OPTIMAL CONTROL OF AN ACTUATOR OF A ROBOTIC GEARBOX

Problem. Despite the vigorous development of electric vehicles, task facilitating driver to handle with elements mechanical transmission remains relevant. For this purpose, automation units is performed. instance, so-called robotic gearboxes are widespread. The principle operation such similar ones, but special separate actuators carry out selection and shifting into desired gear. design a gearbox was proposed at Automobile Department Kharkiv National Highway University. At gearbox, two DC motors used as actuators. efficiency largely depends on control system, which should provide smooth same time fast accurate positioning their shafts. In previous works, PID controllers were controlling actuator gearbox. However, although controller provides satisfactory quality it not an optimal controller. Goal. goal paper develop for mentioned above. Methodology. To meet goal, use linear-quadratic (LQR). analysis impact transient processes in system values weighting factors quadratic performance criterion Results. LQR synthesized high speed response (within 0.5 s) gear selecting more than times less overshoot compared regulator. Originality. regularities drive when changing have been established. An has developed. Practical value. implementation designed will increase under consideration.