Optimal Control of Automatic Manipulator for Elimination of Galvanic Line Load Oscillation
Authors
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Siarhei Autsou
Affiliation
Department of Automation of Production Processes and Electrical Engineering, Faculty of Chemical Technology and Technique, Belarussian State Technological University, 220006 Minsk, 13a Sverdlova str., Belarus
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Anton Rassõlkin
AffiliationDepartment of Electrical Power Engineering and Mechatronics, Tallinn University of Technology, 19086 Tallinn, 5 Ehitajate street, Estonia
Faculty of Control Systems and Robotics, ITMO University, 197101 St. Petersburg, 49 Kronverksky Pr., Russia
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Toomas Vaimann
Affiliation
Department of Electrical Power Engineering and Mechatronics, Tallinn University of Technology, 19086 Tallinn, 5 Ehitajate street, Estonia
Faculty of Control Systems and Robotics, ITMO University, 197101 St. Petersburg, 49 Kronverksky Pr., Russia
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Galina Demidova
Affiliation
Faculty of Control Systems and Robotics, ITMO University, 197101 St. Petersburg, 49 Kronverksky Pr., Russia
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Viktor Saroka
Affiliation
Department of Automation of Production Processes and Electrical Engineering, Faculty of Chemical Technology and Technique, Belarussian State Technological University, 220006 Minsk, 13a Sverdlova str., Belarus
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Dzmitry Karpovich
Affiliation
Department of Automation of Production Processes and Electrical Engineering, Faculty of Chemical Technology and Technique, Belarussian State Technological University, 220006 Minsk, 13a Sverdlova str., Belarus
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Ants Kallaste
Affiliation
Department of Electrical Power Engineering and Mechatronics, Tallinn University of Technology, 19086 Tallinn, 5 Ehitajate street, Estonia
Abstract
This paper provides an analysis of the current state-of-the-art technologies in the field of auto-operators used in production during the electroplating process. General schemes of operations are presented, benefits and drawbacks of each scheme are discussed. The paper discusses an increase in the operating efficiency of the auto-operator in transient conditions (braking and acceleration) by reducing suspension oscillations and provides an example of a similar problem from other industries. In addition to the classification of the auto-operators, three main ways and control methods of the auto-operator of a galvanic line are presented. The main ways of eliminating oscillations during the movement of the auto-operator, as well as the rationale for the choice of adaptive (optimal) control, based on and comparing the basic control algorithms of the robot manipulator, are discussed. The comparative analysis of algorithms used to determine the optimal control has been carried out. Application field of each optimal control method described, moreover advantages and disadvantages as well as implementation methods described. Bellman dynamic programming method was chosen to eliminate oscillations of the suspension with details during the auto-operator transient conditions, the chosen method takes into account all necessary conditions to achieve the desired result.
