ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)

vol 63 / August, 2020

DOI 10.17586/0021-3454-2019-62-12-1066-1077

UDC 681.5.11


I. V. Shustov
ITMO University, School of Computer Technologies and Control, Faculty of Control Systems and Robotics;

V. Tolmachov
Saint-Petersburg State University of Information Technologies, Mechanics and Optics; Associate professor

S. Y. Lovlin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor

Abstract. With the development of technology, the requirements for the accuracy of reproduction by ma-chines and mechanisms of the given laws of motion are constantly increasing. This trend is particularly evident in the case of electric drives of servo axis of quantum-optical systems. In the conditions of infra-low speeds of movement, non-rigidity of mechanisms and influence of variable disturbing moments on their masses, the task of ensuring high accuracy of servo axes positioning is assigned to control systems. A new analytical method of control system configuration is presented: its output, graphical interpretation and conditions of correct operation are considered. The technique allows to increase simultaneously ac-curacy of positioning of the servo axes and to keep such advantages of the subordinate structure of con-trol system as convenience of restriction of internal coordinates of system and possibility of compensa-tion of imperfections of the electric motor and the power converter. Improving the positioning accuracy of the servo axes is achieved by increasing the bandwidth of the internal speed control circuit. The maxi-mum bandwidth of the latter is limited at a level at which the value of the overshoot of its transient char-acteristics does not exceed a certain predetermined value. Another advantage of the proposed method is a more complete account of the properties of the control object, including the internal viscous friction of servo axes mechanisms. The results of simulation of the control system of the tracking electric drive of the angular axis of the quantum optical complex Stager-2 OPU LIK confirm the correctness and effec-tiveness of the developed technique.
Keywords: quantum-optical system, support-rotary device, torque motor, elevation angle axis, two-mass system, dry friction, damping factor, servo drive, subordinate structure, Vyshnegradsky diagram, PID regulator

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