Dynamics of automated electric drives with combined optimal control system

Optimum control systems of technical systems, widely used in the space industry, have been further developed in the theory of optimal combined control systems, which are built with consistent correction of internal coordinates, which reduces the order of the object equations systems management and regulation of foreign origin on the basis of optimal control theory, the theory of variable structure systems or multiply automatic control systems. The article considers the automated electric drive mining equipment by the example of the excavator, the duty cycle of which is associated with severe service conditions: high dustiness, re-intermittent operation, shock, vibration, high frequency switching, varying over a wide range of load on the motor shaft, which affects both the quality and quantity of rock production volumes, and the state mining machinery systems in general. The electric rotating mechanism, having the largest number of failures in mechanical and electrical parts of excavator, combined with optimal control system representing the inner loop voltage and analytically constructed optimal controller (ACOC) current anchor chain and the speed of the motor, located in the direct channel control system, has been considered. To investigate the drive simulation model has been created in the program MATLAB Simulink package. Changing the coefficient of feedback on the motor current and the speed of the first mass effect on the transition process and on the rolls elastic torque automated electric excavator turning. With an increase in the weighting of the feedback factor on the motor current increases during the transition process and reduces the time of the elastic rolls, increasing the weight of the feedback factor for the first mass velocity decreases during the transition process and increases the moment of the elastic rolls. The effect of weighting coefficients optimality criterion on the dynamics of the drive is in Run Mode, and an algorithm for selecting the weighting factors. The results showed the advantage of optimal combined rotation drive control system of the excavator in comparison with the classical system of slave control.