ARCHITECTURE OF THE COMPUTER UNIT OF THE MECHATRONIC DEVICE

Abstract

The purpose of the work. Develop the architecture of the computing node and the control algorithm of the mechatronic device, which reduce labor costs for programming and debugging by unifying the programming method. Research methodology. Analysis of solutions, the recommendations and control algorithms from the man-ufacturer of the manipulator station. Sketch design of systems in terms of functional structures. Synthesis of al-gorithm and data structure using situational control methods and methods of organizing data storage in computer memory. Research results. The general functional structure of the computing unit of the mechatronic device is of-fered, its properties and advantages are substantiated, the universal approach to writing of algorithm of the basic control block of station of the manipulator is offered. The situational control language has been synthesized for the development of a data structure in a form that allows to flexibly change the technological tasks of the manip-ulator station. The algorithm of the main control unit of the manipulator station program is presented, which im-plements the sampling of control influences from the array according to the input information features and is universal. Scientific novelty. A marginally indexed array of output products is constructed, which allows using a simple algorithm of selection from the array instead of graphical control without overuse of RAM, which arises in such a solution when using information vectors of output effects. Practical results. A method for setting the actions of the manipulator is proposed, which allows to abandon the programming of its computing node in favor of setting data structures directly by the programmer or by means of automatic design or debugging systems. The method allows to separate the computing node from the mechatronic device and to use it separately or to replace the computing nodes during operation without repro-gramming.