Application of INS to mechatronic systems control and regulation using virtual dynamic models

摘要

Contribution deals with the application of inertial navigation system or inertial measuring unit (the INS or IMU), which will be used to calibration and implementation of the robot workplace. Calibration is necessary to adapt the simulation of the model of the manufacturing equipment to real geometric conditions. The article also presents the use of a comparison of two approaches to solve the position control of the physical pendulum. When designing the motion control of mechanical systems it is necessary to describe the dynamics of the system by mathematical model that is equations of motion that describe the response of the system to the action hit of the drive unit. To solve the equations of motion we use mathematical programs, in which regulatory structures such as PID controller are implemented. MATLAB/Simulink is an important representative of these programs.