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Orientation Control of an Object on a Rotating Base by Using a Two-Stage Electric Drive

  • CONTROL IN DETERMINISTIC SYSTEMS
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Journal of Computer and Systems Sciences International Aims and scope

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.

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Funding

This work was partially supported by the Russian Foundation for Basic research, project no. 17-01-00538 in accordance with state assignment AAAA-A17-117021310387-0.

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Authors and Affiliations

  1. Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences, 119526, Moscow, Russia

    L. D. Akulenko, N. N. Bolotnik, A. E. Borisov, A. A. Gavrikov & G. A. Emel’yanov

  2. AO TsNIIMash, 141070, Korolev, Russia

    L. D. Akulenko

Authors
  1. L. D. Akulenko
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  2. N. N. Bolotnik
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  3. A. E. Borisov
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  4. A. A. Gavrikov
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  5. G. A. Emel’yanov
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Corresponding author

Correspondence to N. N. Bolotnik.

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Translated by A. Ivanov

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Akulenko, L.D., Bolotnik, N.N., Borisov, A.E. et al. Orientation Control of an Object on a Rotating Base by Using a Two-Stage Electric Drive. J. Comput. Syst. Sci. Int. 58, 829–843 (2019). https://doi.org/10.1134/S1064230719060029

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  • DOI: https://doi.org/10.1134/S1064230719060029

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