Design and simulation of a mechatronic system with an adaptive digital controller

Methods for designing the new technology of continuous control systems the movement, which are built on the use of concepts reversed dynamics problems in conjunction with optimization on energy criteria, distribute on the mechatronic system. In this case analytical minimization of the local quadratic criterion is replaced by a numerical procedure which allows to obtain the finite-difference equation for the desired control that gives adaptive properties to mechatronic system. The process of adaptation in a mechatronic system with a digital controller has been studied and the conditions for its stability have been obtained. The main ratios for calculating the settings of an adaptive digital controller as part of a mechatronic DC electric drive system are given. The simulation method was used to compare the dynamic characteristics of two mechatronic systems: with adaptive and conventional (P and PI) digital controllers. The simulation results are presented in the form of transient responses obtained under the action of coordinate and parametric disturbances.