Synthesis of Optimal Efforts Control in Electromechanical Systems with Elastic Mechanical Links

The article presents a solution, in optimal statement, of a problem of efforts control synthesis in elastic mechanisms which comprises significant forces of friction and inertia. Different methods of optimum control of electromechanical systems were compared, and the applicability of the methods based on variations calculus was proved. The application of the integral control quality criterion allowed determining the rational structure and parameters of a force regulator in elastic elements of mechanisms, during the operation in the conditions of uncertain perturbation actions. During the synthesis of the optimum effort regulator, real limitations were considered which are attached to the control impact and the conditions assuring stability of a control system with the synthesized regulator to possible changes of parameters of a controlled object are defined. The performed studies demonstrated the effectiveness of the synthesized force regulator in electromechanical systems with elastic gears in the case of changes in perturbation actions. The proposed method for the synthesis of the optimal effort regulator in elastic mechanisms was applied during the creation of the training simulator “Exit 2”, which was designed to train astronauts to work in zero gravity conditions, and during the modification of MP100 balanced type manipulators with 100 kg load-carrying capability.