SELF-TUNING ROBUST CONTROL SYSTEM Russian patent published in 2024 - IPC G05B13/02 

FIELD: control.

SUBSTANCE: invention relates to automatic control systems and can be used in automated electric drives with increased requirements for accuracy and quality of control, for example, in servo drives of numerical control systems (CNC) of metal cutting machines and industrial robots, in tracking systems of optical (astronomical) telescopes and in other high-precision control systems of various technological objects. Technical result is achieved by a self-tuning robust control system containing a reference model controller, reference model, control object controller, control object and speed sensor, in which, unlike the prototype, the control system input is connected through the intensity setting device to the control object controller input, consisting of series-connected first, second and third internal regulators, at the inputs of which there are comparison elements, second inputs of which are connected to the output of the speed sensor so that each internal controller in the controller of the control object forms its first, second and third control loops, internal controller output in the first control loop is connected to the control object input, and the outputs of the second and third internal controllers are connected to the inputs of the comparison elements, respectively, installed at the inputs of the first and second internal controllers, wherein each internal controller consists of a built-in controller and a predicator connected in series to it, which includes an internal link and series-connected first and second external links, first and second comparison elements, wherein the input of the internal controller is the input of the built-in controller, the output of the built-in controller is connected to the first input of the first comparison element, the second input of which is connected to the output of the internal link, and the output of the first comparison element is connected to the output of the predictor, as well as to the input of the first external link and to the first input of the second comparison element, which second input is connected to the output of the second external link, and the output of the second comparator is connected to the input of the internal link, wherein the output of the predictor is the output of the internal controller.

EFFECT: due to automatic self-tuning of controller parameters, self-tuning robust control system provides high-speed operation and accuracy of electric drive speed control with no overshoot, has a wide range of speed control, has high noise immunity and can be used in industrial electric drives for various purposes.

1 cl, 8 dwg