APPLICATION OF ACOUSTIC ANALYSIS IN CONTROL SYSTEMS OF ROBOTIC MACHINE TOOLS

摘要

Relevance. The problem of controlling complex technological machines such as machines with mechanisms based on kinematics withparallel structure is given consideration in the article in order to improve accuracy of positioning of actuators, to ensure their dynamicadjustment and optimization of trajectories of displacement of operating elements of the equipment (cutting tools, assembling or controllinginstruments). The object of the study is the model of the operating area of a mobile robotic machine tool.Objective. The goal of the work is to create a concept for controlling a mobile robotic machine tool applying acoustic control on thebasis of a reference model based on deep neural networks.Method. A method of identification and control of a mobile robotic machine tool using spectral description of absorption of acousticwave with further processing of obtained information is offered. This method allows determining accuracy of positioning of actuators, aswell as conducting dynamic adjustment and optimization of trajectories of displacement of operating elements of the equipment. A methodof acoustic analysis for precision machining on machine tools with parallel kinematics has been developed.Results. A neural network reference model has been constructed, which allows to diagnose current characteristics of the state of objectsin different conditions, namely mechanism’s configuration, mechanism’s geometric parameters while running motor-spindle, dynamics ofdisplacement of mechanism’s nodes of the experimental stand with variable velocities and load on the drive, as well as temperature changes of the object. The developed neural network models also were tested for adequacy.Conclusions. The experiments on the study of the dependency between the parameters of the spectrum of the acoustic signal with agiven discreteness disturbed by excitatory effect in the form of “white noise” confirmed efficiency of this approach. Prospects for furtherresearch may consist in creation of methods for optimal control of complex technological machines to improve accuracy of positioningof actuators and to improve their dynamic settings.