Verification of a method for implementing a closed-loop control system for an electromechanical system with distributed parameters in the mechanical part

A research facility has been developed for verifying a method for implementing a closed-loop control system along an intermediate coordinate for an electromechanical system with distributed parameters in the mechanical part using an observing device. The scheme of the experimental stand with a detailed description is given. The mechanical parameters of the experimental stand are given. As a system with distributed parameters, a spring with a low coefficient of elasticity was used in the stand, inside which a string is stretched to avoid the effect of sagging. A distinctive feature of a system with distributed parameters is the presence of forward and backward branches of a one-dimensional system with distributed elasticity. The small coefficient of elasticity of the spring provides resonance phenomena at low frequencies, which is observed in spatially extended systems with distributed parameters. A thyristor converter is used to control the rotational speed of the electric motor in the experimental stand. A photo of the converter with the control circuit is shown. The implementation of the sinusoidal control law is provided by a crank mechanism, its scheme is presented. An electrical circuit diagram for providing power to the experimental stand is presented. A photograph of the appearance of the electrical part of the stand is presented. The range and accuracy of a set of voltage and current measuring devices are indicated. To obtain information about the motor current, a software and hardware complex is used. The description of the software and hardware complex is presented. A control program has been developed for making measurements on four voltage channels. The procedure for determining the coefficient of proportionality between the voltage of the reference and the oscillation frequency of the system with distributed parameters for the experimental setup and its value are presented. The feedback signal is connected using a switch located on the experimental stand.