Summary Efficiency of the model reference based adaptive control systems is investigated and discussed in this master degree work. The main goal of this work was to evaluate and compare the performance characteristics of two widely used in mechatronics adaptive control approach – adaptive control approach based on controller parameters automatic adjustment (parameter adaptive approach) and adaptive control approach based on compensating control signal generation (signal adaptive control). Investigations were carried out on the model of the second order electromechanical velocity control system, realized with help of matlab/simulink software. Transmittance of the reference model is coincident with transmittance of conventional hierarchically arranged velocity control system, adjusted in respect of quantitative optimum conditions. The rapidity of adaptation process in the case of velocity controller detune or control object parameters change, the limits and velocity of system parameters drift and influence of external load on adaptation process were investigated for both – parameter adaptive and signal adaptive control systems cases. For obtaining of continue adaptation process, the harmonious reference and loading signals were applied on the system. The system parameters change was also modeled in harmonious mode. The modeling results allow comparing the performance characteristics of these both adaptive control methods. It was demonstrated in this work that signal... [to full text]

Magistro darbo tema yra aktuali, nes tai naujas ir efektyvus žingsnis tobulinant elektros pavaras ir pagerinant daugelio mechanizmų valdymo kokybę. Adaptyvios pavarų valdymo sistemos sudaromos taikant parametrinės arba signalinės adaptacijos principą. Parametriškai adaptyvioje valdymo sistemoje, kintant valdymo objekto parametrams, keičiami reguliatorių parametrai taip, kad valdymo kokybė nepakistų. Naudojant signalinės adaptacijos principą, adaptacijos blokas formuoja papildomą valdymo signalą, kuris veikia reguliatoriaus įėjime ir garantuoja pastovią valdymo kokybę kintant valdymo objekto parametrams. Tyrimų metu nustatyta, kad parametrinė adaptacija turi trūkumų – adaptuojamasi tik po kelių ciklų, pajungus apkrovą gaunamas statinis greičio nuokrypis. Taigi parametrinės adaptacijos metu yra kompensuojamas inercijos momento pokytis, tačiau nėra kompensuojama apkrovos momento įtaka. Signalinės adaptacijos principo taikymo elektromechanėse sistemose tyrimo rezultatai rodo, kad adaptuojamasi iš karto to paties ciklo metu. Statinės apkrovos įtaka yra pašalinama tuo išvengiant greičio statinio nuokrypio bei užtikrinant pageidaujamą pereinamąjį procesą. Taigi taikant signalinę adaptaciją kompensuojami tiek inercijos, tiek ir apkrovos momentų pokyčiai. Nustatyta, kad taikant P-PI kintamos struktūros reguliatorių yra kompensuojamas tik statinės apkrovos momento pokytis, tuo išvengiant greičio statinio nuokrypio. Signalinės adaptacijos ir P-PI kintamos struktūros reguliatoriaus... [toliau žr. visą tekstą] / 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... [to full text]