COMPLEX SYNTHESIS METHODOLOGY OF HIGH-SPEED TRUSTED INDUSTRIAL MOTION CONTROL SYSTEMS OF ROBOTS AND MECHATRONIC SYSTEMS. Part II. Methodology of synthesis of subsystems of a trusted memory-centric motion control system
The problem of synthesis of real-time motion control subsystems of industrial robots and mechatronic systems is investigated. For a number of control subsystems (related to the intelligent and executive unit), the specifics of the memory-centric architecture poses a task or opens up opportunities for the development or application of new, more efficient mathematical models. The synthesis of the subsystems of the intelligent block and the related subsystems of the sensing block corresponds to the solution of a direct (project) task, i.e. it consists in determining the constituent elements (subsystems) that provide the specified parameters of the control system (functional unit). The methodology of synthesis of subsystems of the executive unit of a trusted real-time control system corresponds to structural-parametric or parametric synthesis, as a result of which the structure of the object is determined and the values of the parameters of its constituent elements are found in such a way that the conditions of the synthesis task (technical task) are satisfied.