Servo control design for pantographic leg in SimMechanics
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F03%3APU38386" target="_blank" >RIV/00216305:26210/03:PU38386 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
čeština
Original language name
Návrh řízení servopohonů pantografické nohy v SimMechanics
Original language description
Pantographic leg is actuated by three positional servo drives (two linear and one rotational). Every servo drive includes DC motor with gearbox and motor control unit. Motor control unit has two parts: regulator part (discrete PI) and power part. Simulations in Matlab were used to find parameters of PI regulator to desire required behavior (minimal rise time, overshot and steady-state error). Each of four legs has a main control unit, witch transforming position data of end point of leg to coordinates oof a servo drive. Main control unit also synchronizes all three servo drives. Model of the main control unit helps to check idea of synchronizing servo drives. Finally microcontrollers were programmed according to the Matlab model and whole prototype ofleg was tested. Results of tests were exactly as computer simulation shows. This approach to design servo control is very vast and sophisticated.
Czech name
Návrh řízení servopohonů pantografické nohy v SimMechanics
Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2003
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Výpočtová mechanika 2003
ISBN
80-7082-999-0
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
43-48
Publisher name
Západočeská univerzita v Plzni
Place of publication
Plzeň
Event location
Nečtiny
Event date
Nov 3, 2003
Type of event by nationality
CST - Celostátní akce
UT code for WoS article
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