| Issue |
MATEC Web Conf.
Volume 148, 2018
International Conference on Engineering Vibration (ICoEV 2017)
|
|
|---|---|---|
| Article Number | 11006 | |
| Number of page(s) | 4 | |
| Section | Active Vibration Control | |
| DOI | https://doi.org/10.1051/matecconf/201814811006 | |
| Published online | 02 February 2018 | |
Synthesis of control algorithms for robotic platform with electro-hydraulic drive
BSTU after V. G. Shoukhov, Dep. of machine building technology, 308012 Kostyukov str., Russia
* Corresponding author: rl_bgtu@intbel.ru
The article deals with a robotic vibroprotection platform with electro-hydraulic drive. Built mathematical model systems from the account for characteristics of the drive. Synthesized invariant controller by system state that uses reverse ties coefficients. Controller synthesized at discrete area with a restriction in the magnitude of the relative displacement of the object relative to the base. To ensure the stability of the controller are selected in regulation law amendment providing the desired value of the relative displacement. The results of mathematical modeling are presented.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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