А -Е Е Е А Ы Е , Е А
е яб ь–к яб ь 2016 16№ 5 ISSN 2226-1494 http://ntv.ifmo.ru/ SCIENTIFIC AND TECHNICAL JOURNAL OF INFORMATION TECHNOLOGIES, MECHANICS AND OPTICS September–October 2016 Vol. 16 No 5 ISSN 2226-1494 http://ntv.ifmo.ru/en
62-503.57
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15.06.16, 01.08.16
doi: 10.17586/2226-1494-2016-16-5-787-795 –
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-, . 2016. . 16. № 5. . 787–795. doi: 10.17586/2226-1494-2016-16-5-787-795
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№ 16-38-00638
_a
DISTURBANCE ERROR INVARIANCE IN AUTOMATIC CONTROL SYSTEMS
FOR TECHNOLOGICAL OBJECT TRAJECTORY MOVEMENT
A.V. Lekareva
a aVladimir State University named after Alexander and Nikolay Stoletovs, Vladimir, 600000, Russian Federation
Corresponding author: tasya671@rambler.ru
Article info
Received 15.06.16, accepted 01.08.16 doi: 10.17586/2226-1494-2016-16-5-787-795 Article in Russian
For citation: Lekareva A.V. Disturbance error invariance in automatic control systems for technological object trajectory movement.
Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2016, vol. 16, no. 5, pp. 787–795. doi: 10.17586/2226-1494-2016-16-5-787-795
Abstract
The essence of the first method lies in injection of additional component into the already established control signal and
formation of the channel for that component. Control signal correction during the signal synthesis stage in the control device
constitutes the basis for the second method. Research results have shown high efficiency of application for both correction
methods. Both methods have roughly the same precision. We have shown that the correction in the control device is
preferable because it has no influence on the inner contour of the system. We have shown the necessity of the block usage
with the variable transmission coefficient, which value is determined by technological trajectory parameters. Research results
can be applied in practice for improvement of the precision specifications of automatic control systems for trajectorial
manipulators.
Keywords
combined control, the fourth modified invariance form, adaptation contour, technological trajectory, handling robot
Acknowledgements
Research is carried out under financial support of the Russian Foundation for Basic Research as part of the scientific project
No. 16-38-00638 mol_a.
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