Toropov A. Suboptimal nonlinear control of cutting force stabilization system electrodrive under metal processing

The thesis is dedicated to development and investigation of nonlinear suboptimal control algorithms of cutting force stabilization system electrodrive under metal processing and control system creation on the basis of it, which provide high equipment productivity and quality of detail processing. Refined mathematic model of cutting force stabilization loop taking into account cutting process lag, existing of clearances and elasticity at mechanical transmission, clearance at slideways, support elasticity, restriction under control and oscillatory external disturbances is developed. The problem of analytical design of nonlinear suboptimal regulator of control system stabilization by dynamic programming method without considering of external disturbances is decided. Nonlinear suboptimal control law of cutting force stabilization loop electrodrive is synthesized by dynamic programming method using conception of "immersion" method under game problem. Experimental system of cutting force stabilization system on the basis of PCI - cards, which allows the experimental investigation of the synthesized nonlinear suboptimal control law.