Abstract
In this paper, using the example of a two-mass calculation scheme, which can be used to describe the dynamic properties of many mechatronic systems with elastic elements, we present the results of research on finding control actions that provide compensation of dynamic errors based on solving the inverse dynamic problems according to a given law of change of the force in an elastic element. It is shown that the found control actions in the form of time dependences make it possible not to impose any restrictions on the methods of their technical implementation and thereby provide a comprehensive solution the problem of compensating for dynamic errors caused by elastic deformations of mechanical elements.
Highlights
IntroductionAn increase in the speeds and loads of modern technological and transport machines (metalworking machines, machining centers and flexible production modules, industrial and manipulation robots, ground and underground transport and technological complexes, walking and bucket wheel excavators, etc.), which can be attributed to the class of mechatronic systems, due to the presence of digital control systems, makes it necessary to take into account the elastic properties of the design and develop methods and means of compensating the dynamic errors caused by oscillatory movements of the actuators, which disrupt the accuracy of functioning, increase the time of performing operations, reduce the strength of the main elements, efficiency, and reliability works [1,2,3,4,5,6]
An increase in the speeds and loads of modern technological and transport machines, which can be attributed to the class of mechatronic systems, due to the presence of digital control systems, makes it necessary to take into account the elastic properties of the design and develop methods and means of compensating the dynamic errors caused by oscillatory movements of the actuators, which disrupt the accuracy of functioning, increase the time of performing operations, reduce the strength of the main elements, efficiency, and reliability works [1,2,3,4,5,6]
In this paper, using the example of a two-mass calculation scheme, which can describe the dynamic properties of many mechatronic systems with elastic element, we present the results of studies on determining the control actions that compensate the dynamic errors based on solving the inverse dynamic problems according to a given law of change of the force in an elastic element
Summary
An increase in the speeds and loads of modern technological and transport machines (metalworking machines, machining centers and flexible production modules, industrial and manipulation robots, ground and underground transport and technological complexes, walking and bucket wheel excavators, etc.), which can be attributed to the class of mechatronic systems, due to the presence of digital control systems, makes it necessary to take into account the elastic properties of the design and develop methods and means of compensating the dynamic errors caused by oscillatory movements of the actuators, which disrupt the accuracy of functioning, increase the time of performing operations, reduce the strength of the main elements, efficiency, and reliability works [1,2,3,4,5,6]. The technical solutions proposed in these works are based more on engineering experience and intuition than on a scientific and methodological basis, which would allow formalizing the procedure for the structuralparametric synthesis of controls means the dynamic state of mechatronic systems. In this regard, it becomes necessary to develop a unified approach to the problems of controlling the dynamic state of such systems, based on a rational combination of methods of machine mechanics with the potential capabilities of control systems and modern means of information processing and decision making. In this paper, using the example of a two-mass calculation scheme, which can describe the dynamic properties of many mechatronic systems with elastic element, we present the results of studies on determining the control actions that compensate the dynamic errors based on solving the inverse dynamic problems according to a given law of change of the force in an elastic element
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