Obtaining Robotic Object Models from the Equations of the Potential-Flow Method

СONTROL AND DIAGNOSTICS of objects of robotic complexes, including their power sources, are the most important aspects of improving various indicators of these objects, such as power density, specific capacity, efficiency of storage and converters of electrical and mechanical energy (lithium-ion batteries (LIB), hydrogen fuel cell (HFC)), including indicators of reliability and operation safety. For synthesis of control systems (CS) it is necessary to know the link between the output characteristics of TO (OCTO) (for example, output voltage, battery temperature, fuel cell, output torque, temperature inside the engine) and the external (input) influences (EI) on TO (for example, ambient temperature, current in the external circuit of the battery, hydrogen fuel cell) [2 – 5]. The control system is synthesized by the method of inverse dynamics with the above links [3 – 5]. In order to diagnose objects of robotic systems, it is necessary to know the effect of unobservable output characteristics of TO with the observed OCTO and EI on the considered TO [6]; assessment of this effect is the solution to the problem of diagnostics [6]. Thus, to solve the problems of control and diagnostics, it is necessary to obtain a multitude of links between OCTO and EI (that is, the mathematical model of TO).

Автор
Starostin Igor Evgenievich
Автор 2
Khalutin Sergey Petrovich
Аннотация
Robotic systems almost always use for their work chemical current sources (CCS), the state of which directly
affects the ability, duration and safety of their operation. To diagnose the technical condition of a CCS as a technical object
(TO) and form laws governing them, it is necessary to know the relationship between their unobservable parameters, the
observed output parameters and known external influences on them. The mentioned relations (laws of the technical object
operation) can be learned from the equations of physicochemical processes in the objects under consideration,
in particular, the equations of the potential-flow method [1]. In this paper a method for obtaining models of a technical
object from the equations of the potential-flow method is presented.
Название на английском
Obtaining Robotic Object Models from the Equations of the Potential-Flow Method
Summary
Robotic systems almost always use for their work chemical current sources (CCS), the state of which directly
affects the ability, duration and safety of their operation. To diagnose the technical condition of a CCS as a technical object
(TO) and form laws governing them, it is necessary to know the relationship between their unobservable parameters, the
observed output parameters and known external influences on them. The mentioned relations (laws of the technical object
operation) can be learned from the equations of physicochemical processes in the objects under consideration,
in particular, the equations of the potential-flow method [1]. In this paper a method for obtaining models of a technical
object from the equations of the potential-flow method is presented.
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