The Solution of a Problem of Speed of Response on Output Coordinate for Linear Dynamic Systems

The solution of the so-called problem of speed of response in one coordinate, which has important theoretical and practical importance, is investigated. It is formulated with reference to linear one-dimensional high-order control objects described by a system of ordinary differential equations in a certain phase space. The transient time tnn of the system designed is understood in a sense of the classical control theory in reference to one (output) coordinate of the object and is determined by using the zone Δ = σ* = 4.321 %, which equals the given (desirable) value of the overshoot of the system synthesized. This overshoot corresponds with the speed of response oscillating second-order element with a damping coefficient ζ= = 2 2 0,7071 / . It is indispensable to mention here that the equation Δ = σ is one of the necessary conditions for the maximum speed of response of the system with the oscillating character of transient processes. In accordance to this the task of the speed of response by one coordinate can be described by the following generalized formulation: one must find the linear algorithm of the feedback signal, which provides a preset order of the astatism na for the closed-loop control system and converts the control object from a zero state into a final state, which is determined by the constant signal of the input, with a minimal time value of the transient processes of the system tnn and the preset value of the overshoot σ m σ* while fulfilling the constraint of the control signal |u(t)| m umax. Nowadays the task mentioned is approximately solved by the algebraic method of the synthesis of linear control systems with the determination of a desirable transfer function of the designed closed-loop system based on model normalized transfer functions (NTF). In the works by Kim D. P. there was carried out the analysis of four types of normalized transfer functions characterized by the increased speed of response. In this work two additional types of normalized transfer functions are suggested, in comparison with mentioned NTF they have the increased speed of response in case of the preset value of the overregulation σ* = 4.321 %. On their basis and using the methodology of the modal control the method of the synthesis of the controller is suggested; this method ensures the transient time of the designed system to be close to the minimum in case of the preset constraint of the overregulation and the value of the control signal. It needs to be emphasized that in contrast to the algebraic method of the synthesis, this method is applied to a wider range of control objects: as to minimal-phased objects as to non-minimum-phased ones; as to the objects containing zeros as to those without them. The method is illustrated by an example of synthesis of control system speed of response of the fourth order, containing the results of its modeling.

linear one-dimensional object, criterion of speed of response, overregulation, astaticism, the pole of the optimal system, modal control

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