Synthesis of Structures of Automatic Control Systems Engineering Muscles

The article presents an approach to the synthesis of structures of automatic control systems for fiber-sorption technical muscles using the problem of synthesis of optimal control of nonlinear objects using the calculus of variations. Fiber-sorption technical muscle and drive system were developed in the framework of research work conducted at the Department of the Faculty of Technical Cybernetics of the Leningrad State Technical University [1]. Fiber-sorption technical muscle represents an experimental engine. Fiber-sorption muscles, used in antagonistic pairs or separately, are essentially non-linear. Fiber-sorption muscle is characterised by its compactness, tightness, resistance to aggressive chemical media, suitability for direct electrical control, the possibility of sequential and parallel switching. There is the possibility of creating non-trivial kinematic constraints (for example, pairs of the third class). Special advantages of the muscle are the absence of movable friction elements and relatively high specific power. The disadvantages of this engine are its large thermal constant and alow efficiency.