{"title":"机器人技术综合体中多电路控制系统的建模","authors":"Oleg Khasanov, Z. Khasanov, N. Khasanova","doi":"10.1109/ICOECS46375.2019.8949965","DOIUrl":null,"url":null,"abstract":"The problem of adaptive-coordinated control of a robotic technological complex of plasma coating is discussed. The possibilities of application of adaptive control algorithms for acceleration and braking of actuating mechanisms of electric drives under conditions of incomplete a priori information are given. To improve the quality of motion control of interconnected electric drives, it is proposed to use a linearized dynamic model for each localized section of the trajectory, the characteristics of which are detailed by means of robust-adaptive control during operation. The simulation is carried out taking into account the dynamic characteristics of the multi-connected electric drives of the robotic complex.","PeriodicalId":371743,"journal":{"name":"2019 International Conference on Electrotechnical Complexes and Systems (ICOECS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"The modeling of multicircuit control systems in robotized technological complex\",\"authors\":\"Oleg Khasanov, Z. Khasanov, N. Khasanova\",\"doi\":\"10.1109/ICOECS46375.2019.8949965\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The problem of adaptive-coordinated control of a robotic technological complex of plasma coating is discussed. The possibilities of application of adaptive control algorithms for acceleration and braking of actuating mechanisms of electric drives under conditions of incomplete a priori information are given. To improve the quality of motion control of interconnected electric drives, it is proposed to use a linearized dynamic model for each localized section of the trajectory, the characteristics of which are detailed by means of robust-adaptive control during operation. The simulation is carried out taking into account the dynamic characteristics of the multi-connected electric drives of the robotic complex.\",\"PeriodicalId\":371743,\"journal\":{\"name\":\"2019 International Conference on Electrotechnical Complexes and Systems (ICOECS)\",\"volume\":\"24 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 International Conference on Electrotechnical Complexes and Systems (ICOECS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICOECS46375.2019.8949965\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 International Conference on Electrotechnical Complexes and Systems (ICOECS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICOECS46375.2019.8949965","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The modeling of multicircuit control systems in robotized technological complex
The problem of adaptive-coordinated control of a robotic technological complex of plasma coating is discussed. The possibilities of application of adaptive control algorithms for acceleration and braking of actuating mechanisms of electric drives under conditions of incomplete a priori information are given. To improve the quality of motion control of interconnected electric drives, it is proposed to use a linearized dynamic model for each localized section of the trajectory, the characteristics of which are detailed by means of robust-adaptive control during operation. The simulation is carried out taking into account the dynamic characteristics of the multi-connected electric drives of the robotic complex.
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