Joint control actions on electromechanical devices in ergatic systems

Abstract

The problem of implementing joint control actions on electromechanical devices (EMD) in human-machine systems through the control body of a human-machine interface is considered. Based on the theory of optimal control, control functions between the human operator, the program control automaton, and the corrective control automaton are synthesized. Peculiarities of the technical implementation of the control actions on the EMD of the ergatic system using the new type of joint control devices have been identified, through the control body of which information interaction between the human operator and the system automa-ton is carried out. Based on the model of actions and responses of the human operator and machine, which is adopted in engineering psychology, mathematical models of their joint control of the object have been developed. Mathematical models of machine responses are constructed using the hypothesis of complete certainty in the form of a normal system of ordinary differen-tial equations. As a result of combining action and response models for the human-machine system, a finite set of incomplete representations of the elementary motions of the image point in the state space is obtained, on which the programmed motion of the object is built in the form of a sequence of elementary motions. Virtual discrete control signals Corresponding to specific positions of the control bodies of the joint control apparatuses of the human-machine interface of the system are determined, through which consecutive transitions from one elementary movement to another are carried out. The conclusions on the effectiveness of the use of joint control in transport ergatic human-machine systems are formulated. It is shown that in this case, the advantages of control partners are used and combined to the greatest extent.