RU2115539C1 - Robot drive control device - Google Patents

Abstract

FIELD: robotics. SUBSTANCE: device promotes dynamic accuracy of drive at high rates of load parameter variations in process of manipulator operation. These variations depend on considerable reciprocal influence of steps of multi-link element mobility, on load mass variability and viscous friction. To form required correcting signals, it is necessary to introduce additionally second 37 and third 47 amplifiers, firth 38, sixth 48 and seventh 50 functional converters, tenth 39, eleventh 41 and twelfth 46 and thirteenth 51 multiplication units, tenth 40, eleventh 45, twelfth 49 and thirteenth 53 adders, square-law generator 42, third velocity-rate transducer 43, fifth 44 and sixth 52 constant signal setters. After correction is performed drive becomes invariant to changes in load parameters, as well as to moments of dry and viscous friction. In this case, dynamic properties and qualitative indices of drive operation are stabilized. EFFECT: higher dynamic accuracy of drive. 2 dwg

Description

 The invention relates to robotics and can be used to create robot drive control systems.

 A device for controlling a robot drive is known, comprising a first adder, a second adder, a first multiplication unit, a third adder, an amplifier and an engine connected directly to the first speed sensor and through a gearbox with a first position sensor, the output of which is connected to the first input of the first adder, connected by a second input to the input of the device, a second speed sensor, a second multiplication unit, a third multiplication unit and a fourth adder, the second input of which with it is single with the second input of the second adder and the output of the first speed sensor, and the third input is with the output of the relay element connected to the second input of the third multiplication unit and the output of the first speed sensor, the mass sensor and the fifth adder connected in series, the second input of which is connected to the output of the first signal pickup, and the output to the second input of the first multiplication unit, as well as a second position sensor, a second and third signal pickup, sixth and seventh adders, the fourth and fifth multiplication blocks, the sensor is accelerated ia, the first functional converter, the second functional converter and the sixth multiplication unit connected in series, as well as the seventh multiplication unit, the first input of which is connected to the output of the second multiplication unit, the second input to the output of the second speed sensor, and the output to the fourth input of the fourth adder connected the fifth input with the output of the fifth multiplication block, the first input of which is connected to the output of the acceleration sensor, and the second input to the output of the seventh adder, connected by the first input to the output of the third a signal detector, the second input - with the output of the fourth multiplication block and the second input of the fifth adder, and the third input with the output of the mass sensor and the first input of the sixth adder, the second input of which is connected to the output of the second signal generator, and the output - to the second input of the sixth multiplication unit and the first input of the fourth multiplication unit, connected by the second input to the output of the first functional converter, the input of which is connected to the output of the second position sensor and the input of the second functional converter, and the output is six o multiplication block is connected to the second input of the second multiplication block (see author St. USSR N 1816684, BI N 19, 1993).

 A disadvantage of the known solution is the lack of invariance of the dynamic properties of the electric drive to continuous and rapid changes in its moment load characteristics, because This device considers another robot circuit.

 A device for controlling a robot drive is also known, comprising a first adder, a second adder, a first multiplication unit, a third adder, a first amplifier and an electric motor connected directly to the first speed sensor and through a gearbox with a first position sensor, the output of which is connected to the first input of the first an adder connected by a second input to the input of the device, a second speed sensor, a second multiplication unit, a third multiplication unit and a fourth adder connected in series, w The second input of which is connected to the second input of the second adder and the output of the first speed sensor, and the third input with the output of the relay element connected by the input to the second input of the third multiplication unit and the output of the first speed sensor, series-connected mass sensors and the fifth adder, the second input of which is connected to the output of the first constant signal generator, and the output to the second input of the first multiplication unit, the second position sensor, the first functional converter, and the fourth block connected in series multiplication, the sixth adder, the second input of which is connected to the output of the second constant signal generator, the fifth multiplication unit, the second input of which is connected to the output of the acceleration sensor, and the output - with the fourth input of the fourth adder, the third constant signal generator connected in series, the seventh adder, the second input which is connected to the output of the mass sensor and the sixth multiplication unit, the second input of which through the second functional converter is connected to the output of the second position sensor, and the output to the second input of the unit multiplication, with the second input of the fourth multiplication unit connected to the output of the seventh adder, its output to the third input of the fifth adder, the third input of the sixth adder connected to the output of the mass sensor, the fifth input of the fourth adder through the seventh multiplication unit, the second input of which is connected to the output of the second multiplication unit, connected to the output of the second speed sensor, connected in series with the fourth constant signal generator, the eighth adder, the second input of which is connected to the output of the mass sensor and the eighth unit is clever the second input of which through the third functional converter is connected to the output of the first position sensor, and its output is connected to the sixth input of the fourth adder, the ninth adder is connected in series, the first and second inputs of which are connected respectively to the outputs of the first and second position sensors, the fourth functional converter and the ninth multiplication block, the second input of which is connected to the output of the seventh adder, and the output to the seventh input of the fourth adder (see RF patent N 2041054, BI N 22, 1995).

 This device in its technical essence is the closest to the proposed invention.

 However, this device does not take into account the momentary effects on the drive when the robot arm is rotated around a vertical axis. Therefore, the prototype device cannot be used to provide high quality control when the robot arm rotates around a vertical axis. In this case, the moments arising when the robot rotates around the vertical axis must be taken into account and additional control signals must be generated that provide compensation for harmful additional momentary effects on the servo drive under consideration.

 The technical problem to which the claimed technical solution is directed is to ensure complete invariance of the dynamic properties of the electric drive to continuous and rapid changes in its dynamic moment load characteristics and, thereby, increase the dynamic control accuracy.

The technical result that can be obtained by implementing the claimed technical solution is expressed in the formation of an additional control signal supplied to the input of the drive, which provides an additional moment effect compensating for the harmful moment effect from the side of the first rotary degree of mobility (see coordinate q ₁ ) on quality indicators of the drive under consideration.

 The problem is solved in that the device for controlling the robot drive, comprising a series-connected first adder, second adder, first multiplication unit, third adder, first amplifier and electric motor connected directly to the first speed sensor and through a gearbox with the first position sensor, the output of which is connected to the first input of the first adder connected by the second input to the input of the device, a second speed sensor, a second multiplication unit, a third multiplication unit, and the fourth adder, the second input of which is connected to the second input of the second adder and the output of the first speed sensor, and the third input is the output of the relay element connected by the input to the second input of the third multiplication unit and the output of the first speed sensor, the mass sensor and the fifth adder connected in series, the second whose input is connected to the output of the first constant signal generator, and the output to the second input of the first multiplication unit, the second position sensor connected in series, the first functional transform atelier, fourth multiplication unit, sixth adder, the second input of which is connected to the output of the second constant signal generator, the fifth multiplication unit, the second input of which is connected to the output of the acceleration sensor, and the output - with the fourth input of the fourth adder, the third constant signal generator connected in series, seventh an adder, the second input of which is connected to the output of the mass sensor and the sixth multiplication unit, the second input of which is connected through the second functional converter to the output of the second position sensor, and the output d - to the second input of the multiplication unit, the second input of the fourth multiplication unit connected to the output of the seventh adder, its output to the third input of the fifth adder, the third input of the sixth adder connected to the output of the mass sensor, the fifth input of the fourth adder through the seventh multiplication unit, the second input which is connected to the output of the second multiplication unit, connected to the output of the second speed sensor, connected in series with a fourth constant signal generator, an eighth adder, the second input of which is connected to the output of the mas sensor sys and the eighth multiplication unit, the second input of which is connected through the third functional converter to the output of the first position sensor, and its output - to the sixth input of the fourth adder, the ninth adder connected in series, the first and second inputs of which are connected respectively to the outputs of the first and second position sensors, the fourth functional converter and the ninth multiplication unit, the second input of which is connected to the output of the seventh adder, and the output to the seventh input of the fourth adder, characterized in that it is additionally introduced in series with the second amplifier, the fifth functional converter, the tenth multiplication unit, the tenth adder and the eleventh multiplication unit, the second input of which is connected through the quadrator to the output of the third speed sensor, and the output to the eighth input of the fourth adder, the fifth constant signal adjuster connected in series , the eleventh adder and the twelfth multiplication unit, the second input of which is connected through a third amplifier and a sixth functional conversion The drive is connected to the output of the ninth adder, and its output is to the second input of the tenth adder, the twelfth adder is connected in series, the first and second inputs of which are connected respectively to the outputs of the second position sensor and the second amplifier, the seventh functional converter and the thirteenth multiplication unit, the second input of which is connected to the output of the seventh adder, and its output to the third input of the tenth adder, the sixth constant signal generator and the thirteenth adder connected in series, the second od which is connected to the second input of the adder and the output of the eleventh mass sensor, and its output - to the second input of the tenth multiplier, the input of the second amplifier is connected to the output of the first position sensor.

 A comparative analysis of the proposed technical solution with known analogues and prototype shows that the claimed device meets the criterion of "novelty."

 The claimed combination of features, given in the distinctive part of the formula, allows to ensure complete drive invariance to the effects of mutual influence between the degrees of mobility and the friction moment, which, in turn, allows to obtain high quality control in any drive operation modes.

 A block diagram of a device for controlling a robot drive is shown in FIG. 1. In FIG. 2 is a kinematic diagram of a robot actuator.

 The device for controlling the robot drive contains serially connected the first adder 1, the second adder 2, the first multiplication unit 3, the third adder 4, the first amplifier 5 and the electric motor 6 connected directly to the first speed sensor 7 and through the gearbox 8 with the first position sensor 9, the output which is connected to the first input of the first adder 1, connected by the second input to the device input, a second speed sensor 10, a second multiplication unit 11, a third multiplication unit 12 and a fourth adder 13, connected in series the input of which is connected to the second input of the second adder 2 and the output of the first speed sensor 7, and the third input is with the output of the relay element 14 connected to the input of the second input of the third multiplication unit 12 and the output of the first speed sensor 7, the mass sensor 15 and the fifth connected in series an adder 16, the second input of which is connected to the output of the first constant signal generator 17, and the output - to the second input of the first multiplication unit 3, the second position sensor 18, the first functional converter 19, connected in series the fourth multiplication unit 20, the sixth adder 21, the second input of which is connected to the output of the second constant signal generator 22, the fifth multiplication unit 23, the second input of which is connected to the output of the acceleration sensor 24, and the output - with the fourth input of the fourth adder 13, connected in series with the third master 25 a constant signal, the seventh adder 26, the second input of which is connected to the output of the mass sensor 15, and the sixth multiplication unit 27, the second input of which is connected to the output of the second sensor 18 through the second functional converter 28 and the output is to the second input of the multiplication unit 11, the second input of the fourth multiplying unit 20 is connected to the output of the seventh adder 26, its output is to the third input of the fifth adder 16, the third input of the sixth adder 21 is connected to the output of the mass sensor 15, the fifth input the fourth adder 13 through the seventh multiplication unit 29, the second input of which is connected to the output of the second multiplication unit 11, is connected to the output of the second speed sensor 10, the fourth constant signal adjuster 30 connected in series, the eighth adder 31, the second input of which Connected to the output of the mass sensor 15 and the eighth multiplication unit 32, the second input of which through the third functional converter 33 is connected to the output of the first position sensor 9, and its output is connected to the sixth input of the fourth adder 13, the ninth adder 34, the first and second inputs of which are connected in series connected respectively to the outputs of the first 9 and second 18 position sensors, the fourth functional converter 35 and the ninth multiplication block 36, the second input of which is connected to the output of the seventh adder 26, and the output to the seventh input to the fourth adder 23, the second amplifier 37, the fifth functional converter 38, the tenth multiplier block 39, the tenth adder 40 and the eleventh multiplier block 41, the second input of which is connected through the square 42 to the output of the third speed sensor 43, and the output to the eighth input the fourth adder 13, the fifth constant signal generator 44, the eleventh adder 45 and the twelfth multiplication unit 46 in series, the second input of which is connected through the third amplifier and the sixth function in series the channel converter 48 is connected to the output of the ninth adder 34, and its output is connected to the second input of the tenth adder 40, the twelfth adder 49 is connected in series, the first and second inputs of which are connected to the outputs of the second position sensor 18 and the second amplifier 37, the seventh functional converter 50, and the thirteenth multiplication unit 51, the second input of which is connected to the output of the seventh adder 26, and its output - to the third input of the tenth adder 40, sequentially connected to the sixth constant signal generator 52 and the thirteenth adder 53, the second input of which is connected to the second input of the eleventh adder 45 and the output of the mass sensor 15, and its output to the second input of the tenth multiplication unit 39, the input of the second amplifier 37 connected to the output of the first position sensor 9. Management Object 54.

- скорости изменения соответствующих обобщенных координат;
ε - ошибка привода (величина рассогласования);
m₁, m₂, m₃, m_г - соответственно массы первого, второго, третьего звеньев исполнительного органа и захваченного груза;
l $\genfrac{}{}{0ex}{}{\text{*}}{\text{2}}$ , l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ - расстояния от осей вращения соответствующих звеньев до их центров масс;
l₂, l₃ - длины соответствующих звеньев;

- скорость вращения ротора двигателя;
U^*, U - соответственно усиливаемый сигнал и сигнал управления двигателем 6.The following notation is introduced in the figures:
α _I - signal of the desired position;
q ₁ , q ₂ , q ₃ - the corresponding generalized coordinates of the executive body of the robot;

- the rate of change of the corresponding generalized coordinates;
ε is the drive error (mismatch value);
m ₁ , m ₂ , m ₃ , m _g - respectively, the mass of the first, second, third links of the executive body and the cargo captured
l $\genfrac{}{}{0ex}{}{\text{*}}{\text{2}}$ , l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ - the distance from the axis of rotation of the respective links to their centers of mass;
l ₂ , l ₃ - the length of the corresponding links;

- the speed of rotation of the rotor of the engine;
U ^* , U - respectively, the amplified signal and the engine control signal 6.

 The device operates as follows.

The error signal ε at the output of the adder 1 after correction in blocks 2 - 4, amplifying, enters the electric motor 6, bringing its shaft into rotational motion with direction and speed (acceleration), depending on the magnitude of the incoming signal U, the friction moments and the external torque M _b . The electric drive when working with various loads, as well as due to the mutual influence of the degrees of mobility of the executive body, has variable torque characteristics, which can vary widely. This reduces the quality indicators of the electric drive and even leads to a loss of stability of its operation.

The drive in question controls the generalized coordinate q ₂ . The design work (see Fig. 2) is the most typical for domestic and foreign industrial robots.

и m_r. В связи с этим для качественного управления координатой q₂ необходимо точно компенсировать отрицательное влияние изменения координат

а также переменной массы груза m_r на динамические свойства рассматриваемого привода поворота (координата q₂).The moment characteristics of the drive controlling the coordinate q ₂ substantially depend on the change in coordinates

and m _r . In this regard, for quality control of the q ₂ coordinate, it is necessary to precisely compensate for the negative influence of the coordinate change

as well as the variable mass of the cargo m _r on the dynamic properties of the rotation drive in question (coordinate q ₂ ).

где J_Si, J_Ni(i=1,3) - соответственно моменты инерции относительно продольной и поперечной осей, проходящих через центр масс звена i.To determine the momentary effects on the drive in question (generalized moments of non-conservative forces), we use the Lagrange equation of the second kind. The kinetic energy T of all moving masses of the executive body (figure 2) is presented in the form

where J _Si , J _Ni (i = 1,3) - respectively, the moments of inertia relative to the longitudinal and transverse axes passing through the center of mass of the link i.

где g - ускорение свободного падения.Potential energy has the form

where g is the acceleration of gravity.

на основании уравнений Лагранжа II рода можно записать, что моментное воздействие на выходной вал привода, управляющего координатой g₂, при движении робота (фиг.2) с грузом имеет вид

где

(2)
С учетом соотношений (1) и (2), а также уравнений электрической U = iR+K_ωα₂ и механической

цепей электродвигателя постоянного тока с постоянными магнитами или независимого возбуждения рассматриваемый привод, управляющий координатой g₂, можно описать следующим дифференциальным уравнением

(3)
где H^*= H/i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ , h^*= h/i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ , M $\genfrac{}{}{0ex}{}{\text{*}}{\text{вн}}$ = M_вн/i_p, R - активное сопротивление якорной цепи двигателя; J - момент инерции якоря двигателя и вращающихся частей редуктора, приведенных к валу двигателя; K_м - коэффициент крутящегося момента; K_ω - коэффициент противоЭДС; K_в - коэффициент вязкого трения; i_p - передаточное отношение редуктора; M_стр - момент сухого трения; K_у - коэффициент усиления усилителя 5; i - ток якоря;

- ускорение вращения вала двигателя второй степени подвижности.Given that

based on the Lagrange equations of the second kind, it can be written that the momentary effect on the output shaft of the drive controlling the coordinate g ₂ when the robot moves (figure 2) with a load has the form

Where

(2)
Taking into account relations (1) and (2), as well as the equations of electric U = iR + K _ω α ₂ and mechanical

DC motor circuits with permanent magnets or independent excitation, the drive in question, which controls the coordinate g ₂ , can be described by the following differential equation

(3)
where H ^* = H / i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ , h ^* = h / i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ , M $\genfrac{}{}{0ex}{}{\text{*}}{\text{vn}}$ = M _int / i _p , R is the active resistance of the motor anchor chain; J is the moment of inertia of the motor armature and the rotating parts of the gearbox brought to the motor shaft; K _m - coefficient of torque; K _ω is the coefficient of counter-EMF; K _in - coefficient of viscous friction; i _p - gear ratio; M _p is the moment of dry friction; K _y - gain of the amplifier 5; i is the armature current;

- acceleration of rotation of the motor shaft of the second degree of mobility.

и m_г. В результате в процессе работы привода меняются (притом существенно) его динамические свойства. В результате для реализации поставленной выше задачи необходимо сформировать такое корректирующее устройство, которое застабилизировало бы параметры привода таким образом, чтобы он описывался дифференциальным уравнением с постоянными параметрами.From (3) it can be seen that the parameters of this equation, and therefore the parameters of the drive controlling the coordinate g _2, are essentially variable, depending on the quantities

and m _g . As a result, during the operation of the drive, its dynamic properties change (and substantially). As a result, for the implementation of the above task, it is necessary to form such a corrective device that would stabilize the drive parameters so that it is described by a differential equation with constant parameters.

Первый вход сумматора 26 единичный, а задатчик 25 сигнала подает на него сигнал l₂l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ m₃. Второй вход этого сумматора имеет коэффициент усиления l₂l₃. В результате на выходе этого сумматора формируется сигнал l₂(m₃l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ +m_гl₃).
Второй датчик 18 положения измеряет обобщенную координату g₃ робота, а функциональный преобразователь 19 реализует cos g₃. В результате на выходе блока 20 умножения формируется сигнал
l₂(m₃l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ +m_гl₃)cosq₃.
Второй вход сумматора 16 имеет единичный коэффициент усиления, а задатчик 17 сигнала подает на этот вход сигнал
[J+(J₂+J₃+m₂l $\genfrac{}{}{0ex}{}{\text{*2}}{\text{2}}$ +m₃l $\genfrac{}{}{0ex}{}{\text{*2}}{\text{3}}$ +m₃l $\genfrac{}{}{0ex}{}{\text{2}}{\text{2}}$ )/i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ /J_н.
На первый его вход с коэффициентом усиления (l $\genfrac{}{}{0ex}{}{\text{2}}{\text{2}}$ +l $\genfrac{}{}{0ex}{}{\text{2}}{\text{3}}$ )/(i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ J_н) датчик 15 массы подает сигнал m_г. Третий вход сумматора 16 имеет коэффициент усиления 2/(i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ J_н). В результате на его выходе формируется сигнал

а на выходе блока 3 умножения - сигнал

Функциональный преобразователь 28 реализует функциональную зависимость sin g₃. В результате на выходе блока 27 умножения формируется сигнал l₂(m₃l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ +m_гl₃)sinq₃.
Датчик 10 скорости измеряет скорость изменения обобщенной координаты g₃ и, как и датчик 18 положения, установлен в третьей степени подвижности робота. В результате на первый отрицательный вход сумматора 13 (со стороны блока 12 умножения) с коэффициентом усиления 2/i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ поступает сигнал

а на пятый отрицательный вход этого сумматора (со стороны блока 29 умножения) с коэффициентом усиления 1/i_p - сигнал

Первый и второй входы сумматора 21 (соответственно со стороны блока 20 умножения и задатчика 22 сигнала) имеют единичные коэффициенты усиления, а его третий вход - коэффициент усиления l $\genfrac{}{}{0ex}{}{\text{2}}{\text{3}}$ . Задатчик 22 сигнала формирует сигнал J₃+m₃l $\genfrac{}{}{0ex}{}{\text{*2}}{\text{3}}$ , а датчик 24 ускорения измеряет ускорение обобщенной координаты g₃ и установлен в третьей степени подвижности робота. В результате на выходе блока 23 умножения формируется сигнал

который поступает на четвертый положительный вход сумматора 13, имеющий коэффициент усиления 1/i_p. Третий и второй положительные входы сумматора 13 (соответственно со стороны релейного элемента 14 и датчика 7 скорости) соответственно имеют единичный коэффициент усиления и коэффициент усиления, равный K_мK_ω/R+K_в.
Выходной сигнал релейного элемента 14 с нулевой нейтральной точкой имеет вид

где M_т - величина момента сухого трения при движении.It is believed that the first positive input of adder 2 (from the adder I side) is single, and its second negative input has a gain K _ω / K _у . Therefore, at the output of adder 2, a signal is generated

The first input of the adder 26 is single, and the signal setter 25 supplies a signal l ₂ l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ m ₃ . The second input of this adder has a gain of l ₂ l ₃ . As a result, at the output of this adder, a signal l ₂ (m ₃ l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ + m _g l ₃ ).
The second position sensor 18 measures the generalized coordinate g _{3 of the} robot, and the functional converter 19 implements cos g ₃ . As a result, a signal is generated at the output of the multiplication unit 20
l ₂ (m ₃ l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ + m _g l ₃ ) cosq ₃ .
The second input of the adder 16 has a unity gain, and the signal setter 17 supplies a signal to this input
[J + (J ₂ + J ₃ + m ₂ l $\genfrac{}{}{0ex}{}{\text{* 2}}{\text{2}}$ + m ₃ l $\genfrac{}{}{0ex}{}{\text{* 2}}{\text{3}}$ + m ₃ l $\genfrac{}{}{0ex}{}{\text{2}}{\text{2}}$ ) / i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ / J _n
At its first input with a gain (l $\genfrac{}{}{0ex}{}{\text{2}}{\text{2}}$ + l $\genfrac{}{}{0ex}{}{\text{2}}{\text{3}}$ ) / (i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ J _n ) the mass sensor 15 gives a signal m _g . The third input of the adder 16 has a gain of 2 / (i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ J _n ). As a result, a signal is generated at its output.

and at the output of block 3 multiplication - a signal

Functional Converter 28 implements the functional dependence of sin g ₃ . As a result, at the output of the multiplication unit 27, a signal l ₂ (m ₃ l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ + m _g l ₃ ) sinq ₃ .
The speed sensor 10 measures the rate of change of the generalized coordinate g ₃ and, like the position sensor 18, is installed in the third degree of robot mobility. As a result, at the first negative input of the adder 13 (from the side of the multiplication block 12) with a gain of 2 / i $\genfrac{}{}{0ex}{}{\text{2}}{\text{p}}$ signal is coming

and the fifth negative input of this adder (from the side of the block 29 multiplication) with a gain of 1 / i _p - signal

The first and second inputs of the adder 21 (respectively, from the side of the multiplication unit 20 and the signal setter 22) have unit gains, and its third input has a gain l $\genfrac{}{}{0ex}{}{\text{2}}{\text{3}}$ . The signal generator 22 generates a signal J ₃ + m ₃ l $\genfrac{}{}{0ex}{}{\text{* 2}}{\text{3}}$ and the acceleration sensor 24 measures the acceleration of the generalized coordinate g ₃ and is installed in the third degree of robot mobility. As a result, a signal is generated at the output of the multiplication block 23

which arrives at the fourth positive input of the adder 13 having a gain of 1 / i _p . The third and second positive inputs of the adder 13 (respectively from the relay element 14 and the speed sensor 7) respectively have a unity gain and gain equal to K _m K _ω / R + K _in .
The output signal of the relay element 14 with a zero neutral point has the form

where M _t - the value of the moment of dry friction during movement.

The first and second positive inputs of the adder 34 have unity gain, and the functional Converter 35 implements the functional dependence of sin (g ₂ + g ₃ ). As a result, the signal l ₂ (m ₃ l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ + m _g l ₃ ) sin (q ₂ + q ₃ ), which is fed to the seventh positive input of the adder 13 with a gain g / (l ₂ i _p ).

The constant signal switch 30 generates a signal m ₂ l $\genfrac{}{}{0ex}{}{\text{*}}{\text{2}}$ + m ₃ l ₂ and feeds it to the first positive input of the adder 31 having a unit gain, the second positive input of this adder has a gain l ₂ . Functional Converter 33 implements the functional dependence of sin g ₂ . As a result, the signal [m ₂ l $\genfrac{}{}{0ex}{}{\text{*}}{\text{2}}$ + (m ₃ + m _g ) l ₂ ] sinq ₂ , which is fed to the sixth positive input of the adder 13, having a gain g / i _p .

The second 37 and third 47 amplifiers have amplification factors equal to 2. Fifth 38, sixth 48 and seventh 50 functional converters implement the sin function. As a result, at the output of the thirteenth multiplication block 51, a signal l ₂ (m ₃ l $\genfrac{}{}{0ex}{}{\text{*}}{\text{3}}$ + m _g l ₃ ) sin (2q ₂ + q ₃ ).
The fifth constant signal master 44 generates a signal J _N3 -J _S3 + m ₃ l $\genfrac{}{}{0ex}{}{\text{* 2}}{\text{3}}$ .
The first (from the side of the setter 44) positive input of the eleventh adder 45 has a unity gain, and its second positive input is a gain equal to l $\genfrac{}{}{0ex}{}{\text{2}}{\text{3}}$ . As a result, at the output of the twelfth multiplication block 46, a signal is generated (J _N3 -J _S3 + l $\genfrac{}{}{0ex}{}{\text{* 2}}{\text{3}}$ m ₃ + l $\genfrac{}{}{0ex}{}{\text{2}}{\text{3}}$ m _g ) sin ² (q ₂ + q ₃ ).
The first (from the side of the sixth constant signal adjuster 52) the positive input of the thirteenth adder 53 has a unity gain, and its second positive input has a gain of l $\genfrac{}{}{0ex}{}{\text{2}}{\text{2}}$ . The sixth constant signal master 52 produces a signal equal to J _N2 -J _S2 + m ₂ l $\genfrac{}{}{0ex}{}{\text{* 2}}{\text{2}}$ + m ₃ l $\genfrac{}{}{0ex}{}{\text{2}}{\text{2}}$ . As a result, the output of the tenth multiplication block 39 produces a signal [J _N2 -J _S2 + m ₂ l $\genfrac{}{}{0ex}{}{\text{* 2}}{\text{2}}$ + (m ₃ + m _g ) l $\genfrac{}{}{0ex}{}{\text{2}}{\text{2}}$ ] sin2q ₂ .
The first (from the side of the multiplication block 39) and the second (from the side of the multiplication block 46) positive inputs of the tenth adder 40 have unity gain, and its third positive input has a gain of 2.

Восьмой отрицательный вход четвертого сумматора 13 имеет коэффициент усиления, равный 1/2i_p.The third speed sensor 43 measures the speed of rotation of the first degree of mobility of the robot (coordinate g ₁ ). As a result, a signal is generated at the output of the eleventh multiplication block 41

The eighth negative input of the fourth adder 13 has a gain equal to 1 / 2i _p .

Первый положительный вход сумматора 4 (со стороны блока 3 умножения) имеет единичный коэффициент усиления, а его второй положительный вход - коэффициент усиления R/(K_мK_у). В результате на выходе сумматора 4 формируется сигнал U^*, равный

Поскольку при движении привода

достаточно точно соответствует M_стр, то сигнал U^* (4), как несложно убедиться, обеспечивает превращение уравнения (3) с существенно переменными параметрами, в уравнение с постоянными желаемыми параметрами, обеспечивающими приводу заданные динамические свойства и качественные показатели,

Таким образом, за счет дополнительного введения второго 37 и третьего 47 усилителей, пятого 38, шестого 48 и седьмого 50 функциональных преобразователей, десятого 39, одиннадцатого 41, двенадцатого 46 и тринадцатого 51 блоков умножения, десятого 40, одиннадцатого 45, двенадцатого 49 и тринадцатого 53 сумматоров, квадратора 42, третьего датчика 43 скорости, пятого 44 и шестого 52 задатчиков постоянного сигнала удалось обеспечить полную инвариантность привода к эффектам взаимовлияния между степенями подвижности и моментом трения. Это позволяет получить стабильно высокое качество управления в любых режимах работы привода.Based on the above, at the output of the adder 13 a signal is generated,

The first positive input of the adder 4 (from the side of the multiplication block 3) has a unity gain, and its second positive input has a gain R / (K _m K _y ). As a result, at the output of the adder 4, a signal U ^* equal to

Because when driving

quite accurately corresponds to M _p , then the signal U ^* (4), as you can easily see, ensures the conversion of equation (3) with substantially variable parameters into an equation with constant desired parameters that provide the drive with the specified dynamic properties and quality indicators,

Thus, due to the additional introduction of the second 37 and third 47 amplifiers, the fifth 38, sixth 48 and seventh 50 functional converters, tenth 39, eleventh 41, twelfth 46 and thirteenth 51 multiplication blocks, tenth 40, eleventh 45, twelfth 49 and thirteenth 53 adders, a quadrator 42, a third speed sensor 43, a fifth 44 and a sixth 52 constant signal generator managed to ensure complete invariance of the drive to the effects of mutual influence between the degrees of mobility and the moment of friction. This allows you to get a consistently high quality control in all operating modes of the drive.

Claims (1)

 A device for controlling a robot drive, comprising a first adder, a second adder, a first multiplication unit, a third adder, a first amplifier and an electric motor connected directly to the first speed sensor and through a gearbox with a first position sensor, the output of which is connected to the first input of the first adder, connected by a second input to the input of the device, a second speed sensor, a second multiplication unit, a third multiplication unit and a fourth adder, a second input of which connected to the second input of the second adder and the output of the first speed sensor, and the third input to the output of the relay element connected to the input of the second input of the third multiplication unit and the output of the first speed sensor, mass sensors and a fifth adder connected in series, the second input of which is connected to the output the first setter of a constant signal, and the output to the second input of the first multiplication unit, the second position sensor, the first functional converter, the fourth multiplication unit, the sixth with the adder, the second input of which is connected to the output of the second constant signal generator, the fifth multiplication unit, the second input of which is connected to the output of the acceleration sensor, and the output - with the fourth input of the fourth adder, the third constant signal generator connected in series, the seventh adder, the second input of which is connected to the output of the mass sensor, and the sixth multiplication unit, the second input of which through the second functional converter is connected to the output of the second position sensor, and the output to the second input of the multiplication unit, the second input of the fourth multiplication unit is connected to the output of the seventh adder, its output is connected to the third input of the fifth adder, the third input of the sixth adder is connected to the output of the mass sensor, the fifth input of the fourth adder is through the seventh multiplication unit, the second input of which is connected to the output of the second multiplication unit, connected to the output of the second speed sensor, connected in series with the fourth constant signal generator, the eighth adder, the second input of which is connected to the output of the mass sensor, and the eighth multiplication unit, the second input which through the third functional converter is connected to the output of the first position sensor, and its output is connected to the sixth input of the fourth adder, the ninth adder is connected in series, the first and second inputs of which are connected respectively to the outputs of the first and second position sensors, the fourth functional converter and the ninth multiplication unit, the second input of which is connected to the output of the seventh adder, and the output to the seventh input of the fourth adder, characterized in that it additionally introduces the following the second amplifier, the fifth functional converter, the tenth multiplication unit, the tenth adder and the eleventh multiplication unit, the second input of which is connected through the quadrator to the output of the third speed sensor, and the output to the eighth input of the fourth adder, the fifth constant signal generator connected in series, the eleventh adder and the twelfth multiplication unit, the second input of which is connected in series through the third amplifier and the sixth functional converter to the output of the ninth umator, and its output is to the second input of the tenth adder, the twelfth adder is connected in series, the first and second inputs of which are connected respectively to the outputs of the second position sensor and the second amplifier, the seventh functional converter and the thirteenth multiplication unit, the second input of which is connected to the output of the seventh adder, and its output is to the third input of the tenth adder, the sixth constant signal generator and the thirteenth adder are connected in series, the second input of which is connected to the second input dinnadtsatogo adder and the output of the mass sensor, and its output - to the second input of the tenth multiplier, the input of the second amplifier is connected to the output of the first position sensor.

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