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Industrial Automatic Control Systems and Controllers

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Working out of a Method of the Adaptive Subordinated Regulation neyroregulators for Management of Multiplanimetric Digital Watching Electric Drives for Mechanical Systems of the Robot with Parallel Kinematics
V.M. Buyankin

In modern control systems of multiplanimetric digital watching electric drives for adaptive mechanical systems of robots with parallel kinematics feedback withpresence of the several contours which quantity corresponds to quantity of controllable parametres are widely used, such as the current, pressure of an anchor, speed of rotation, an angle of rotation electric motor, etc. On an input of a regulator of each of contours are compared the signals proportional to set and valid values of target size of the given contour, and target pressure of a regulator serves as a handing over signal for the subsequent contour. The systems constructed by such principle, name systems of the subordinated regulation. However presence of a considerable quantity of nonlinear characteristics in electric drives reduces accuracy and quality of work of the subordinated control systems. Therefore it is expedient to develop for elimination of these lacks adaptive neyroregulator which compensate to nonlinearity of objects of management, raising static and dynamic characteristics.
Keywords: mechatronic systems; robots manipulators; digital servo drives; the ensemble of neyroidentifi cation.

Contacts: E-mail: Viktor-Buyankin@yandex.ru

Pp. 46-50.

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