IKKI G‘ILDIRAKLI MUVOZANATLOVCHI ROBOTNING DINAMIK MODELINI YARATISH
Keywords:
dinamik modellashtirish, Lagranj mexanikasi, teskari mayatnik, holat fazosi, chiziqiylashtirish, muvozanatlovchi robot, barqarorlik tahlili.Abstract
Ushbu tezisda ikki g‘ildirakli muvozanatlovchi robotning dinamik modeli Lagranj mexanikasi yordamida chiqarilgan. Robot teskari mayatnik sifatida modellashtirilgan bo‘lib, uning harakat tenglamalari umumlashgan koordinatalar yordamida ifodalangan. Nochizig‘iy tenglamalar muvozanat nuqtasi atrofida chiziqiylashtirilgan va holat fazosi modeliga keltirilgan. Olingan matematik model tizimning barqarorligini tahlil qilish va turli boshqaruv usullarini loyihalash uchun asos bo‘lib xizmat qiladi. Shuningdek, tizim parametrlarining barqarorlikka ta‘siri tahlil qilingan va simulyatsiya natijalari keltirilgan.
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