The modeling of multicircuit control systems in robotized technological complex

Abstract

The problem of adaptive-coordinated control of a robotic technological complex of plasma coating is discussed. The possibilities of application of adaptive control algorithms for acceleration and braking of actuating mechanisms of electric drives under conditions of incomplete a priori information are given. To improve the quality of motion control of interconnected electric drives, it is proposed to use a linearized dynamic model for each localized section of the trajectory, the characteristics of which are detailed by means of robust-adaptive control during operation. The simulation is carried out taking into account the dynamic characteristics of the multi-connected electric drives of the robotic complex.