control of a mechanism’s working parts taking into account unpredictability of temporal task changes given by the operator or external automatic control subsystem. The paper proposes an approach to the synthesis of microprocessor motion controllers based on the application of the methodology of model forecasting and finite control. Unlike known solutions, the proposed approach does not require a program temporal prescription of motion parameters (position, velocity, acceleration, and, in the general case, jerk) and prescription of multiple temporal parameters. This significantly simplifies parametrization of controllers, being a factor of their intellectualization and allowing limiting only the phase variables and minimally acceptable period of discrete control. It is shown that such motion controllers can also provide partial invariance of electromechanical systems to variation in external excitations. The functional structures of the positioning and tracking system and of the motion controller are presented. Simulation results that confirm the efficiency of the proposed approach are demonstrated.

中文翻译：

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位置跟踪机电系统的模型预测控制

摘要

本文介绍了位置跟踪和位置轨迹机电控制系统运动控制器的综合结果，这些结果提供了对机械工作部件的最佳有限控制的生成，同时考虑了操作员或外部自动控制子系统给出的临时任务变化的不可预测性。提出了一种基于模型预测和有限控制方法的微处理器运动控制器综合方法。与已知的解决方案不同，所提出的方法不需要运动参数（位置，速度，加速度，一般情况下是急动）的程序时间规定和多个时间参数的规定。这大大简化了控制器的参数化，是其智能化的一个因素，并且仅限制了相位变量和离散控制的最小可接受周期。已经表明，这样的运动控制器还可以提供机电系统的部分不变性以引起外部激励的变化。介绍了定位和跟踪系统以及运动控制器的功能结构。仿真结果证实了所提方法的有效性。