FEATURES OF CONTROL OF LINEAR DRIVES OF A ROBOT WHEN ITS MOVEMENT ON A VERTICAL SURFACE

The paper considers the methodology of realization of recursive filter with finite impulse response(FIR) in the form of Hahn window with the possibility of controlling the duration (in counts or cycles) ofFIR, including in the process of filtering, based on simultaneous sequential compensation of samples fromthe recursive part. A brief review of the existing solution for controlling the duration of a rectangularpulse characteristic is performed and the methods of realization of impulse response of more complexshape on the example of a Hahn window are proposed. The method proposed by the authors allows toachieve stability of the filter when the duration of the impulse characteristic changes in time. The structureof the module for realization of the filter on the basis of Field-Programmable Gate Array (FPGA) is developed.The recursive filter structure considered in this paper has significantly lower computationalcomplexity compared to the classical FIR filter structure, and it can be used in embedded systems withlimited computational resources. The lower computational complexity is achieved by using the functionapproximating the Hahn window, which is a third-degree polynomial, as the FIR. Filtering is accomplishedby using two independent filters, one tuned to the duration of the FIR before its change and theother tuned to the duration of the FIR afterwards with the result summarized. This approach is based onthe principle of linearity of the system, which allows combining the output signals of the filters withoutlosing their properties. The control of the delay duration is performed based on the ability of the dualportedRAM memory to simultaneously write and read. When changing the FIR duration, the calculationof filter coefficients is performed during filtering, thus eliminating interruptions between the output signalsections before and after changing the FIR duration. There is a protection against entering a new parameterof the FIR duration before the transient compensation due to the previous change of the FIR durationis completed. After the compensation procedure is completed, the filter tuned to the FIR duration before itwas changed is terminated.