DOI 10.17586/002134542016592120127
UDC 681.5.621.3.07
COORDINATED CONTROL OF LINEAR OBJECT ON LINEAR MANIFOLD
ITMO Univresity, 197101, SaintPetersburg, Russian Federation; Professor
A. A. Plotitsyn
ITMO University, Saint Petersburg, Russia; engineer
A. G. Mamatov
ITMO University, Saint Petersburg, 197101, Russian Federation; Assistant
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Abstract. Linear object under consideration provides execution of several manufacturing process and at the same time has to maintain a predetermined relation between the controllable variables of the object itself. A special case when the correlation between the controllable variables may be represented as linear manifold is studied. The object model is divided into two parts by using the error vector of deviation from the linear manifold; the first part of the model corresponds to execution of the manufacturing process, while the second part is used to eliminate deviation from the chosen manifold. Control laws for the both components of the model are synthesized independently in the form of difference equations. As an example, the problem of control for twomotor object is analyzed; the control system of the object should provide zero tracking error and maintain a certain ratio between rotation angles of motors’ rotors, which is equivalent to the presence of the mechanical reduction gear between rotors. Results of the control system modeling are presented.
Keywords: multimotor linear object, linear manifold, coordinated control, electronic reduction gear
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