Investigation of the Oscillatory Effect in a Copy Control System

Abstract

The article is devoted to the urgent task of developing a copying control system intended for use in active industrial exoskeletons of the lower extremities. The use of drives allows to reduce the labor costs when lifting and transferring loads, however, it requires the use of human-machine interface tools and a high quality of the control system. The paper shows the mathematical modeling results of the electromechanical system with copying control system. A complex criterion is proposed for assessing the quality of regulation, taking into account the time of the transient process, integral error and the amount of over-regulation. The domains of copying control system controller optimal parameters are obtained for the stepwise and rectangular periodic law of variation of the reference action.