Solution of a mixed sensitivity problem with optimized weights and time performance index for a robust servo velocity and position controller

Robustness of servo control systems in terms of uncertainties and disturbances is still an open issue in feedback control. The concept of an uncertain LTI system is essential for robust control. Model uncertainty arises when system parameters are not precisely known, or can vary over a given range. The article presents a robust velocity and position controller for a servo system with a DC-motor. The aim of the work is to synthesize a feedback control structure with a controller in the direct branch, with which the robustness and stability performance will be ensured. For the design procedure a mixed-sensitivity approach with an additional time performance index is used. The time performance index introduces a subsequent criterion in the mixed sensitivity approach to ensure accurate dynamic performance of the feedback loop. For simplification of the controller structure the evolution optimization will be employed. The control strategy has been tested on real system with use of TI-DSP microcontroller.

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W artykule opisano metodę sterowania pozycją i prędkością w zamkniętej pętli dla serwomechanizmu z silnikiem DC. Dla zapewnienia niezawodności i stabilności algorytmu zastosowano optymalizację typu mixed-sensitivity z dodatkowym wskaźnikiem skuteczności w czasie. W celu uproszczenia struktury sterowania zastosowana zostanie także optymalizacja ewolucyjna. Przeprowadzono badania eksperymentalne.