STUDY OF DYNAMIC STATES OF RELAY-MODAL ELECTRIC DRIVE CONTROL SYSTEM WITH ELASTIC LINK

Modal control systems have given transient characteristics, but are not optimal by any criterion. The use of modal controllers in systems with elastic dynamic objects is due to their relatively high order and tendency to oscillate. In the synthesis of such controllers, the actual distribution of roots is implemented on the basis of the N-i switching method and provides them with characteristics that are close to optimal in terms of speed. This original synthesis method has a simple and transparent mathematical apparatus. 
The use of relay systems in combination with the principles of subordinate control and modal control provides a comprehensive solution to the problem of forming the desired flow of transient processes in electric drives with elastic links. The analytical expressions for the feedback coefficients of optimal control systems found using the N-i switching method are close to the expressions for the feedback coefficients of modal control systems. The incomplete correspondence between the parameters of optimal and modal controllers can be successfully compensated based on empirical data. This makes it possible to bring the transient characteristics of modal and optimal relay systems as close as possible. The purpose of the study is to estimate the performance indexes obtained in this way and correction of them based on empirical data. To achieve it, the problem of a comparative study of typical operating modes under conditions of varying key parameters was solved, which made it possible to determine the conditions for the implementation of the highest possible dynamic characteristics in fourth-order relay-modal control systems. 
The results of the study led to the conclusion that the modification of the calculated time constants of the system by applying a correction factor can be characterized as an effective means of influencing the dynamic characteristics of relay-modal slave control systems in order to bring them closer to the optimal ones in terms of speed. The prospect of practical application of the results of the work lies in their integration into adaptive algorithms for parametric synthesis of digital controllers.