Improving of Accuracy of Electromechanical Servo Systems with Distributed Parameter of Plant Mechanical Part

The method of multiobjective synthesis of nonlinear robust electromechanical servo systems with distributed parameter of plant mechanical part and with parametric uncertainty is developed. Synthesis of nonlinear robust controllers and nonlinear robust observers reduces to solving the system of Hamilton-Jacobi-Isaacs equations. Target vector of robust control is determined by solving the multicriterion nonlinear programming problem in which the components of the vectors of the objective function are direct quality indicators that are presented to the system in various modes of its operation. The calculation of the vectors of the objective function and constraints is algorithmic and associated with synthesis of nonlinear robust controllers and modeling of the synthesized system for various modes of operation of the system, with different input signals and for various values of the plant parameters. The results of the dynamic characteristics modeling of a synthesized nonlinear electromechanical servo system are presented.