RU2488480C1 - Robot electric drive - Google Patents

Abstract

FIELD: physics, robotics.

SUBSTANCE: invention relates to robotics and can be used in designing robot electric drives. The robot electric drive further includes a fifth cosine function generator, a thirteenth and a fourteenth multiplier unit, a second accelerometer, as well as an eleventh adder and respective connections.

EFFECT: invention enables to generate an additional control signal which is fed to the input of the electric drive which enables to generate instantaneous action needed to ensure complete invariance of its quality to continuously varying load parameters.

2 dwg

Description

The invention relates to robotics and can be used to create electric drives of robots.

A device for controlling a robot drive is known, comprising a first adder connected in series, the first input of which is the device input, a second adder, a first multiplication unit, a third adder, an amplifier and an electric motor connected directly to the first speed sensor and through the gearbox to the first position sensor, output which is connected to the second input of the first adder, the second speed sensor, the second multiplication unit, the third multiplication unit and the fourth adder, the second input to which is connected to the second input of the second adder and the output of the first speed sensor, 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, and the output to the second input of the third adder, the mass sensor and the fifth connected in series an adder, the second input of which is connected to the output of the first signal generator, and the output to the second input of the first multiplication unit, the second position sensor connected in series, the first cosine functional converter a developer, a fourth multiplication unit, a sixth adder, the second input of which is connected to the output of the second signal generator, a fifth multiplication unit, the second input of which is connected to the output of the first acceleration sensor, and the output - with the fourth input of the fourth adder, the third signal adjuster, the seventh adder connected in series , 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 sine functional converter is connected to the output of the second position sensor, and the output is to the second input of the second 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 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 the second speed sensor, connected in series with the fourth signal setter, the eighth adder, the second input of which is connected to the output of the mass sensor and the third input of the sixth adder, and the eighth multiplication unit, the second the input of which through the third sine functional converter is connected to the output of the first position sensor, as well as 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 sine functional converter and the ninth multiplication unit, the second input of which is connected to the output of the seventh adder, the tenth adder, the second input of which is connected to the output of the eighth multiplication block and the tenth multiplication block, the second input of which o connected to the output of the second acceleration sensor, and the output to the sixth input of the fourth adder, the fifth cosine functional converter connected in series, the input of which is connected to the output of the first position sensor, the eleventh multiplication unit, the second input of which is connected to the output of the eighth adder, the eleventh adder, the second whose input is connected in series through the sixth cosine functional converter and the twelfth multiplication unit, the second input of which is connected to the output of the seventh adder a, connected to the output of the ninth adder, and the thirteenth multiplication block, the second input of which is connected to the output of the third acceleration sensor, and the output to the seventh input of the fourth adder (see Russian patent No. 2272312, BI No. 8, 2006).

Its disadvantage is that it lacks the complete invariance of the dynamic properties of the drive under consideration to continuous changes in its moment load characteristics, since a robot with a different kinematic scheme is considered here.

A robot electric drive is also known, comprising a first adder, a first multiplication unit, a second adder, a first amplifier, a first amplifier, an electric motor connected to the first speed sensor directly and through a gearbox with a first position sensor, the output of which is connected to the first input of the first adder, the second input of which connected to the input of the device, the second position sensor connected in series, the third adder, the second input of which is connected to the output of the first signal setter, the first quadrator, even the fifth adder, the second input of which is connected to the output of the second signal generator, the fifth adder, the second input of which is connected to the output of the third signal generator, the second multiplication unit and the sixth adder, the third position sensor, the second amplifier, the first sine function converter and the third multiplication unit connected in series , the second input of which is connected to the output of the second speed sensor, and the output to the second input of the second multiplication unit, the second cosine functional transform connected in series a driver, a second quadrator, a fourth multiplication unit, the second input of which is connected to the output of the fourth adder, and a seventh adder, the second input of which is connected to the output of the fourth signal generator, and the third input, through the third sine function converter and the third quadrator, connected in series to the inputs of the second amplifier and a second functional converter, a fifth signal setter connected in series, an eighth adder, the second input of which is connected to the output of the third adder and the first input of the fifth adder, the fifth multiplication unit, 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 to the output of the eighth adder, and the output - to the third input of the fourth adder, connected in series to the seventh multiplication unit, the first input of which is connected to the output of the second quadrator, the second input - to the output of the ninth adder, the second input connected to the output of the fifth multiplication block, and the eighth multiplication block, the second input of which is connected to the output of the third speed sensor, and the output - with the second input of the sixth adder, the output of which is connected to the first input of the ninth multiplication unit, connected by the output to the fourth input of the second adder, and the second input - with the output of the first speed sensor, with the second and through the relay element - with the third inputs of the second adder, and with the second input of the tenth adder, the first input of which is connected to the output of the first adder, and the output is with the first input of the first multiplication unit, the second input of which is connected to the output of the seventh adder, connected in series with the fourth an inusal functional converter, the input of which is connected to the output of the first position sensor, the tenth multiplication unit, the second input of which is connected to the output of the ninth adder, the eleventh multiplication unit, the second input of which is connected to the output of the first acceleration sensor, as well as the twelfth multiplication unit, the second input of which is connected with the output of the second functional converter, and the output with the fifth input of the second adder (see Russian patent No. 2423225, BI No. 19, 2011).

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

The disadvantage of the prototype is also that it lacks the complete invariance of the dynamic properties of the drive in question to continuous changes in its momentary load characteristics, since it considers a robot with a kinematic scheme having only four degrees of mobility.

The task to which the claimed technical solution is directed is to ensure complete invariance of the dynamic properties of the drive in question to continuous and rapid changes in its dynamic moment load characteristics when a specific robot moves with a given kinematic scheme for all its five degrees of mobility.

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 electric drive, which provides the formation of the momentary effect necessary to ensure the complete invariance of its quality indicators to continuously changing load parameters.

The problem is solved in that in the electric drive of the robot containing the first adder, the first multiplication unit, the second adder, the first amplifier, the electric motor connected to the first speed sensor directly and through the gearbox with the first position sensor, the output of which is connected to the first input of the first the adder, the second input of which is connected to the input of the device, the second position sensor is connected in series, the third adder, the second input of which is connected to the output of the first signal generator la, the first quadrator, the fourth adder, the second input of which is connected to the output of the second signal setter, the fifth adder, the second input of which is connected to the output of the third signal setter, the second multiplication unit and the sixth adder, in series the third position sensor, the second amplifier, the first sine functional a converter and a third multiplication unit, the second input of which is connected to the output of the second speed sensor, and the output to the second input of the second multiplication unit, connected in series to the second cosine the functional converter, the second quadrator, the fourth multiplication unit, the second input of which is connected to the output of the fourth adder, and the seventh adder, the second input of which is connected to the output of the fourth signal setter, and the third input through the third sine function converter and the third quadrator connected in series to the inputs of the second an amplifier and a second functional converter, a fifth signal adjuster connected in series, an eighth adder, the second input of which is connected to the output of the third sum the first input of the ninth adder, the fifth multiplication unit, 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 to the output of the eighth adder, and the output to the third input of the fourth adder, connected in series to the seventh multiplication unit, the first the input of which is connected to the output of the second quadrator, the second input is to the output of the ninth adder, the second input is connected to the output of the fifth multiplication block, and the eighth multiplication block, the second input of which is connected to the output of the third speed sensor, and the output with the second input of the sixth adder, the output of which is connected to the first input of the ninth multiplication unit, connected by the output to the fourth input of the second adder, and the second input with the output of the first speed sensor, with the second and through the relay element with third inputs the second adder, as well as the second input of the tenth adder, the first input of which is connected to the output of the first adder, and the output to the first input of the first multiplication unit, the second input of which is connected to the output of the seventh adder, in series connected the fourth sine functional converter, the input of which is connected to the output of the first position sensor, the tenth multiplication unit, the second input of which is connected to the output of the ninth adder, the eleventh multiplication unit, the second input of which is connected to the output of the first acceleration sensor, as well as the twelfth multiplication unit, the second input which is connected to the output of the second functional converter, and the output to the fifth input of the second adder, an additional fifth cosine func an ionic converter connected to the input of the output of the first position sensor, the thirteenth multiplication unit, the fourteenth multiplication unit, the second input of which is connected to the output of the second acceleration sensor, and the eleventh adder, the second input of which is connected to the output of the eleventh multiplication unit, and the output to the first input of the twelfth multiplication block.

A comparative analysis of the essential features of the proposed technical solution with the essential features of the analogue and prototype indicate its compliance with the criterion of "novelty."

In this case, the distinguishing features of the claims provide high accuracy and stability of the electric drive of the robot in question under conditions of a significant change in its load parameters.

Figure 1 is a block diagram of the proposed robot electric drive, and figure 2 is a kinematic diagram of the executive body of this robot.

The robot electric drive contains a first adder 1, a first multiplication unit 2, a second adder 3, a first amplifier 4, an electric motor 5 connected directly to the first speed sensor 6 directly and through a reducer 7 with a first position sensor 8, the output of which is connected to the first input of the first adder 1, the second input of which is connected to the input of the device, the second position sensor 9 is connected in series, the third adder 10, the second input of which is connected to the output of the first signal setter 11, the first quadrator 12, four the fourth adder 13, the second input of which is connected to the output of the second signal setter 14, the fifth adder 15, the second input of which is connected to the output of the third signal setter 16, the second multiplication unit 17 and the sixth adder 18, connected in series with the third position sensor 19, the second amplifier 20, the first sine functional converter 21 and the third multiplication unit 22, the second input of which is connected to the output of the second speed sensor 23, and the output to the second input of the second multiplication unit 17, connected in series to the second cosine function a channel converter 24, a second quadrator 25, a fourth multiplication unit 26, the second input of which is connected to the output of the fourth adder 13, and a seventh adder 27, the second input of which is connected to the output of the fourth signal setter 28, and the third input through series-connected third sine functional converter 29 and the third quadrator 30 - to the inputs of the second amplifier 20 and the second functional converter 24, the fifth signal adjuster 31, the eighth adder 32, the second input of which is connected to the output t the third adder 10 and the first input of the ninth adder 33, the fifth multiplication unit 34, the second input of which is connected to the output of the mass sensor 35, and the sixth multiplication unit 36, the second input of which is connected to the output of the eighth adder 32, and the output to the third input of the fourth adder 13 connected in series to the seventh multiplication unit 37, the first input of which is connected to the output of the second quadrator 25, the second input to the output of the ninth adder 33, the second input connected to the output of the fifth multiplication unit 34, and the eighth multiplication unit 38, the second input of which connected to the output of the third speed sensor 39, and the output to the second input of the sixth adder 18, the output of which is connected to the first input of the ninth multiplying unit 40, connected to the fourth input of the second adder 3, and the second input to the output of the first speed sensor 6, with the second and through the relay element 42 - with the third inputs of the second adder 3, as well as with the second input of the tenth adder 41, the first input of which is connected to the output of the first adder 1, and the output - with the first input of the first multiplication unit 2, the second input of which is connected to the output of the seventh adder 27, a fourth sine function converter 43 connected in series, the input of which is connected to the output of the first position sensor 8, the tenth multiplication unit 44, the second input of which is connected to the output of the ninth adder 33, the eleventh multiplication unit 45, the second input of which is connected to the output the first acceleration sensor 46, as well as the twelfth multiplication unit 47, the second input of which is connected to the output of the second functional converter 24, and the output to the fifth input of the second adder 3, the follower a fifth cosine functional converter 48 connected by an input to the output of the first position sensor 8, a thirteenth multiplication unit 49, a fourteenth multiplication unit 50, the second input of which is connected to the output of the second acceleration sensor 51, and an eleventh adder 52, the second input of which is connected to the output of the eleventh block 45 multiplication, and the output with the first input of the twelfth block 47 multiplication. Management Object 53.

$${\dot{q}}_3$$

- скорости изменения соответствующих обобщенных координат; $${\dot{\alpha }}_1$$

- скорость вращения ротора электродвигателя; $${\ddot{q}}_4$$

, $${\ddot{q}}_5$$

- ускорения четвертой и пятой обобщенных координат робота соответственно; m₁, m₂, m_Г - соответственно, массы первого, второго звеньев исполнительного органа и захваченного груза; $$l_2^{*}$$

- расстояние от оси вращения второго звена до его центра масс при q₃=0; l₂ - расстояние от центра масс второго звена до средней точки схвата.In figures 1 and 2, the following notation is introduced: q _BX — signal from the output of the software device; ε is the drive error signal; U ^* , U - respectively, the amplified signal and the control signal of the motor 5; q ₁ , q ₂ , q ₃ , q ₄ , q ₅ - the corresponding generalized coordinates of the executive body of the robot; $${\dot{q}}_2$$

$${\dot{q}}_3$$

- the rate of change of the corresponding generalized coordinates; $${\dot{\alpha }}_{\mathrm{one}}$$

- rotational speed of the rotor of the electric motor; $${\ddot{q}}_{\mathrm{four}}$$

, $${\ddot{q}}_5$$

- acceleration of the fourth and fifth generalized coordinates of the robot, respectively; m ₁ , m ₂ , m _G - respectively, the mass of the first, second links of the executive body and the captured cargo; $$l_2^{*}$$

- the distance from the axis of rotation of the second link to its center of mass with q ₃ = 0; l ₂ is the distance from the center of mass of the second link to the midpoint of the grip.

The invention considers an electric drive of the robot, providing rotation of the actuator relative to the vertical axis. That is, it controls the generalized coordinate q ₁ .

The device operates as follows. A control action q _ВХ is applied to the input, which provides the required law of electric drive control. At the same time, an error signal ε is generated at the output of adder 1, which, after correction in blocks 2, 3, and 41, amplifies and enters an electric motor 5 with a reducer, bringing its shaft into rotational motion with direction and speed (acceleration), depending on the value of the incoming signal and external torque effect M _B.

, $${\dot{q}}_3$$

, $${\ddot{q}}_4$$

, $${\ddot{q}}_{:5}$$

и m_Г. В связи с этим для качественного управления координатой q₁ необходимо точно компенсировать отрицательное влияние изменения координат q₁, q₂, q₃, $${\dot{q}}_2$$

, $${\dot{q}}_3$$

, $${\ddot{q}}_4$$

, $${\ddot{q}}_5$$

, а также переменной массы груза m_Г на динамические свойства рассматриваемого электропривода.The electric drive under consideration 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 that can vary widely. This reduces the quality of the drive and even leads to a loss of stability of its operation. The moment characteristics of the electric drive depend on a change in coordinates q ₁ , q ₂ , q ₃ , $${\dot{q}}_2$$

, $${\dot{q}}_3$$

, $${\ddot{q}}_{\mathrm{four}}$$

, $${\ddot{q}}_{:5}$$

and m _G. In this regard, for quality control of the coordinate q ₁ it is necessary to accurately compensate for the negative impact of changes in the coordinates q ₁ , q ₂ , q ₃ , $${\dot{q}}_2$$

, $${\dot{q}}_3$$

, $${\ddot{q}}_{\mathrm{four}}$$

, $${\ddot{q}}_5$$

, as well as a variable mass of cargo m _G on the dynamic properties of the drive in question.

, $${\dot{q}}_2$$

и $${\dot{q}}_3$$

соответственно, датчики 46 и 51 - в четвертой и пятой степенях подвижности исполнительного органа и измеряют величины $${\ddot{q}}_4$$

, $${\ddot{q}}_{:5}$$

соответственно.Sensors 8, 19 and 9 are installed respectively in the first, second and third degrees of mobility of the executive body (see figure 2) and measure the values of q ₁ , q ₂ and q ₃ respectively. Sensors 6, 23 and 39 are also installed respectively in the first, second and third degrees of mobility of the executive body (see figure 2) and measure the values $${\dot{\alpha }}_{\mathrm{one}}$$

, $${\dot{q}}_2$$

and $${\dot{q}}_3$$

respectively, sensors 46 and 51 in the fourth and fifth degrees of mobility of the executive body and measure $${\ddot{q}}_{\mathrm{four}}$$

, $${\ddot{q}}_{:5}$$

respectively.

At the output of the squares 30 and 25, signals sin ² q ₂ , cos ² q _{2 are formed} .

.The amplifier 20 has a gain of 2. Therefore, a signal is generated at the output of block 22 $${\dot{q}}_2\sin 2q_2$$

.

, l₂ соответственно. Положительные входы сумматоров 10 и 32 имеют единичные коэффициенты усиления. Следовательно, на их выходах соответственно формируются сигналы $$l_2^{*}+q_3$$

и $$l_2^{*}+q_3+l_2$$

, на выходах квадратора 12 и блока 34 - сигналы $${\left(l_2^{*}+q_3\right)}^2$$

, $$m_{Г}\left(l_2^{*}+q_3+l_2\right)$$

соответственно, а на выходе блока 36 - сигнал $$m_{Г}{\left(l_2^{*}+q_3+l_2\right)}^2$$

, так как датчик 35 измеряет массу захваченного груза m_Г.Actuators 11 and 31 generate signals $$l_2^{*}$$

, l _2, respectively. The positive inputs of the adders 10 and 32 have unity gain. Consequently, signals are generated at their outputs $$l_2^{*}+q_3$$

and $$l_2^{*}+q_3+l_2$$

, at the outputs of the quadrator 12 and block 34 - signals $${\left(l_2^{*}+q_3\right)}^2$$

, $$m_G\left(l_2^{*}+q_3+l_2\right)$$

respectively, and at the output of block 36, a signal $$m_G{\left(l_2^{*}+q_3+l_2\right)}^2$$

since the sensor 35 measures the mass of the captured cargo m _G.

где J_N2 - момент инерции второго звена исполнительного органа относительно поперечной оси, проходящей через его центр масс.The master 14 delivers a signal equal to J _N2 to the second positive input of the adder 13 with a unity gain, the third (from the side of the block 36) and the first positive inputs of the adder 13 have gains equal to unity and m ₂ . As a result, a signal is generated at the output of block 26 $${\cos }^2{q}_2\left(J_{N2}+m_2{\left(l_2^{*}+q_3\right)}^2+m_G{\left(l_2^{*}+q_3+l_2\right)}^2\right),$$

where J _N2 is the moment of inertia of the second link of the executive body relative to the transverse axis passing through its center of mass.

, где J - момент инерции ротора электродвигателя и вращающихся частей редуктора, приведенный к валу электродвигателя; i_p - передаточное отношение редуктора 7. Третий (со стороны квадратора 30) и первый положительные входы этого сумматора соответственно имеют коэффициенты усиления, равные J_s2 и единице. В результате на выходе сумматора 27 формируется сигналThe setter 28 delivers to the second positive input of the adder 27 having a unit gain, a signal equal to $$J_{s\mathrm{one}}+J{i}_p^2$$

where J is the moment of inertia of the rotor of the electric motor and the rotating parts of the gearbox, reduced to the shaft of the electric motor; i _p is the gear ratio of the gear 7. The third (from the side of the squared 30) and the first positive inputs of this adder, respectively, have gains equal to J _s2 and unity. As a result, at the output of the adder 27, a signal is generated

. $$J{i}_p^2+J_{s\mathrm{one}}+J_{s2}{\sin }^2{q}_2+\lfloor J_{N2}+m_2{\left(l_2^{*}+q_3\right)}^2+m_G\left(l_2^{*}+q_3+l_2\right)\rfloor {\cos }^2{q}_2=J{i}_p^2+P\left(q_2,q_3\right)$$

.

.At the output of the setter 16, a signal J _s2 is generated. The first negative (from the adder 13) and the second positive inputs of the adder 15 have unity gains. As a result, a signal is generated at the output of block 17 $$A=\left(J_{s2}-J_{N2}-m_2{\left(l_3^{*}+q_3\right)}^2-m_G{\left(l_3^{*}+q_3+l_3\right)}^2\right)\sin \left(2q_2\right){\dot{q}}_2$$

.

В результате на выходе сумматора 33 формируется сигнал $$2\left[m_2\left(l_2^{*}+q_3\right)+m_{Г}\left(l_2^{*}+q_3+l_2\right)\right],$$

на выходе блока 38 - сигналThe second (from the side of block 34) and the first positive inputs of the adder 33, respectively, have gains equal to 2 and $$2m_2.$$

As a result, a signal is generated at the output of the adder 33 $$2\left[m_2\left(l_2^{*}+q_3\right)+m_G\left(l_2^{*}+q_3+l_2\right)\right],$$

at the output of block 38, a signal

, $$B=2\left[m_2\left(l_2^{*}+q_3\right)+m_G\left(l_2^{*}+q_3+l_2\right)\right]{\cos }^2\left(q_2\right){\dot{q}}_3$$

,

, на выходе блока 50 - сигнал $$2\left[m_2\left(l_2^{*}+q_3\right)+m_{Г}\left(l_2^{*}+q_3+l_2\right)\right]\cos q_1,$$

а на выходе блока 47 - сигнал $$-2С=\left[m_2\left(l_2^{*}+q_3\right)+m_{Г}\left(l_2^{*}+q_3+l_2\right)\right]\left({\ddot{q}}_4\sin q_1+{\ddot{q}}_5\cos q_1\right)\cos q_2,$$

так как сумматор 52 имеет положительные входы с единичными коэффициентами усиления.at the output of block 44, a signal $$2\left[m_2\left(l_2^{*}+q_3\right)+m_G\left(l_2^{*}+q_3+l_2\right)\right]\sin q_{\mathrm{one}}$$

, at the output of block 50, a signal $$2\left[m_2\left(l_2^{*}+q_3\right)+m_G\left(l_2^{*}+q_3+l_2\right)\right]\cos q_{\mathrm{one}},$$

and at the output of block 47, a signal $$-2\mathrm{FROM}=\left[m_2\left(l_2^{*}+q_3\right)+m_G\left(l_2^{*}+q_3+l_2\right)\right]\left({\ddot{q}}_{\mathrm{four}}\sin q_{\mathrm{one}}+{\ddot{q}}_5\cos q_{\mathrm{one}}\right)\cos q_2,$$

since the adder 52 has positive inputs with unity gain.

.The positive inputs of the adder also 18 have unity gain. As a result, a signal is generated at the output of block 40 $$\left(A+B\right){\dot{\alpha }}_{\mathrm{one}}$$

.

, а на выходе блока 2 - сигнал $$\left(P+J{i}_p^2\right)\left(\epsilon -\frac{K_{\omega }}{K_y}{\dot{\alpha }}_1\right)$$

, где K_ω, K_y - соответственно коэффициент противо-ЭДС электродвигателя 5 и коэффициент усиления усилителя 4.The first positive (from the adder 1 side) and the second negative inputs of the adder 41 respectively have a unity gain and a gain equal to K _ω / K _y . As a result, a signal is generated at its output. $$\epsilon -\frac{K_{\omega }}{K_y}{\dot{\alpha }}_{\mathrm{one}}$$

, and at the output of block 2 - a signal $$\left(P+J{i}_p^2\right)\left(\epsilon -\frac{K_{\omega }}{K_y}{\dot{\alpha }}_{\mathrm{one}}\right)$$

where K _ω , K _y - respectively, the coefficient of counter-EMF of the electric motor 5 and the gain of the amplifier 4.

, $$\frac{K_{\omega }}{K_y}+\frac{K_{B}R}{K_M{K}_y}$$

, $$\frac{R}{K_M{K}_y}$$

, $$\frac{R}{K_M{K}_y{i}_p^2},$$

$$\frac{R}{2K_M{K}_y{i}_p}$$

соответственно, где R - активное сопротивление якорной обмотки электродвигателя 5, J_H - номинальное значение приведенного к валу электродвигателя 5 момента инерции, K_B - коэффициент вязкого трения, K_M - коэффициент крутящего момента электродвигателя 5. В результате на выходе сумматора 3 формируется сигналThe first (from the side of block 2), the second (from the side of sensor 6), the third (from the side of the relay element 42), the fourth (from the side of block 40) the positive and fifth negative inputs of the adder 3 have gains equal to $$\frac{\mathrm{one}}{J_H{i}_p^2}$$

, $$\frac{K_{\omega }}{K_y}+\frac{K_{B}R}{K_M{K}_y}$$

, $$\frac{R}{K_M{K}_y}$$

, $$\frac{R}{K_M{K}_y{i}_p^2},$$

$$\frac{R}{2K_M{K}_y{i}_p}$$

respectively, where R is the active resistance of the armature winding of the electric motor 5, J _H is the nominal value of the moment of inertia reduced to the shaft of the electric motor 5, K _B is the coefficient of viscous friction, K _M is the torque coefficient of electric motor 5. As a result, a signal is generated at the output of adder 3

$$U^{*}=\left(J+\frac{P}{i_p^2}\right)\frac{\mathrm{one}}{J_H}\left(\epsilon -\frac{K_{\omega }}{K_y}{\dot{\alpha }}_{\mathrm{one}}\right)+\frac{R}{K_M{K}_y}\left[\left(K_B+\frac{K_M{K}_{\omega }}{R}+\frac{A+B}{i_p^2}\right){\dot{\alpha }}_{\mathrm{one}}+\frac{C}{i_p}+M_{T}sign{\dot{\alpha }}_{\mathrm{one}}\right],\left(\mathrm{one}\right)$$

because relay element 42 has the characteristic

$$U_{\mathrm{at}sx41}=\{\begin{array}{ccc}{M}_T& & {\dot{\alpha }}_{\mathrm{one}}>0\\ -M_T& PR\mathrm{and}& {\dot{\alpha }}_{\mathrm{one}}<0\\ 0& & {\dot{\alpha }}_{\mathrm{one}}=0\end{array}$$

where M _T > 0 is the magnitude of the dry friction of motion.

From the Lagrange equation of the 2nd kind, it is easy to determine that the momentary effect of M _B on the drive in question from the other degrees of mobility of the robot's actuator has the form

$$M_B=P{\ddot{q}}_{\mathrm{one}}+\left(A+B\right){\dot{q}}_{\mathrm{one}}+C.\left(2\right)$$

и механическойTaking into account relation (2), as well as the equations of electric $$U=iR+K_{\omega }{\dot{\alpha }}_{\mathrm{one}}$$

and mechanical

$$i{K}_M=J{\ddot{\alpha }}_{\mathrm{one}}+K_B{\dot{\alpha }}_{\mathrm{one}}+\frac{M_B}{i_p}+M_{CTP}=\left(J+\frac{P}{i_P^2}\right){\ddot{\alpha }}_{\mathrm{one}}+\left[K_B+\frac{A+B}{i_P^2}\right]{\dot{\alpha }}_{\mathrm{one}}+\frac{C}{i_P}+M_{CTP}$$

chains of a direct current electric motor with permanent magnets or independent excitation, the considered electric drive controlling the coordinate q ₁ can be described by the differential equation

$$K_y{K}_M{U}^{*}=R\left(J+\frac{P}{i_P^2}\right){\ddot{\alpha }}_{\mathrm{one}}+\left[K_M{K}_{\omega }+R\left(K_B\frac{A+B}{i_P^2}\right)\right]{\dot{\alpha }}_{\mathrm{one}}+R\left(\frac{C}{i_P}+M_{CTP}\right),\left(3\right)$$

.where M _CTP is the dry friction moment reduced to the motor shaft, i is the current in the armature winding of the electric motor. Moreover $$M_{CTP}=M_{T}sign{\dot{\alpha }}_{\mathrm{one}}\left(M_T>0\right)$$

.

, обеспечивающими рассматриваемому электроприводу заданные динамические свойства и качественные показатели работы.It is obvious that equation (3) during the movement of the executive body of the robot due to a significant change in the components A, B, C and P has variable parameters, therefore, the electric drive described by this equation has variable dynamic properties and quality indicators. However, the generated control signal U ^* (1) provides the transformation of the differential equation of the loaded electric drive (3) with substantially variable parameters into an equation with nominal constant parameters $$R{J}_H{\ddot{\alpha }}_{\mathrm{one}}+K_M{K}_{\omega }{\dot{\alpha }}_{\mathrm{one}}=K_M{K}_y\epsilon$$

that provide the drive with the specified dynamic properties and quality performance.

Claims (1)

A robot electric drive comprising a first adder, a first multiplication unit, a second adder, a first amplifier, a first amplifier, 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, the second input of which is connected to the input of the device, the second position sensor connected in series, the third adder, the second input of which is connected to the output of the first signal setter, the first quadrator, the fourth total the second input of which is connected to the output of the second signal generator, the fifth adder, the second input of which is connected to the output of the third signal generator, the second multiplication unit and the sixth adder, the third position sensor connected in series, the second amplifier, the first sine function converter and the third multiplication unit, the second whose input is connected to the output of the second speed sensor, and the output to the second input of the second multiplication unit, the second cosine functional converter, the second connected in series a quadrator, a fourth multiplication unit, the second input of which is connected to the output of the fourth adder, and a seventh adder, the second input of which is connected to the output of the fourth signal setter, and the third input, through the third sinusoidal converter and the third quadrator, connected in series to the inputs of the second amplifier and the second functional a converter, a fifth signal adjuster connected in series, an eighth adder, the second input of which is connected to the output of the third adder and the first input of the ninth adder a, the fifth multiplication unit, 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 to the output of the eighth adder, and the output - to the third input of the fourth adder, in series the seventh multiplication unit, the first input of which is connected to the output the second quadrator, the second input to the output of the ninth adder, the second input connected to the output of the fifth multiplication block, and the eighth multiplication block, the second input of which is connected to the output of the third speed sensor, and the output to the second input m of the sixth adder, the output of which is connected to the first input of the ninth multiplication unit, connected by the output to the fourth input of the second adder, and the second input to the output of the first speed sensor, to the second and through the relay element to the third inputs of the second adder, and also to the second input the tenth adder, the first input of which is connected to the output of the first adder, and the output - with the first input of the first multiplication block, the second input of which is connected to the output of the seventh adder, the fourth sine function connected in series the first converter, the input of which is connected to the output of the first position sensor, the tenth multiplication unit, the second input of which is connected to the output of the ninth adder, the eleventh multiplication unit, the second input of which is connected to the output of the first acceleration sensor, and the twelfth multiplication unit, the second input of which is connected to the output of the second functional converter, and the output with the fifth input of the second adder, characterized in that the fifth cosine functional a generator connected to the input of the output of the first position sensor, the thirteenth multiplication unit, the fourteenth multiplication unit, the second input of which is connected to the output of the second acceleration sensor, and the eleventh adder, the second input of which is connected to the output of the eleventh multiplication unit, and the output to the first input of the twelfth unit multiplication.

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