Multicriteria adaptation of robotic groups to dynamically changing conditions

Misyurin, S. Yu.; Nelyubin, A. P.; Ivlev, V. I.

doi:10.1088/1742-6596/788/1/012027

Cited by 5 publications

(2 citation statements)

References 7 publications

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“…In previous papers by the authors [5][6][7][8], it was shown that in complex, multi-parameter mechanical systems, it is recommended to use dimensionless models in which the actual parameters and other characteristics of the system are represented as dimensionless complexes. This reduces the number of basic parameters and allows us to obtain generalized characteristics, which facilitates the analysis and synthesis of the drive (mechatronic) complex.…”

Section: Transformation Of the Model Into A Dimensionless Formmentioning

confidence: 99%

“…However, there is little information about the methods of synthesis and optimization of the structure and parameters of such systems. To solve such problems, it is proposed to use the approaches developed by the authors based on an interactive procedure for the synthesis of dynamic systems, rationalization of their mathematical models, methods of matching the processes of dynamics and control of individual blocks, as well as the active use of similarity theory and, in particular, the analogy theory, in order to summarize the results [5][6][7][8]. In present work, this problem is solved by the example of controlling the movement of a heavy object moved by two synchronously working piston hydraulic engines.…”

Section: Introductionmentioning

confidence: 99%

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Visualization of the interconnection between dynamics of the system and its basic characteristics

Kreinin¹,

Misyurin²,

Nelyubin³

et al. 2020

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The paper presents a dimensionless mathematical model of the dynamics of the drive complex and the visualization of the solution of this model, which allows to obtain comparative estimates (characteristics) of the solutions obtained in the first approximation.The authors proposed an original control system for the drive complex of two hydraulic actuators to lift the load in parallel mode. A distinctive feature is the adopted control circuit of the complex through three hydraulic switchgears, which are responsible for regulating the overall object lifting (and/or lowering) speed and maintaining the horizontal position of the object within the specified accuracy in the presence of disturbing factors of different nature. The difference in displacements of the hydraulic actuator rods from some initial (basic) position at a given time is a sign of deviation of the object from the horizontal position. The mathematical model of the object obtained is investigated in dimensionless variables, which greatly simplifies the visual synthesis of the object.

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Section: Transformation Of the Model Into A Dimensionless Formmentioning

confidence: 99%