Linearized Model of the Mechanism with Parallel Structure

Purpose The mode of tracking is one of the main operating modes of electromechanical systems of parallel architecture, for example adaptive platforms (Smart Electromechanical Systems—SEMS). The systems are nonlinear and non-stationary plants therefore control of them requires use of adaptive regulators for the purpose of increase in accuracy, speed and reliability of such systems. A research purpose is development of a technique of development of the linear models for synthesis of adaptive regulator of a platform moved by group of actuators, taking into account change of the line of action of these actuators in the tracking mode. Results the non-stationary model of the adaptive platform moved by group of n actuators working in the tracking mode is received, formulas of calculation of matrixes of parameters of this model depending on the chosen stationary point or a basic trajectory in phase space are received. It is shown that for such adaptive platforms it is necessary to consider change of length and the line of action of actuators. Practical importance the offered algorithms of calculation of a matrix of parameters of non-stationary model of an adaptive platform are effective in case of implementation of the predictive model allowing to estimate not measured components of a state vector of a platform and calculation of parameters of regulators that will lead to increase in accuracy and reliability of a control system in the tracking mode.