ALGORITHM FOR CALCULATING THE DYNAMICS OF A MULTIOUTPUT ELECTROMAGNETIC MECHATRONICIC MODULE
ALGORITHM FOR CALCULATING THE DYNAMICS OF A MULTIOUTPUT ELECTROMAGNETIC MECHATRONICIC MODULE
Ключевые слова:
Electromagnetic mechatronicic module • multi-output • constructive calculation scheme • mathematical model • calculation algorithm • dynamic descriptions.Аннотация
In this article, an algorithm for calculating the dynamic characteristics of a multi-output electromagnetic mechatronicic module is presented, the design of an electromagnetic mechatronicic module is proposed, which allows to improve the weight-gauge indicators, simplify the structural schemes, and perform step movements according to spatial coordinates with high accuracy and speed. The dynamic characteristics of the device depend on a number of factors, such as the transient processes that occur when the electromagnetic motor, which is the basis of the mechatronicic module, is connected to a constant voltage, the inertia force, the inductance of the control circuits, the load power, the switching mode of the circuit. Taking into account these factors, the design calculation scheme of the multi-output electromagnetic mechatronic module, which allows to calculate the dynamic characteristics, is presented. Based on the mathematical models of the developed mechatronicic module, the process of calculating the structural parameters is performed step by step for one non-homogeneous electromagnetic core and allows to determine the dynamics of the entire multi-part structure, taking into account the matching of the boundary conditions for speed and acceleration at the beginning and end of the executive body. Based on the mentioned mathematical models, an algorithm for calculating the dynamic characteristics of the multi-output electromagnetic mechatronicic module was also developed, and the algorithm allows to calculate the dynamic characteristics of various mechatronicic modules built on the basis of the multi-output electromagnetic engine.
Библиографические ссылки
Glazunov V.A. (2018). Novye mehanizmy v sovremennoj robototehnike. M.: Tehnosfera. p. 298–316, (in. Russian).
Jurevich E.I. (2005). Osnovy robototehnika - 2-e izd. pererab. i dop. -SPB PHV Peterburg. P.395–416, (in. Russian).
Anh Tuan Dang, Magali Bosch-Mauchand, Neha Arora, Christine Prelle, Joanna Daaboul. (2016). Electromagnetic modular Smart Surface architecture and control in a microfactory context / Computers in Industry Volume 81, September, p. 152-170.
Egorov O.D., Poduraev Ju.V. (2004) Konstruirovanie mehatronnyh modulej: Uchebnik. M.: MGTU "STANKIN". p. 346–360, (in. Russian).
Angeles, J. (2014) Fundamentals of Robotic Mechanical Systems. Theory, Methods, Algorithms, Fourth Edition, Springer, New York, p. 634–660.
Afonin V.L. i dr. (2006) Obrabatyvajushhee oborudovanie na osnove mehanizmov parallel'noj struktury.-Izdatel'stvo MGTU STANKIN. p. 428–452, (in. Russian).
Afonin A. A., Bilozor R. R., Grebenikov V. V. (1986) Dyhnenko Ju. I., Mel'nichuk L. P., Jelektromagnitnyj privod robototehnicheskih sistem // Kiev: Nauk, dumka, p. 184-272, (in. Russian).
Nazarov Kh. N. (2019) Intellektualnye mnogokoordinatnye mehatronnye moduli robototehnichesih sistem // Monografija, Toshkent izd “Mashhur-Press”. p. 135–143, (in. Russian).
Brodovskij V.N., Baranov M.V., Iljuhin Ju.V. (2000) Mehatronnyj privodnoj modul' postupatel'nogo peremeshhenija dlja tehnologicheskih mashin // Mehatoonika. 4 p. 56-63.
Siddikov I., Porubay O., Rakhimov T. (2024) Synthesis of the neuro-fuzzy regulator with genetic algorithm //Int. J. Electr. Comput. Eng.(IJECE). Т. 14. – pp. 184-191.DOI:http://doi.org/10.11591/ijece.v14i1.pp184-191
Rakhimov T., Erkinov S., Takhirova G. (2023) Positional-velocity control of the manipulator built on the basis of an intelligent mechatron module //E3S Web of Conferences. –EDP Sciences,. – Т. Page No–452. – С. 03011. DOI:https://doi.org/10.1051/e3sconf/202345203011
Li M (2022) Developing a Portrait Drawing Robot with FANUC LR Mate 200id/4s. ICT Systems and Sustainability. Springer, Singapore, pp 491–497. https://doi.org/10.1007/978-981-16-5987-4_50
Yong-Yi Fanjiang and Shih-Wei Lu. (2017) Dynamic Synchronous Capture Algorithm for an Electromagnetic Flowmeter // Journal Sensors. 17, 821. pp 2-15.https://doi.org/10.3390/s17040821
Sulton A., Kamalbek T., Dilshod R. (2023) EXPERIMENTAL AND STATISTICAL METHODS OF RESEARCH AND OPTIMIZATION OF ELECTRIC POWER SYSTEMS MODES UNDER UNCERTAINTY CONDITIONS //Universum: технические науки. – №. 2-6 (107). – pp. 71-75.
Rakhimov T.O., Rakhmanova E.E., Erkinov S.M. (2023) Dynamic correction in manipulator control systems based on intelligent linear motion mechatronic module // E3S Web of Conf. Volume 401, 2023 V International Scientific Conference “Construction Mechanics, Hydraulics and Water Resources Engineering” (CONMECHYDRO - 2023) https://doi.org/10.1051/e3sconf/202340104007
Nazarov Kh. N., Rakhimov T.O. (2020) The concept of the mathematical description of the multi-coordinate mechatronic module of the robot / Acta of Turin Polytechnic University in Tashkent, International scientific and technical journal, pp. 15-20.
Yusupbekov A. N., Nazarov Kh. N., Matyokubov N.R., Rakhimov T.O. (2020) Conceptual bases of modeling multi-cordinate mechatronic robot modules / Сhemical technology control and management International scientific and technical journal, №4 (94) pp. 10-15.
Nazarov Kh.N., Matyokubov N.R., Rakhimov T.O., (2020) Simulation Model of The Multi-Position Mechatronic Module Functioning of An Intelligent Robot // Advancesin Intelligent Systems and Computing, Tashkent, vol 1323. - pp 201-205. Spring-er, Cham. DOI:
https://doi.org/10.1007/978-3-030-68004-6_26
Nazarov Kh. N., Rakhimov T.O. (2019) Mathematical models of multi-coordinate electromechatronic systems of intellectual robots // Electronic journal of actual problems of modern science, education and training. August, III ISSN 2181-9750.
Rakhimov T. (2023) Principles For Constructing Mechatron Modules Based on Electromagnetic Linear Execution Elements of Intelligent Robots //Acta of Turin Polytechnic University in Tashkent. – Т. 13. – №. 2. – pp. 49-53.
