Orientation Control of an Object on a Rotating Base by Using a Two-Stage Electric Drive
- Authors: Akulenko L.D.1,2, Bolotnik N.N.1, Borisov A.E.1, Gavrikov A.A.1, Emel’yanov G.A.1
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Affiliations:
- Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences
- AO TsNIIMash
- Issue: Vol 58, No 6 (2019)
- Pages: 829-843
- Section: Control in Deterministic Systems
- URL: https://journal-vniispk.ru/1064-2307/article/view/220515
- DOI: https://doi.org/10.1134/S1064230719060029
- ID: 220515
Cite item
Abstract
In this paper, we study the process of controlling the rotation of an object relative to a rotating base using a two-stage electric drive that represents two gearless direct-current motors connected in series. The stator of one of the electric motor is rigidly fixed to the base while an object is fixed to the rotor of the other motor. Between the rotor and the stator of the second motor, there is a torsion spring (torsion) with a relatively low level of stiffness. The aim of the control is tracking by an object a specified orientation relative to the base. The drive control algorithm is built taking into account the incompleteness of the information on the dynamic parameters of the mechanical system, friction acting in it, laws of motion of the base, and changes in the tracked orientation.
About the authors
L. D. Akulenko
Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences; AO TsNIIMash
Email: bolotnik@ipmnet.ru
Russian Federation, Moscow, 119526; Korolev, 141070
N. N. Bolotnik
Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences
Author for correspondence.
Email: bolotnik@ipmnet.ru
Russian Federation, Moscow, 119526
A. E. Borisov
Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences
Email: bolotnik@ipmnet.ru
Russian Federation, Moscow, 119526
A. A. Gavrikov
Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences
Email: bolotnik@ipmnet.ru
Russian Federation, Moscow, 119526
G. A. Emel’yanov
Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences
Email: bolotnik@ipmnet.ru
Russian Federation, Moscow, 119526
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