Motion control of mechanical systems under conditions of force-moment uncertainty of the external environment based on the principle of the Archimedes’ lever

Abstract

If it is impossible to directly control the movement of a heavily loaded mechanical system with a limited power source of energy (HM-motor) under the condition of a force-torque uncertainty of the medium, it is shown that an effective solution to this problem is the transition to robust control, the technical implementation of which is achieved by embedding a gearbox-variator in the control system, which is one of the modern modifications of the classic Archimedes’ lever. Keywords: source of limited mechanical power, force-torque uncertainty, force-torque robustness, inherent robustness, mechanical characteristic, gearbox-variator, power sources, robustness index, dynamic self-levelling, d'Alembert's principle, Archimedes' lever equation. lutikovaolga@mail.ru