Combined system of positional control with setting third-order model

The microprocessor control systems based on the setting models with outputs changing proportionally to the diagrams of displacement, rate, acceleration (current) and derivate acceleration in time (jerk) play an important role in power saving. The authors have developed a general second-order model with three output signals proportional to the set values of speed, acceleration and jerk or to position, velocity and acceleration. This setting model is based on integral units and relay gears considering internal motor feedback. They enable development of optimum patterns of controlled coordinate change and facilitate implementation of the limits of the derivative of the armature current without a special controller of the current derivative, which complicates the system configuration and increases its sensitivity to parametric changes.