S.D.Zemlyakov, V.Yu.Rutkovsky

Institute of Control Science of V.A.Trapeznikov's name, RAS

Profsoyuznaya 65, 117997, Moscow, Russia

zeml@ipu.ru

This paper deals with the problem of modeling for a mechanical system with a big number of degree of freedom. The problem becomes to be essential for a case when a mechanical system changes the number of degree during its processing and for the goal of control it is necessary to get a current mathematical model of an object. The paper contains the mathematical supply for automatic computer solution of this problem. On the base of this mathematical supply some results of the mathematical model decomposition are obtained. As an example for a mechanical system a space robotic module is considered

As a complex we consider a system with some interconnected subsystems. The main features of such a system are big dimension, uncertainty, informational and structural limitations. But there is one more particular feature for such a system: structure and therefore the number of generalized coordinates can be changed during the operation. So for the goal of control it is arised the necessity of operative derivation of a current mathematical model (MM) for such a complex system.

MM of a complex mechanical system is usually multiconnected nonlinear and, in common case, nonstationary. Synthesis of control algorithms for such an object is not a simple problem. Usual if not a single method for this goal is decomposition and aggregation. The decomposition could be realized on "physical" or "mathematical" principles.

Automatic derivation of a current MM for a complex mechanical system, its decomposition and control algorithms synthesis demand an active inclusion of computing means. These questions are the subject of the paper.

Stanislav D.Zemlyakov, Dr. Sci.(Eng.), Professor, Academician of ANS, Head of Department of the V.A.Trapeznikov Institute of Control Sciences of RAS. The main of scientific interest domain: the theory of adaptive coordinate-parametric control by nonlinear nonstationary objects and its application to aircraft and spacecraft control.

Vladislav Yu.Rutkovsky, Dr. Sci.(Eng.), Professor, Academician of ANS, Head of Laboratory of the V.A.Trapeznikov Institute of Control Sciences of RAS. The main of scientific interest domain: the theory of nonlinear nonstationary objects and its application to aircraft and spacecraft control.