Robust Electromechanical Servo System Parametric Synthesis as Multi Criteria Game Decision Based on Particles Multi Swarm Optimization

The method of multiobjective feed-forward robust control synthesis of parameters for nonlinear multi-mass electromechanical servo systems with uncertain plant parameters to improve the control accuracy of such systems is developed. The method based on the multi-criteria game decision in which payoff vectors are direct indexes performance vector that are presented to the system in various modes of its operation. The calculation of the payoff vectors associated with modeling of the synthesized nonlinear system, with different input signals and for various values of the plant parameters for various modes of operation of the system. The multi criterion game solution is based on particles multiswarm optimization algorithms. Theoretical and experimental research of the effectiveness of two mass nonlinear robust electromechanical servo system with synthesis of robust controllers are presented. Comparison of the dynamic characteristics of the synthesized servo electromechanical system with the existing system is completed. It is showed that the use of synthesized robust controllers allowed to improve the accuracy parameters and reduce the sensitivity of the system to changes of plant parameters in comparison with the existing system.