Research of Transient Modes of a Servo Drive with a Second-Order Gradient Control Algorithm

Servo drives and precision positioning systems are widely used in various fields of mechanical engineering and instrument making, mechatronics and robotics. Servo drives must reproduce program-specified or previously unknown input influences, ensuring the movement of the working body with the required accuracy and quality of transient processes. High requirements for the stability of dynamic characteristics and their compliance with certain reference transient processes in changing operating conditions are decisive for this class of systems. Synthesizing control algorithms that provide the required stability of dynamic characteristics under parametric and coordinate disturbances caused by changing operating conditions is relevant and important. In this work, we study the transient modes of a servo drive with a second-order gradient algorithm, which makes it possible to reduce the number of measured variables necessary for the practical implementation of the algorithm. This algorithm provides the system with the property of low sensitivity to changes in parameters and external disturbing influences. The quality of transient processes exactly corresponds to the processes in the reference model. The research is carried out in comparison with the classical method of sequential correction. The simulation results show the advantages of using the gradient algorithm.