DESIGN OF MECHATRONIC SYSTEMS AS A SOLUTION TO THE MAIN CONTROL PROBLEM
The design of complex engineering systems needs constant optimization. The existing approaches to finding the optimal values of the parameters of such systems according to individual criteria and their modifications do not always lead to the expected outcomes. If this is the case, after the system establishment its parameters will differ from those expected, or the project may fail to satisfy the designer, even though it had been implemented. Based on the existing experience of designing numerous technical systems it becomes evident that it is more rational to maintain the qualitative properties of the design object within reasonable limits, based on the technical conditions for the designed system, which are set in the form of inequalities in the functionals or quality criteria (target criteria). Addressing this problem involves analytical design of complex technical systems, the mathematical basis of which is represented by the methods for dealing with the main control problem. In our research we propose the approach to the synthesis of an exoskeleton control system as a solution to the main control problem. The design scheme of the exoskeleton has been presented supplied with a mathematical model which at the first stage does not take into account the human muscle system. The system of differential equations of the exoskeleton has been written using second type Lagrange equations. In order to determine the generalized forces, the principle of possible displacements has been used, according to which the virtual displacement is reported to the system for every generalized coordinate which is used to calculate the work of all acting forces and moments. The technical conditions for target criteria, technological and operational requirements for variable parameters are set (the search area is highlighted). The problem statement is made, and the algorithm of numerical solution is given. The purpose of this work is to develop the method for selecting parameters of the control system of a three-link manipulator as a solution to the main control problem, as a result of which the solution area is built. Then rational parameters are selected from this area, taking into account the experience and intuition of the designer, as well as other difficult-to-formalize criteria.