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SYNTHESIS OF THE REGULATOR FOR ROBOT’S ARM SERVING BY POLES METHOD PLACEMENT USING

Markiyan Nakonechnyi, Orest Ivakhiv, Oleksandr Viter

Abstract


This paper presents the synthesis of a controller for robot arm servo drive by placing the poles of the transfer function. The problem of synthesis is determined, based on the desired duration of the transition process, the desired location of the roots of the characteristic equation of closed system and space state variables regulator factors are found that provide the desired system performance. There was used Ackerman’s formula for the synthesis of regulator that allows for the placement of all poles of the transfer function of a closed system at given points of the plane of the roots of the characteristic equation. Synthesis by placing poles is based on the use of model automatic control system state variables in space. As well as there is synthesized block diagram of the controller for robot arm servo drive and both held it modeling in MATLAB and moved it in Simulink environment. Due to the stated values of transition time and output signal displacement that provide the allowed divergence between output signal and sample, proposed control system works in automatic mode.

Keywords


synthesis; controller; robot; servo drive; poles; state variables; MATLAB; Simulink.

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