| Abstract [eng] |
The theme of this Master project is actual, because it is new and effective step to elevate electrical drives, and also improves the quality of mechanism control. Adaptive speed control system allows the application of the parametric and the signal adaptation principle. In an adaptive control system, which is consist of parametric adaptation principle the change of the controlled object parameters causes the change of the controller settings so that control quality of the system remains constant. Using the signal adaptation principle, the adaptation block forms additional control signal, which acts in a regulator input and guarantees a constant quality of system control, when the object parameters are changing. There has been made research of the parametric adaptation principle application in the electromechanical servo drives. It has been determined that this adaptation principle has disadvantages – adaptation is not instantaneously, but after few cycles. Static load causes the static deviation of the speed. So using the parametric adaptation the moment of inertia is compensated, but load torque can‘t be compensated. The results of the investigation of the signal adaptation principle application in the electromechanical servo drives demonstrate that this adaptation is instantaneously and it does not affected by the load. The signal adaptation compensates the change of the moment of inertia and load torque. The P-PI variable structure controller compensates only the change of the static load avoiding the static deviation of the speed. The quality of the dynamics of the electromechanical servo system with signal adaptation and P-PI variable structure controller have been evaluated and compared using direct and indirect indicators of the system quality. |
