Abstract
Problem. Most research on the design of nonlinear electromechanical systems for spatial stabilization of moving object equipment is carried out using typical proportional-differential controllers, with which it is possible to satisfy the stringent ever-increasing requirements for specific cases that are presented to such systems. But to design modern universal spatial stabilization systems for a wide class of moving objects operating in various modes, it is necessary to apply a multi-criteria design methodology, which does not exist today. Goal. To develop the methodology of multi objective design of robust nonlinear electromechanical spatial stabilization systems for wide class moving object equipment. Methodology. The problem of multi objective design of robust nonlinear electromechanical spatial stabilization systems for wide class moving object equipment according to robust-quality criteria based on the choosing of weight matrices in the robust control target vector. The calculation of the target vector is performed based on the solution of the zero-sum vector game. The components of the game payoff vector are variable quality indicators that are applied to the system operation in different modes. The calculation of the components of payoff vector game are performed based on the simulation of the initial nonlinear electromechanical system closed by the synthesized robust controllers in different operating modes and under various external influences and variations in the parameters of the uncertainty of the initial plant. In the process of iteratively calculating the solution of a matrix game, it is necessary to repeatedly solved two Riccati equations for control and observation for given values of the weight matrices, with the help of which the robust control target vector is calculated. The vector game solution is calculated using a metaheuristic optimization algorithm based on the behavior of blood-sucking leeches. Results. The results of multi objective design of robust nonlinear electromechanical spatial stabilization systems for aircraft, marine and ground moving object equipment are given. Based on the results of modeling and experimental studies it is established, that with the help of synthesized robust controllers, it is possible to reduce the time of transient processes by more then 2 -3 times of nonlinear electromechanical spatial stabilization systems for moving object equipment in comparison with the system with typical regulators. Scientific novelty. For the first time the methodology of multi objective design of robust nonlinear electromechanical spatial stabilization systems for wide class moving object equipment is developed. Practical value. From the point of view of the practical implementation the possibility of solving the problem of multi objective design of robust nonlinear electromechanical spatial stabilization systems for wide class moving object equipment is shown. References 45, figures 9.