Abstract
This chapter is devoted to mechanisms and systems of automatic control. It is shown that there is a fairly large variety of standard SEMS models, on the basis of which it is possible to design various intelligent robots with parallel architecture of the SEMS type. Kinematic and dynamic models of SEMS modules are considered, which can be used in the synthesis of an automatic control system with the required quality of dynamic processes. Variants of automatic control systems, including those with neuroprocessor controllers, are considered. Particular attention is paid to the methods of synthesis of optimal control algorithms using mathematical programming in ordinal scales, generalized mathematical programming and multistage generalized mathematical programming. In these methods, they move from quantitative to ordinal scales, i.e. from models that require solving functional problems to models that take into account the preferences of persons involved in making a choice decision. In addition, methods are described for dealing with jamming in electric drives of SEMS modules and the proposed methods for modeling failures, which make it possible to increase the probability of predicting the time of occurrence of a critical situation for each SEMS block. Due to this, the durability of the system is increased and the timely activation of the redundancy mechanism is ensured.
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Gorodetskiy, A.E., Tarasova, I.L. (2023). Mechanisms and Control Systems. In: Introduction to the Theory of Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 486. Springer, Cham. https://doi.org/10.1007/978-3-031-36052-7_1
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