| 摘要 |
electrical engineering; support-rotating devices; paper-making, chemical, textile, and other equipment. SUBSTANCE: method involves generation of main control action by summing up values proportional to first and higher time derivatives of standard-model output coordinate dictating mechanisms of change and interrelation between only output coordinate and one of intermediate state coordinates of local channel including n-th part of total mass, where n is number of motors. Additional control actions are generated by summing up values proportional to first and higher time derivatives as result of comparison of output and intermediate state coordinates of standard model with similar state coordinates of respective local channel assuming that local channels are independent; rate of generating additional control actions is set to be higher than that of producing main control action. EFFECT: facilitated procedure, reduced cost, enhanced reliability of drive control system at high precision and speed, uniform loading of channels with varying inherent parameters. 2 cl, 2 dwg |
