Method of analytical synthesis of coording control systems

The problems of coordinating control are discussed. The method of analytical synthesis of coordinating automatic systems is proposed. Their purpose of control is formulated in the form of the task of control relations between the state variables of a multichannel object or a group of objects. The problem of coordination is studied in a different formulation compared to the classical papers. Control processes are formed by means of two multi-dimensional contours: the contour of aggregate control by the dynamics of the object as a whole, and the contour of regulation of inter-coordinate relations. The autonomy of the second contour plays a key role in the proposed solutions. The procedures for calculating the control contours are based on the devise of the transfer matrices apparatus.

AUTOMATIC SYNTHESIS OF PETRI NETS AT TUNING UP OF THE COORDINATING AUTOMATIC CONTROL SYSTEMS

The process of automated tuning for the coordinating automatic control system is considered in this paper. This process of tuning for the coordinating control system is linked to the automatic synthesis of Petri nets based on functioning of the artificial neural network. Thereby, we can automate the process of tuning and synthesis of system models and also solve the urgent task linked to the minimization of tuning time for the multilevel control systems. The purposes of the scientific work are time reduction of the tuning and automatization of the tuning for the multilevel coordinating systems of the automatic control. In order to achieve this purpose in the MATLAB \ Simulink software environment it is necessary to devel- op the system for automated tuning of the regulators of various levels for the coordinating automatic control system. The application of artificial neural network with automatic synthesis of Petri nets allows to introduce intelligent technology in the automated tuning system. In this work we have presented the corresponding block diagrams of considered automated tuning system and the principles of its functioning. The certain principle of the formation of Petri nets is proposed. These Petri nets represent the algorithms of tuning in the systems for analysis the corresponding processes. The formation of the composition in the scheme from Petri net during the functioning of the artificial neural network is presented in the paper. The results of experiment are presented in the final part of this work. This time characteristics of the pro- cess of setting up for the coordinating automatic control system of foodstuffs cooling in tunnel chamber. The experiments were conducted in the Matlab 2012a environment. Based on the results of the experiment we have depicted the process of synthesis of the Petri net representing the system tuning algorithm. The performed experiments have showed the principal suitability of the automated search system for the settings of the regulators of various levels of the coordinating control system. The technique of automatic synthesis of Petri nets based on the functioning of artificial neural networks has obtained the further devel- opment while performing the approved task in the scientific paper.

КООРДИНИРУЮЩАЯ СИСТЕМА АВТОМАТИЧЕСКОГО УПРАВЛЕНИЯ ПРИВОДАМИ РОБОТА-МАНИПУЛЯТОРА

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.