UDC 681.515:004.942
MODEL DEVELOPMENT OF DIGITAL VARIABLE STRUCTURE SYSTEM TAKING INTO ACCOUNT CONTROL OBJECT STATE DETERMINATION FEATURES
S. V. Skvortsov, Dr. in technical sciences, full professor, RSREU, Ryazan, Russia;
orcid.org/0000-0001-9495-4953, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
V. I. Khryukin, Ph. D. (technical sciences), associate professor, RSREU, Ryazan, Russia;
orcid.org/0000-0002-7736-115X, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Т. S. Skvortsovа, Ph. D. (technical sciences), associate professor, Academy of the FPS of Russia, Ryazan, Russia;
orcid.org/0000-0001-7504-5973, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
The problem of developing a model of a digital variable structure system that takes into account the specifics of determining the state of the control object is considered. The aim of the work is to analyze the impact of error signal discretization and the method of obtaining information about the object's coordinates on the stability of the control system. It is proposed to investigate the dynamics of a digital variable structure system in the phase space of a continuous system, which makes it possible to use its mathematical model to describe the dynamics of a control object with a digital controller. Analytical expressions are obtained for determining the positions of the switching hyperplanes in the phase space, which allow for the justification of the choice of the allowable area of stable motion of the system in the quasi-sliding mode. The experimental part of the work shows an example of calculating the parameters of digital control device for the object de scribed by second-order differential equation which confirms the possibility of practical use of the developed model.
Key words: variable structure system, control object, structure switching hyperplane, state space, phase coordinates vector, sliding mode, finite differences, continuous differences, digital controller.