Synthesizing a motor control system for the parallel kinematics mechanisms with a spread in their characteristics

The paper considers the issues of synthesizing the parallel structure manipulation mechanisms being advantageous over the serial structure mechanisms. It shows that such mechanisms have several interconnected parallel kinematic links complicating design and development of a control system. It is necessary to synthesize a multidimensional automatic control system to control the parallel structure manipulation mechanism, i.e. a multichannel object. The paper demonstrates relevance of synthesizing a robust control system for the DC motors with different parameters. For practical implementation of the control system on a microcontroller, the controller is discretized in order to obtain its difference equation, which makes it possible to synthesize an algorithm for generating a control signal supplied to the actuator driver. A structural diagram of the closed system is developed taking into account a differentiating link for computing the output coordinate. Ensuring the specified control time is the main requirement imposed on the controllers being developed. Simulation results confirm the efficiency of using the minimum energy criterion method in implementing a robust control system.
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