Automatic Control Panel Module SEMS

Abstract

Problem statement: the results of the control system simulation SEMS module, which has more than three parallel kinematic constraints. Described control objects form the basis manipulator robots, hexapods, Stewart platforms, simulators and others. Purpose of research A distinctive feature of the control system is the use of the reduced status of the device identifier in conjunction with sensors of linear elongated stem, which at the relative simplicity of the measuring system, ensure the required quality of dynamic processes. To improve the quality of automatic dynamic control of multilink mechanism requires the use of position sensors and gyroscopic solid velocity. Also to set sensors relative angles of rotation hinge elements. Results: By the results of the work include the creation of a computer model hexapod in the Simulink computing environment, taking into account the many nonlinear features multilink mechanisms and allows the study and synthesis of control systems with a minimum amount of time to change the parameters of the initial conditions and the structure of the model. Practical significance Multilink mechanisms can be applied in the management of the mutual position of the elements of the system mirror telescopes. On the basis of the Hexapod can be constructed control system positions the main mirror second reflector, a receiving device and shields adaptive reflecting surface.