Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787121
V. Kokovin, A. Sytin, Victor V. Skvortsov
The emergence of network ecosystems such as Industrial IoT (IIoT), Internet of Robotic Things (IoRT) has given a powerful impetus to the use of open information and communication technologies. But this also caused increased information attacks on IoT/IIoT. The danger of cyberattacks and their consequences from the point of view of critical vulnerabilities of technological processes controlled by Functional Networking Components (FNC) are analyzed. The features of using FNC in distributed control systems are considered. Algorithms for the formation of Crypto Identifiers to increase the cybersecurity of FNCs when interacting over local networks are presented. The FNC structure was developed using the Cyclone 10 LP FPGA family 10CL025YU256I7G, TDC7200 and the Cortex-A72 ARM controller to form experiments on the study of Crypto Identifiers. The results of experiments are presented. A lossless data compression algorithm was used when generating messages.
{"title":"Methods for Increasing the Cybersecurity of FNC Devices on the FPGA-Based Platform in Network Communications","authors":"V. Kokovin, A. Sytin, Victor V. Skvortsov","doi":"10.1109/ICIEAM54945.2022.9787121","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787121","url":null,"abstract":"The emergence of network ecosystems such as Industrial IoT (IIoT), Internet of Robotic Things (IoRT) has given a powerful impetus to the use of open information and communication technologies. But this also caused increased information attacks on IoT/IIoT. The danger of cyberattacks and their consequences from the point of view of critical vulnerabilities of technological processes controlled by Functional Networking Components (FNC) are analyzed. The features of using FNC in distributed control systems are considered. Algorithms for the formation of Crypto Identifiers to increase the cybersecurity of FNCs when interacting over local networks are presented. The FNC structure was developed using the Cyclone 10 LP FPGA family 10CL025YU256I7G, TDC7200 and the Cortex-A72 ARM controller to form experiments on the study of Crypto Identifiers. The results of experiments are presented. A lossless data compression algorithm was used when generating messages.","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134176855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787202
B. Utkin, N. Grachev, V. Matveev
This article presents an overview and analysis of methods for constructing mathematical models of electrical contacts for predicting contact radio interference on mobile objects. A study of the relationship between the change in the components of the total contact resistance and the predicted contact radio interference is presented. The analysis of three main models of contact resistance is carried out and recommendations on the methodology of applying these methods in the problem of predicting contact radio interference are developed. The obtained results of the analysis of methods for constructing mathematical models of electrical contacts are of great practical and scientific interest, since contact models are the most important basis for predicting contact radio interference. Work in this field allows to increase reliability and provide the required electromagnetic compatibility and noise immunity of devices that are part of connected radio engineering systems.
{"title":"Review and Analysis of Methods for constructing Mathematical Models of Electrical Contacts for Predicting of Contact Radio Interference on Mobile Objects","authors":"B. Utkin, N. Grachev, V. Matveev","doi":"10.1109/ICIEAM54945.2022.9787202","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787202","url":null,"abstract":"This article presents an overview and analysis of methods for constructing mathematical models of electrical contacts for predicting contact radio interference on mobile objects. A study of the relationship between the change in the components of the total contact resistance and the predicted contact radio interference is presented. The analysis of three main models of contact resistance is carried out and recommendations on the methodology of applying these methods in the problem of predicting contact radio interference are developed. The obtained results of the analysis of methods for constructing mathematical models of electrical contacts are of great practical and scientific interest, since contact models are the most important basis for predicting contact radio interference. Work in this field allows to increase reliability and provide the required electromagnetic compatibility and noise immunity of devices that are part of connected radio engineering systems.","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134522185","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787138
A. Kabanov
The paper exams the solution of a nonlinear optimal control problem over a finite time interval based on the state-dependent coefficients technique. A widely used solution method via the state-dependent Riccati equation (SDRE) requires the backward integration of the state-dependent differential Riccati equation (SDDRE). At the same time, there is a difficulty in implementation due to the unavailability of information about the system state at future time. One of the ways to overcome the state information problem during backward integration is based on an approximate solution through the hypothesis of “frozen” coefficients and a state-dependent Lyapunov differential equation. However, this approximate solution may be less accurate, for example, compared to the method of approximating sequence of Riccati equations (ASRE). In this paper, an algorithm for the SDRE controller design is proposed through backward integration together with the solution of the auxiliary backward optimal control problem. The effectiveness of the method is shown by an example of the problem of assessing systemic risk.
{"title":"Finite-Time State-Dependent Coefficient Method for Optimal Control of Nonlinear Systems","authors":"A. Kabanov","doi":"10.1109/ICIEAM54945.2022.9787138","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787138","url":null,"abstract":"The paper exams the solution of a nonlinear optimal control problem over a finite time interval based on the state-dependent coefficients technique. A widely used solution method via the state-dependent Riccati equation (SDRE) requires the backward integration of the state-dependent differential Riccati equation (SDDRE). At the same time, there is a difficulty in implementation due to the unavailability of information about the system state at future time. One of the ways to overcome the state information problem during backward integration is based on an approximate solution through the hypothesis of “frozen” coefficients and a state-dependent Lyapunov differential equation. However, this approximate solution may be less accurate, for example, compared to the method of approximating sequence of Riccati equations (ASRE). In this paper, an algorithm for the SDRE controller design is proposed through backward integration together with the solution of the auxiliary backward optimal control problem. The effectiveness of the method is shown by an example of the problem of assessing systemic risk.","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121185346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787096
Anatoly Glazyrin, Alexey Il'in, O. Afanasieva
The collection, transmission and processing of information in a digital substation takes place in digital form, which is not applicable to analog generator timing devices (RTDs). Their implementation in systems under design/reconstruction is impossible. Insufficient flexibility of the analog synchronizer algorithm may lead to non-synchronous switching when the voltage and frequency rate threshold is exceeded. The lack of self-diagnostics of the voltage circuits in the analog synchronizer may lead to failure or breakdown due to non-synchronous switching due to faulty circuits of another generator, which is already synchronized. In this paper a review and implementation of the synchronization function of generators in microprocessor devices is carried out. The process of switching the generator to parallel operation and to network operation, the algorithm of the exact synchronization function and methods of increasing the accuracy of synchronization are considered and analyzed. The requirements for precision synchronization devices are studied. The developed precise synchronization function is actively used in automatic synchronization devices of EKRA 200 series generators.
{"title":"Improvement of Generator Synchronization Algorithm","authors":"Anatoly Glazyrin, Alexey Il'in, O. Afanasieva","doi":"10.1109/ICIEAM54945.2022.9787096","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787096","url":null,"abstract":"The collection, transmission and processing of information in a digital substation takes place in digital form, which is not applicable to analog generator timing devices (RTDs). Their implementation in systems under design/reconstruction is impossible. Insufficient flexibility of the analog synchronizer algorithm may lead to non-synchronous switching when the voltage and frequency rate threshold is exceeded. The lack of self-diagnostics of the voltage circuits in the analog synchronizer may lead to failure or breakdown due to non-synchronous switching due to faulty circuits of another generator, which is already synchronized. In this paper a review and implementation of the synchronization function of generators in microprocessor devices is carried out. The process of switching the generator to parallel operation and to network operation, the algorithm of the exact synchronization function and methods of increasing the accuracy of synchronization are considered and analyzed. The requirements for precision synchronization devices are studied. The developed precise synchronization function is actively used in automatic synchronization devices of EKRA 200 series generators.","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121399485","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787098
A. Malkarov, M. Arkhipov, V. Matrosova
The science of robotics is becoming more and more relevant for industrial production. The robotic production line is highly efficient in complex and routine operations. At the same time, there are difficulties in setting up industrial robots and controlling their functioning. The analysis of the existing robot control system was carried out and the main disadvantages were highlighted - the inconvenient interface for configuring the robot, the need to be near the production cell, the impossibility of remote connection to the robot, the impossibility of quickly changing the algorithm performed by the robot. Further, the development of a set of applications was carried out, the indicated problems are decisive. The software provides the ability to remotely control FANUC robots, convenient work with executable algorithms and convenient visualization.
{"title":"Remote Control System of Industrial Robots and Visualization of Operations Performed","authors":"A. Malkarov, M. Arkhipov, V. Matrosova","doi":"10.1109/ICIEAM54945.2022.9787098","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787098","url":null,"abstract":"The science of robotics is becoming more and more relevant for industrial production. The robotic production line is highly efficient in complex and routine operations. At the same time, there are difficulties in setting up industrial robots and controlling their functioning. The analysis of the existing robot control system was carried out and the main disadvantages were highlighted - the inconvenient interface for configuring the robot, the need to be near the production cell, the impossibility of remote connection to the robot, the impossibility of quickly changing the algorithm performed by the robot. Further, the development of a set of applications was carried out, the indicated problems are decisive. The software provides the ability to remotely control FANUC robots, convenient work with executable algorithms and convenient visualization.","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128947173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787271
E. Shishkov, A. Pronichev
The paper highlights an approach to predicting the generation of a thermal power plant using machine learning methods. In the course of the work, features were generated based on electrical and date-time values, and modeling was carried out using two architectures of recurrent neural networks at the first stage and three-level ensembles of models were built based on linear regression and gradient boosting over decision trees at the second stage. The obtained quality metrics make it possible to judge the fundamental possibility of using the considered method for solving both this and related problems related to forecasting time series.
{"title":"Applying Machine Learning Methods for Power Plant Generation Time Series Forecasting","authors":"E. Shishkov, A. Pronichev","doi":"10.1109/ICIEAM54945.2022.9787271","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787271","url":null,"abstract":"The paper highlights an approach to predicting the generation of a thermal power plant using machine learning methods. In the course of the work, features were generated based on electrical and date-time values, and modeling was carried out using two architectures of recurrent neural networks at the first stage and three-level ensembles of models were built based on linear regression and gradient boosting over decision trees at the second stage. The obtained quality metrics make it possible to judge the fundamental possibility of using the considered method for solving both this and related problems related to forecasting time series.","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115358881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787244
R. Khuziashev, I. Kuzmin, Ildar Minaev
The aim of the work is to obtain additional information about the place of occurrence of traveling waves during switching in power lines from transient signal modal structure. The results of simulation of the transient signal by different reasons for switching are considered. The mechanism of formation of high-frequency and low-frequency mode oscillations is shown. It is shown that high-frequency mode oscillations are formed only with the interference of traveling waves penetrating through the switching point. It is shown that different transient signal mode structures are formed to the left and to the right of the switching point. The application of wavelet analysis to determine the period of mode oscillations is considered. The efficiency of wavelet analysis for determining the beginning of a transient signal is shown.
{"title":"Using Transient Signal Parameters to Improve the Reliability of Traveling Wave Fault Localition","authors":"R. Khuziashev, I. Kuzmin, Ildar Minaev","doi":"10.1109/ICIEAM54945.2022.9787244","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787244","url":null,"abstract":"The aim of the work is to obtain additional information about the place of occurrence of traveling waves during switching in power lines from transient signal modal structure. The results of simulation of the transient signal by different reasons for switching are considered. The mechanism of formation of high-frequency and low-frequency mode oscillations is shown. It is shown that high-frequency mode oscillations are formed only with the interference of traveling waves penetrating through the switching point. It is shown that different transient signal mode structures are formed to the left and to the right of the switching point. The application of wavelet analysis to determine the period of mode oscillations is considered. The efficiency of wavelet analysis for determining the beginning of a transient signal is shown.","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116286532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787110
V. Kasimov, R. Minullin, Yuriy V. Piskovatskiy
The article studies the influence of temperature and sag of wires of overhead power lines on the change in attenuation and delay of the reflectometry signal. For the theoretical description of dependencies, the model of wave channels of signal propagation along multi-wire lines is used, as well as the equation of state of the wire, which describes the spatial position of the wire in the span. To simulate and mathematically model the effect of temperature and wire sag on the parameters of signal propagation along overhead power lines, PSCAD and Matlab software products were used. The results of simulation and mathematical modeling showed high convergence. The effect of wire temperature on the attenuation and delay of sounding signals of overhead power lines is described. The results of the study showed that with an increase in the temperature of the wires, they lengthen, sag and increase the resistance of the wires, which causes additional attenuation and delay of the reflectometry signal. The results obtained can be used to estimate the temperature and wire sag by changing the parameters of the reflectometric signal.
{"title":"Study of Wire Sag and Temperature Influence of Power Lines on Reflectometry Signal Parameters","authors":"V. Kasimov, R. Minullin, Yuriy V. Piskovatskiy","doi":"10.1109/ICIEAM54945.2022.9787110","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787110","url":null,"abstract":"The article studies the influence of temperature and sag of wires of overhead power lines on the change in attenuation and delay of the reflectometry signal. For the theoretical description of dependencies, the model of wave channels of signal propagation along multi-wire lines is used, as well as the equation of state of the wire, which describes the spatial position of the wire in the span. To simulate and mathematically model the effect of temperature and wire sag on the parameters of signal propagation along overhead power lines, PSCAD and Matlab software products were used. The results of simulation and mathematical modeling showed high convergence. The effect of wire temperature on the attenuation and delay of sounding signals of overhead power lines is described. The results of the study showed that with an increase in the temperature of the wires, they lengthen, sag and increase the resistance of the wires, which causes additional attenuation and delay of the reflectometry signal. The results obtained can be used to estimate the temperature and wire sag by changing the parameters of the reflectometric signal.","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114761917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787099
H. S. Mogheer, I. Turulin
Digital filters have been widely utilized in modern telecommunications systems, signal processing, and electronic systems applications Signals suffer from different disruption and noises in real life, using filter can eliminate these noises and ensure a clear signal. Sometimes a digital filter might experience a transient event which represented by an overshoot of the signal. This transient may, for example, be the result of changing the cutoff frequency during filter operation by changing its coefficients. In this paper we proposed a compensation technique to remove this overshoot using nth order digital Butterworth LPF filter. The proposed method demonstrates that we can eliminate an overshoot by using multiple filtering processes to the input signal to obtain a clear real signal with minimum to no disruption. By using the MATLAB program, the transient process resulting from the restructuring of the filter was investigated and the formulas were checked compensation of this transient process. It was found that the application of such compensation reduced the negative effects of the transition process. This decrease depends on the order of the filter, the adjustment coefficient (the ratio of cut frequencies before and after adjustment) and the moment of adjustment (for the periodic signal).
{"title":"Reduction of Signal Overshooting Caused by Cutoff Frequency Changing in the Controlled Digital Butterworth Low Pass Filter","authors":"H. S. Mogheer, I. Turulin","doi":"10.1109/ICIEAM54945.2022.9787099","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787099","url":null,"abstract":"Digital filters have been widely utilized in modern telecommunications systems, signal processing, and electronic systems applications Signals suffer from different disruption and noises in real life, using filter can eliminate these noises and ensure a clear signal. Sometimes a digital filter might experience a transient event which represented by an overshoot of the signal. This transient may, for example, be the result of changing the cutoff frequency during filter operation by changing its coefficients. In this paper we proposed a compensation technique to remove this overshoot using nth order digital Butterworth LPF filter. The proposed method demonstrates that we can eliminate an overshoot by using multiple filtering processes to the input signal to obtain a clear real signal with minimum to no disruption. By using the MATLAB program, the transient process resulting from the restructuring of the filter was investigated and the formulas were checked compensation of this transient process. It was found that the application of such compensation reduced the negative effects of the transition process. This decrease depends on the order of the filter, the adjustment coefficient (the ratio of cut frequencies before and after adjustment) and the moment of adjustment (for the periodic signal).","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114827464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-16DOI: 10.1109/ICIEAM54945.2022.9787102
V. V. Fedotov, V. Rozhkov
The article considers the ways of solving a number of problems arising in the design of robotic systems. A version of interaction among various types of software products intended to solve complex problems of designing the mechanical section and the drive of a robot is proposed. Modernization of the vector control system of a frequency-controlled asynchronous electric drive for the implementation of a tracking system with a mechanism-adaptive trajectory for setting the end effector position is considered. The expediency of introducing neural network technologies to solve positioning problems in an electric drive is demonstrated. The static and dynamic accuracy of the developed servo electric drive is determined by computer simulation. The features of the behavior of the system with a decrease in the maximum rate of rise of the setting trajectory are characterized. The adaptability of the setting trajectory with a change in the object mass is shown. The practical significance of the developed model is clarified.
{"title":"Formation of a Mechanism-Adaptive Setting Trajectory for the Movement of the Characteristic Point of an Industrial Robot Gripper","authors":"V. V. Fedotov, V. Rozhkov","doi":"10.1109/ICIEAM54945.2022.9787102","DOIUrl":"https://doi.org/10.1109/ICIEAM54945.2022.9787102","url":null,"abstract":"The article considers the ways of solving a number of problems arising in the design of robotic systems. A version of interaction among various types of software products intended to solve complex problems of designing the mechanical section and the drive of a robot is proposed. Modernization of the vector control system of a frequency-controlled asynchronous electric drive for the implementation of a tracking system with a mechanism-adaptive trajectory for setting the end effector position is considered. The expediency of introducing neural network technologies to solve positioning problems in an electric drive is demonstrated. The static and dynamic accuracy of the developed servo electric drive is determined by computer simulation. The features of the behavior of the system with a decrease in the maximum rate of rise of the setting trajectory are characterized. The adaptability of the setting trajectory with a change in the object mass is shown. The practical significance of the developed model is clarified.","PeriodicalId":128083,"journal":{"name":"2022 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127592427","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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