Article

Article title ABOUT THE ANGULAR DEVIATION CONTROL FOR THE FRAMES OF ELECTROMECHANICAL SYSTEM BY PD-CONTROLLER
Authors A.V. Yartsev
Section SECTION III. AUTOMATION AND CONTROL
Month, Year 04, 2015 @en
Index UDC 004.942
DOI
Abstract The article deals with the synthesis of a mathematical model of the control unit for components of the electromechanical system (gyro-stabilized platform) along two axes of angular deviation using modern software. It is proposed to use the PD-type controller, which gives the necessary quality control as on the model and on a real device. The influence of non-linearities in the observed system is considered, which have been described on the basis of identification by Hammerstein-Wiener model and refer to the amplifying unit for control signal. Because the system is considered separately from the external devices, all calculations are performed in the coordinate system associated with the platform. In view of the fact that the purely analog control was used in older models of the studied system, this development is a promising and new solution. The results of the synthesis of the controller checked for adequacy in the HIL closed-loop control. The mathematical model considered in the work was created using Matlab 2014 environment Simulink, HIL system was carried out using NI LabVIEW and control unit NI cRIO. A comparison of the characteristics for two axes of motion was produced for the regulators in the continuous and in discrete form. Experimental research has shown that PD-controller is capable of providing accurate and fast enough monitoring of movement of the object frames: the system has overshoot no more 0.5 degrees and duration of the transition process less than 100 ms for all considered management options, the fluctuations are virtually absent. Influence of nonlinearities successfully minimized. In the future is assumed to develop the electronic control module with sufficiently small size and weight, comparable to the size and weight of the control object.

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Keywords PD-controller; torque motor; control theory; angle sensor; digital control; HIL.
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