Mathematical Models of the Automatic Control Systems SEMS Modules

Abstract

Here, we describe the structure of the synthesized mathematical model of the automatic control module SM8 SEMS with parallel channel control, measurement and movement, as well as simple mathematical models of blocks of the system, without taking into account possible jamming of control rods and legs of reconfiguration of platforms of electromechanical system related to the possible nonsync drives operation. The possibility of using it for computer modeling and studying the characteristics and properties of standard modules SEMS is shown in the article It is noted that for the record of jamming, the considered mathematical model must be complemented by a block of logical analysis of displacements and block of choosing the optimum path. In this case, the control system itself has to be provided with additional software for computer blocks or supplemented by a force sensor in the legs and the control rods to prevent jamming situations. At the same time, the structure becomes more complicated,; however, the quality and reliability increase.