Investigation of the Dynamical Quality of the Electromechanical Servo Systems using Variable Structure Controllers

  • N. Šulčius Kaunas University of Technology
  • V. A. Geleževičius Kaunas University of Technology


The electromechanical servo system is analysed in this article. In order to coordinate the advantages and eliminate disadvantages of the quantitative and symmetrical optimum conditions, a variable structure velocity controller is suggested to use. The control law of such velocity controller is changed automatically from the proportional-integrating (PI) regulation mode to the proportional (P) mode and vice versa in the transitional regime. Two algorithms of velocity controller control law changing were analysed. Optimum values of the control’s law switching parameters are determined in the idle and static load cases. The simulation results demonstrate that using a variable structure velocity controller it is possible to increase the rapidity of the electric drive avoiding the steady-state velocity error, i.e. it is possible to improve the dynamical quality. Ill. 4, bibl. 8 (in Lithuanian; summaries in Lithuanian, English and Russian).