机械臂数字双回路动态校正控制系统的综合

Modeling, Control and Information Technologies Pub Date : 2019-11-05 DOI:10.31713/mcit.2019.47

M. Klepach, I. Kovela, Serhiy Kovela, V. Drevetskiy

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摘要

给出了包含系统轮廓离散周期的调节参数空间中具有离散控制器的双回路系统的多准则参数综合方法。算例验证了该方法的有效性。将所开发的控制系统应用于机械臂的仿真模型中

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Synthesis of Digital Two-Circuit Control Systems With Dynamic Correction for Arm Manipulator

The method of multicriterial parametric synthesis of two-circuit systems with discrete controllers in the space of parameters of their adjustment, including periods of discreteness of system contours is offered. The example that proves the effectiveness of this method was shown. The developed control system was applied to the simulation model of arm manipulator

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Modeling, Control and Information Technologies

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