Built-in Analog Automatic Controls for Small Robots

One of the most promising methods for improving control efficiency is the parallel synthesis of commands by a group of computing devices. However, delays in digital-to-analog conversions and software processing, the need to synchronize calculations, and signal transmission coordination prevent the achievement of maximum performance in distributed systems. Problems can be solved by increasing the power of embedded microprocessors. This leads to an undesirable increase in design complexity, energy consumption, and dimensions of controls. For the miniaturization of embedded control systems, the article proposes to apply the principles of the indivisibility of physical processes in a technical system and the execution of control commands based on the functional combination of aggregates with analog logic devices (agents). A generalized model of changing the states of a technical system is considered, which sets the principles for switching on or off groups of units. The concept of an automaton of ternary logic is introduced, which determines the order of interaction of aggregates in the time domain. The synthesis of the block diagram of the automaton is carried out. In the mathematical model of the automaton, the operations of ternary logic receive a specific physical content in the form of retrospective processing of changes in the states of aggregates. It is shown that ternary logic automata can be combined into open and closed chains, setting hardware control algorithms units robot. The circuits for connecting automata controlled by elements of asynchronous logic are given. When connected in series, the automata control the order of switching on and off the units. Chains of three-valued logic automata can be arbitrarily long, determining the behavior of the system in the process of its operation. Due to the rejection of program control, such automata can operate in real time, limited only by the delay of signals in logic elements. An important advantage of the proposed technical solution is the unification of the automatic control system. The simplicity of the design of devices and the absence of additional add-ons make it possible to integrate such circuits into the controls of microminiature robots, reducing their weight and size parameters. Promising areas of application of analog automata are microelectromechanical and microelectronic devices. 

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