Technique for tuning digital controllers of robot drives, taking into account the correction of their dynamic characteristics

Authors

DOI:

https://doi.org/10.18372/2073-4751.68.16526

Keywords:

robot, optimization, drive, digital controller

Abstract

The method of synthesis of regulators for digital system of automatic control of anthropomorphic robot is offered. This technique consists in the complex application of several known methods. The correction method allows you to build a correction algorithm that improves the dynamic properties of the drive of individual parts of the anthropomorphic robot. The Ziegler-Nichols method allows to obtain the first approximation to the optimal value of the parameters of digital proportional-integral-differential controllers of the inner and outer contours of the digital system of automatic control of the speed of the working body for a certain degree of anthropomorphic robot mobility. The numerical method is used for parametric optimization of digital proportional-integral-differential controllers according to the selected criterion.

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Published

2021-12-22

How to Cite

Lysenko, O., Tachinina, O., Semenov, V., & Sushyn, I. (2021). Technique for tuning digital controllers of robot drives, taking into account the correction of their dynamic characteristics. Problems of Informatization and Control, 4(68), 44–51. https://doi.org/10.18372/2073-4751.68.16526

Issue

Vol. 4 No. 68 (2021)

Section

Статті

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