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Анотація
The control system providing the movement of the gripper of the robot manipulator along the predetermined trajectory is considered in this article. This control system is coordinated. The system provides a concerted change of the control variables under the dynamic modes. The review of modern achievements in corresponding field is presented. The purpose of scientific work is dynamic accuracy increase of the control system providing the movement of the gripper of the robot manipulator along the predetermined trajectory. The model of the control system providing the dynamic link of the control loops are presented in this paper. In this control system the dynamic link of the control loops is realized with the aid of the coordinating links. The designed model of the control system by drivers of the robot manipulator is required for methods of synthesis development of the coordinating complex systems. For comparative analysis we have presented the model of the program control system which has no dynamic link between the control loops. These models are realized in the MATLAB\Simulink program. The coordinating control law of the robot manipulator drives is shown in this paper. The simulation results of various control systems are presented. We have presented the schedules of transition process. They have shown the positional change of the robot gripper in time. On the basis of the simulation results we have confirmed the efficiency of the coordinating control system use for the control drivers of the robot manipulator during the rapid movement along the predetermined trajectory. We have confirmed that for improving the accuracy of the predetermined trajectory fulfillment is required to realize the parametric synthesis of control system considering the discrepancy ratio of the control variables minimization.
Ключові слова:
Координирующее управление, манипуляционный робот, движение по заданной траектории.
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Як цитувати
Гурский, А., Гончаренко, А., & Дубна, С. (2017). КООРДИНИРУЮЩАЯ СИСТЕМА АВТОМАТИЧЕСКОГО УПРАВЛЕНИЯ ПРИВОДАМИ РОБОТА-МАНИПУЛЯТОРА. Automation of Technological and Business Processes, 8(4). https://doi.org/10.15673/atbp.v8i4.578
Номер
Розділ
АВТОМАТИЧНІ І АВТОМАТИЗОВАНІ СИСТЕМИ УПРАВЛІННЯ ТЕХНОЛОГІЧНИМИ ПРОЦЕСАМИ
Посилання
References:
[1] L.M. Bojchuk, Sintez koordinirujushhih sistem avtomaticheskogo upravlenija, M.: JEnergoatomizdat, 1991;
[2] V.D. Romanenko and Ju.L. Mіljavs'kij “ Rozrobka algoritmu koordinujuchogo keruvannja dlja termozmіshuval'noї
ustanovki pri dії zovnіshn'ogo zburennja,” Naukovі vіstі NTUU KPІ, vol. ?, no. 1, – cc. 84–89, 2011;
[3] Ju.L. Mіljavs'kij, “ Rozrobka і doslіdzhennja sistemi koordinujuchogo cifrovogo keruvannja hіmіchnim reaktorom
іdeal'nogo peremіshuvannja ” v Sistemnij analіz ta іnformacіjnі tehnologії: materіali 14-ї Mіzhnarodnoї naukovotehnіchnoi
konferencіi, SAIT 2012, Kyiv, Ukraine, April 24, 2012, Ju.L. Mіljavs'kij, K.: NNK "ІPSA" NTUU "KPІ",
2012. с. 94;
[4] A.A. Gurskij et al., “Sistemy avtomaticheskogo regulirovanija proizvoditel'nosti holodil'nyh centrobezhnyh
kompressorov,” Holodil'naja tehnika i tehnologija, no. 5, pp. 72–76, 72–76, month 2013;
[5] A.A. Gurskij et al., “Sistema upravlenija, obespechivajushhaja jenergojeffektivnoe funkcionirovanie holodil'noj
turbokompressornoj ustanovki,” Avtomatizacija tehnologicheskih i biznes-processov, no. 1, pp. 62-66, month 2015;
[6] A.B. Filimonov and N.B. Filimonov, “O problematike sinteza koordinirujushhih sistem avtomaticheskogo upravlenija”
Izvestija JUzhnogo federal'nogo universiteta. Tehnicheskie nauki, vol. 128, no. 3, pp. 172–180, month 2012;
[7] V.A. Denisenko and A.A. Gurskij, “Realizacija dvizhenija po nelinejnym mnogoobrazijam,” v sbornik nauchnyh trudov
OGAH: tezisy dokladov tret'ego seminara Informacionnye sistemy i tehnologii, Odessa, Ukraine, 11-12october, V.A.
Denisenko, A.A. Gurskij, Одесса: ОГАХ, 2005, pp. 70 - 71;
[8] L.M. Bojchuk, “ Sintez nelinejnyh dvuhurovnevyh sistem koordinirujushhego upravlenija ” Avtomatika, vol. , no. 5, pp.
86-89, month 1982;
[9] I.V. Miroshnik, Soglasovannoe upravlenie mnogokanal'nymi sistemami, L.: Energoatomizdat, 1990;
[10] G.A. Cybul'kin, “ Koordinirujushhee upravlenie dvizheniem po dvumernomu mnogoobraziju s perekrestnymi
svjazjami mezhdu vosproizvodjashhimi sistemami ” Avtomatika, vol. , no. 2, pp. 83–87, month 1988;
[11] G.A. Cybul'kin, “Dvuhurovnevoe koordinirujushhee upravlenie manipuljacionnym robotom s kinematicheskoj
izbytochnost'ju, ” Problemy upravlenija i informatiki, vol. , no. 3, pp. 143–150, month 1995;
[12] G.A. Cybul'kin, Korrektirujushhee upravlenie traektornym dvizheniem, K.: Stal', 2012;
[13] Shahinpur M. Kurs robototehniki / M. Shahinpur; per. s angl. – M.: Mir, 1990. – 527 s. – ISBN 5-03-001375-X
[14] Firas A. Rahim. Fuzzy Logic Structure for On-line Control of Robot Manipulator in Unknown Environment =
Struktura nechetkoj sistemy dlja upravlenija robotom-manipuljatorom v rezhime on-lajn v neizvestnoj srede / A.G.
Bulgakov, Firas A. Rahim // Prospects in Mechanical Engineering. Faculty of Mechanical Engineering: 53th
Internationales Wissenschaftliches Kolloquium Technische Universitt Ilmenau, 08 – 12 September 2008. S. 183–184.
[15] Firas A. Rahim, Metody postroenija intellektual'nyh sistem planirovanija i upravlenija peremeshheniem robotamanipuljatora
v neizvestnoj srede: avtoreferat dis. kandidata teh. nauk: 05.02.05, Novocherkassk, 2009;
[16] V.M. Bujankin, “Dvuhkonturnaja sistema nejroupravlenija jelektroprivodom s nejrosamonastrojkoj;”
Nejrokomp'jutery: razrabotka i primenenie, no. 8−9, pp. 90−94, month 2006;
[17] Z.-H. Jiang and T. Ishita, “A Neural Network Controller for Trajectory Control of Industrial Robot Manipulators,”
Journal of Computers, vol. 3, no. 8, pp. 107–114, Jan. 2008;
[18] Mehmet Bodur, “An Adaptive Cross-Entropy Tuning of the PID Control for Robot Manipulators,” Proceedings of the
World Congress on Engineering 2007, WCE 2007 vol. 1, no., pp. 24–131, July 2007;
[19] Aldo R. Sartorius Castellanos, “Virtual and Remote Laboratory for Robot Manipulator Control Study,” Int. J. Engng
Ed, vol. 22, no. 4, pp. 702–710, month 2006;
[20] А.А. Kobzev et al., “Analiz algoritmov korrekcii programmnoj traektorii v ustrojstve formirovanija upravljajushhego
vozdejstvija dlja privodov robototehnicheskih system, ” Sovremennye problemy nauki i obrazovanija, no. 6, pp. 51-59,
month 2014;
[21] V.T. Morozovskij, Mnogosvjaznye sistemy avtomaticheskogo regulirovanija. M.: JEnergija, 1970;
[22] S.A. Bobrikov and E.D. Pichugin, “Optimal'noe cifrovoe upravljajushhee ustrojstvo v sisteme s zapazdyvaniem pri
zadannom kojefficiente usilenija, ” Elektrotehnicheskie i komp'juternye sistemy, no. 10, pp. 68–73, month 2013;
[23] M.Z. Zgurovskij, Integrirovannye sistemy optimal'nogo upravlenija i proektirovanija. K.: Vyshha shk., 1990.
[1] L.M. Bojchuk, Sintez koordinirujushhih sistem avtomaticheskogo upravlenija, M.: JEnergoatomizdat, 1991;
[2] V.D. Romanenko and Ju.L. Mіljavs'kij “ Rozrobka algoritmu koordinujuchogo keruvannja dlja termozmіshuval'noї
ustanovki pri dії zovnіshn'ogo zburennja,” Naukovі vіstі NTUU KPІ, vol. ?, no. 1, – cc. 84–89, 2011;
[3] Ju.L. Mіljavs'kij, “ Rozrobka і doslіdzhennja sistemi koordinujuchogo cifrovogo keruvannja hіmіchnim reaktorom
іdeal'nogo peremіshuvannja ” v Sistemnij analіz ta іnformacіjnі tehnologії: materіali 14-ї Mіzhnarodnoї naukovotehnіchnoi
konferencіi, SAIT 2012, Kyiv, Ukraine, April 24, 2012, Ju.L. Mіljavs'kij, K.: NNK "ІPSA" NTUU "KPІ",
2012. с. 94;
[4] A.A. Gurskij et al., “Sistemy avtomaticheskogo regulirovanija proizvoditel'nosti holodil'nyh centrobezhnyh
kompressorov,” Holodil'naja tehnika i tehnologija, no. 5, pp. 72–76, 72–76, month 2013;
[5] A.A. Gurskij et al., “Sistema upravlenija, obespechivajushhaja jenergojeffektivnoe funkcionirovanie holodil'noj
turbokompressornoj ustanovki,” Avtomatizacija tehnologicheskih i biznes-processov, no. 1, pp. 62-66, month 2015;
[6] A.B. Filimonov and N.B. Filimonov, “O problematike sinteza koordinirujushhih sistem avtomaticheskogo upravlenija”
Izvestija JUzhnogo federal'nogo universiteta. Tehnicheskie nauki, vol. 128, no. 3, pp. 172–180, month 2012;
[7] V.A. Denisenko and A.A. Gurskij, “Realizacija dvizhenija po nelinejnym mnogoobrazijam,” v sbornik nauchnyh trudov
OGAH: tezisy dokladov tret'ego seminara Informacionnye sistemy i tehnologii, Odessa, Ukraine, 11-12october, V.A.
Denisenko, A.A. Gurskij, Одесса: ОГАХ, 2005, pp. 70 - 71;
[8] L.M. Bojchuk, “ Sintez nelinejnyh dvuhurovnevyh sistem koordinirujushhego upravlenija ” Avtomatika, vol. , no. 5, pp.
86-89, month 1982;
[9] I.V. Miroshnik, Soglasovannoe upravlenie mnogokanal'nymi sistemami, L.: Energoatomizdat, 1990;
[10] G.A. Cybul'kin, “ Koordinirujushhee upravlenie dvizheniem po dvumernomu mnogoobraziju s perekrestnymi
svjazjami mezhdu vosproizvodjashhimi sistemami ” Avtomatika, vol. , no. 2, pp. 83–87, month 1988;
[11] G.A. Cybul'kin, “Dvuhurovnevoe koordinirujushhee upravlenie manipuljacionnym robotom s kinematicheskoj
izbytochnost'ju, ” Problemy upravlenija i informatiki, vol. , no. 3, pp. 143–150, month 1995;
[12] G.A. Cybul'kin, Korrektirujushhee upravlenie traektornym dvizheniem, K.: Stal', 2012;
[13] Shahinpur M. Kurs robototehniki / M. Shahinpur; per. s angl. – M.: Mir, 1990. – 527 s. – ISBN 5-03-001375-X
[14] Firas A. Rahim. Fuzzy Logic Structure for On-line Control of Robot Manipulator in Unknown Environment =
Struktura nechetkoj sistemy dlja upravlenija robotom-manipuljatorom v rezhime on-lajn v neizvestnoj srede / A.G.
Bulgakov, Firas A. Rahim // Prospects in Mechanical Engineering. Faculty of Mechanical Engineering: 53th
Internationales Wissenschaftliches Kolloquium Technische Universitt Ilmenau, 08 – 12 September 2008. S. 183–184.
[15] Firas A. Rahim, Metody postroenija intellektual'nyh sistem planirovanija i upravlenija peremeshheniem robotamanipuljatora
v neizvestnoj srede: avtoreferat dis. kandidata teh. nauk: 05.02.05, Novocherkassk, 2009;
[16] V.M. Bujankin, “Dvuhkonturnaja sistema nejroupravlenija jelektroprivodom s nejrosamonastrojkoj;”
Nejrokomp'jutery: razrabotka i primenenie, no. 8−9, pp. 90−94, month 2006;
[17] Z.-H. Jiang and T. Ishita, “A Neural Network Controller for Trajectory Control of Industrial Robot Manipulators,”
Journal of Computers, vol. 3, no. 8, pp. 107–114, Jan. 2008;
[18] Mehmet Bodur, “An Adaptive Cross-Entropy Tuning of the PID Control for Robot Manipulators,” Proceedings of the
World Congress on Engineering 2007, WCE 2007 vol. 1, no., pp. 24–131, July 2007;
[19] Aldo R. Sartorius Castellanos, “Virtual and Remote Laboratory for Robot Manipulator Control Study,” Int. J. Engng
Ed, vol. 22, no. 4, pp. 702–710, month 2006;
[20] А.А. Kobzev et al., “Analiz algoritmov korrekcii programmnoj traektorii v ustrojstve formirovanija upravljajushhego
vozdejstvija dlja privodov robototehnicheskih system, ” Sovremennye problemy nauki i obrazovanija, no. 6, pp. 51-59,
month 2014;
[21] V.T. Morozovskij, Mnogosvjaznye sistemy avtomaticheskogo regulirovanija. M.: JEnergija, 1970;
[22] S.A. Bobrikov and E.D. Pichugin, “Optimal'noe cifrovoe upravljajushhee ustrojstvo v sisteme s zapazdyvaniem pri
zadannom kojefficiente usilenija, ” Elektrotehnicheskie i komp'juternye sistemy, no. 10, pp. 68–73, month 2013;
[23] M.Z. Zgurovskij, Integrirovannye sistemy optimal'nogo upravlenija i proektirovanija. K.: Vyshha shk., 1990.