Design of Consecutive Compensator for Servo System with Signal Uncertainty
Results of the research of signal uncertainty problem are presented. The problem arises during design of consecutive compensator for a servo system. The problem is solved using Besekersky approach. This reduced among of requirements to reference signal structure of servo systems up to two characteristics: maximum rate and maximum acceleration. Information about maximum rate and acceleration of reference signal allows to introduce an equivalent harmonic input with calculable amplitude and frequency. This values and restriction on maximum error allow to estimate amplitude characteristic on error of the system and then amplitude characteristic of the open-loop system. Previously Besekersky approach was mainly used in Bode plot. Authors use this approach for design of consecutive compensators. The “error-output” transfer function is basis of design of consecutive compensator which gives desired eigenvalues location of state matrix. Obtained theoretical results are applied to development of a precise positioning system with a piezoelectric actuating device.
KeywordsSignal uncertainty Besekersky approach Consecutive compensator Piezoelectric actuating device Precise positioning system
This work was supported by Government of Russian Federation, Grant 074-U01; the Ministry of Education and Science of Russian Federation, Project 14.Z50.31.0031; Russian Federation President Grant №14.Y31.16.9281-HШ.
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