 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12854 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4810 |
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| A.S. Antipov and S.A. Krasnova, "Block-Based Synthesis of a Tracking System for a Twin-Rotor Electromechanical System with Constraints on State Variables," Mech. Solids. 56 (7), 1199-1212 (2021) |
| Year |
2021 |
Volume |
56 |
Number |
7 |
Pages |
1199-1212 |
| DOI |
10.3103/S0025654421070025 |
| Title |
Block-Based Synthesis of a Tracking System for a Twin-Rotor Electromechanical System with Constraints on State Variables |
| Author(s) |
A.S. Antipov (Trapeznikov Institute of Control Science, Russian Academy of Sciences, Moscow, 117997 Russia, scholess18@mail.ru)
S.A. Krasnova (Trapeznikov Institute of Control Science, Russian Academy of Sciences, Moscow, 117997 Russia, skrasnova@list.ru) |
| Abstract |
A twin-rotor electromechanical system whose output variables make angular motions in the vertical and horizontal planes is explored as a control plant. The mathematical model of the mechanical subsystem, which is essentially nonlinear, includes cross-coupling between propellers, dry-friction torques, and unspecified parameters; it is also subject to uncontrolled external perturbations. A mathematical model of the electric subsystem (considered dynamics of dc-drives) is approximated by linear differential equations. Directly measured are output variables, drive armature currents, and control inputs. The block-based approach was used to develop a decomposition procedure for the synthesis of a dynamic feedback that enables output variables to track specified signals with a given accuracy. To suppress unmatched perturbations, everywhere bounded nonlinear S-shaped local couplings are formed that are ensured by discontinuous controls with constant amplitudes; this enables the design constraints on state and control variables to be taken into account at the stage of synthesis. Measurements of angular positions have been used to develop a procedure for the adjustment of a reduced dynamic observer of angular velocities with S-shaped corrective actions, which does not require the model of the plant to be defined or a dynamic model of external perturbations to be introduced. The effectiveness of the approach developed has been confirmed by simulations in the MATLAB-Simulink environment. |
| Keywords |
electromechanical system, tracking, invariance, constraints on state variables, sigma-func- tion, state observer |
| Received |
05 June 2020 | Revised |
21 September 2020 | Accepted |
23 October 2020 |
| Link to Fulltext |
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