Hierarchical control for electromechanical systems based on synergetic control theory

An improved approach to the design of hierarchical controls proposed here addresses a range of problems insurmountable for traditional quasi-linear approaches. The approach that is proposed in this paper further develops the theory by adding coordination capabilities to the features of synergetic control theory that have been previously described. As a result it allows the designer to enrich control design in the following ways: to decompose the system into hierarchical layers based on a full nonlinear model of the system; to take into account interactions within the system, changes of the control task, and changes of the system dynamics; to develop analytical control strategies; to simplify the process of control design; and to reuse elements of the control design. We illustrate the application of our approach by using a simple example of an induction motor system that powers the winder of a direct extrusion fiber manufacturing system and consists of only two parts an induction motor and a simple mechanical part (a bobbin) that is directly connected to the motor shaft. This example allows us to simplify the presentation of a complex concept, and, at the same time, to illustrate the main features of the proposed approach. The control strategies presented in this paper operate the system in two distinct modes acceleration and winding and the strategies account for the changes in the model, parameters, and objectives of the system during operation.