РОБОТОТЕХНІЧНА СИСТЕМА З ОДНОТИПНИМИ ЧАСТОТНО-ЗАЛЕЖНИМИ КОМПОНЕНТАМИ У ТРАКТІ ОБРОБКИ СИГНАЛІВ ДАТЧИКІВ

Abstract

Abstract. The issue of building a sensor signal processing path on the same type of components in computer robotic systems, which can comprehensively rebuild their characteristics by software and hardware means depending on the operating conditions to increase the system efficiency, is considered. Different types of connections of analog and digital second-order frequency-dependent components are considered, since a high-order processing path is easier to form from the same type of low-order components. This is due to the low cost of calculating the coefficients of the transfer function and the number of coefficients, ease of adjustment or reconstruction, moderate power consumption and processing time. It is shown that a serial connection is best suited for the sensor signal processing path, since signal distortion occurs in other connections. To increase the order of the processing path, it is suggested to use a serial connection of the same type of frequency-dependent components of the second order. Obtained ratios that allow to calculate the frequency of the main typical component based on the required frequency of several components connected in series. These ratios are very difficult to implement in robotic systems, as they do not have large computing resources. Since the range of frequencies and the number of components are limited, it is recommended to calculate the necessary frequencies in advance and summarize them in the table. When working in real time, it is advisable to use these tables for rebuilding. When connecting analog and digital basic filters of the same type in series, it is advisable to use the main filters of the second order of Butterworth and Chebyshev of the second kind with flat frequency response in the passband, which will ensure a good increase in the steepness of the frequency response decline and make it possible to predict the value of the cutoff frequency for the low-pass filter. And for bandpass filters, only Butterworth filters. Keywords: Industry 4.0-5.0, robotic systems, frequency-dependent components, component connection types, series connection, main typical component, amplitude-frequency characteristic.