RU2399479C1 - 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 has series-connected first adder and second adders, first multiplier, third adder, amplifier and electric motor. The first velocity sensor is directly connected to the electric motor which is connected through a reduction gear to the first position sensor. The output of the position sensor is connected to the first negative input of the first adder which is connected by the second positive input to the input of the device. The device has series-connected relay unit and fourth adder, the second positive input of which is connected to the output of the first velocity sensor and the input of the relay unit.

EFFECT: high dynamic accuracy of the electric drive of given robot axis and stable high quality of control in any operation mode.

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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 first and second adders connected in series, a first multiplication unit, a third adder, an amplifier and an engine connected to the first speed sensor directly and through a gearbox to a first position sensor, the output of which is connected to the first positive input of the first adder connected by the second input to the input of the device, the relay unit and the fourth adder are connected in series, the second positive input of which is connected to the output of the first sensor speed and the input of the relay block, the first signal pickup and the fifth adder connected in series, the second positive input of which is connected to the output of the mass sensor, and the output to the second input of the first multiplication unit, the second speed sensor installed in the third degree of robot mobility in series, the second block multiplication and the third multiplication block, the second input of which is connected to the output of the first speed sensor, and the output to the third negative input of the fourth adder, as well as the second position sensor, a third degree of mobility of the robot, the second negative input of the second adder connected to the output of the first speed sensor, and the output of the fourth adder connected to the second positive input of the third adder, sequentially connected to a second signal master, sixth adder, fourth multiplication unit, the second input of which is through the first a cosine functional converter is connected to the output of the second position sensor, the seventh adder, the second positive input of which is connected to the output of the third a signal sensor, and a fifth multiplication unit, the second input of which is connected to the output of the first acceleration sensor installed in the third degree of robot mobility, and the output is connected to the fourth positive input of the fourth adder, a second sine functional converter connected in series, the input of which is connected to the input of the first cosine functional the converter, and the sixth multiplication unit, the second input of which is connected to the output of the sixth adder, and the output to the second input of the second multiplication unit, the fifth the negative input of the fourth adder is connected to the output of the seventh multiplication unit, the first input of which is connected to the output of the second speed sensor, and the second input is connected to the output of the second multiplication unit, the third positive input of the fifth adder is connected to the output of the fourth multiplication unit, the third positive input of the seventh adder is connected to the output of the mass sensor and the second positive input of the sixth adder, connected in series to the eighth adder, the first positive input of which is connected to the output of the second sensor position, and its second positive input - to the output of the first position sensor, the third sine functional converter, the eighth multiplication unit, the ninth adder and the ninth multiplication unit, the output of which is connected to the sixth positive input of the fourth adder, as well as the second acceleration sensor installed in the first degree the mobility of the robot, and in series connected the fourth signal generator, the tenth adder, the tenth multiplication unit, the second input of which through the fourth sine functional converter sub is connected to the output of the first position sensor, and its output to the second positive input of the ninth adder, the fifth signal pickup and the eleventh adder connected in series, the second positive input of which is connected to the output of the mass sensor and to the second positive input of the tenth adder, and its output to the second the positive input of the eighth multiplication block, connected in series to the third acceleration sensor, mechanically connected to the output shaft of the engine, and the eleventh multiplication block, the second input of which is connected n with the output of the second multiplication unit, and the output with the first negative input of the twelfth adder, the second positive input of which is connected to the output of the third acceleration sensor, and the output is the third positive input of the third adder, the first differentiator and the twelfth multiplication unit, the second input of which are connected in series connected to the output of the seventh adder, as well as the thirteenth multiplication unit, the first input of which is connected to the output of the sixth multiplication unit, the second input to the output of the first acceleration sensor and input the first differentiator, and the output is to the first negative input of the thirteenth adder, the output of which is connected to the input of the fourteenth multiplication unit, a quadrator connected in series, the fifteenth multiplication unit, the second input of which is connected to the output of the fourth multiplication unit, and the sixteenth multiplication unit connected in series to the fourteenth adder, the seventeenth multiplication block and the eighteenth multiplication block, the second input of which is connected to the output of the eleventh adder, connected in series to the fifth an inus functional converter, the input of which is connected to the output of the first position sensor, a nineteenth multiplication unit, the second input of which is connected to the output of the tenth adder, the twentieth multiplication unit and the twenty first multiplication unit, the second input of which is connected to the output of the first speed sensor, the first positive input of the fourteenth adder and the second input of the fourteenth multiplication unit, connected in series with the sixth cosine functional converter, connected by an input to the output of the eighth a matrator, and a twenty-second multiplication unit, the output of which is connected to the second input of the seventeenth multiplication unit, a second differentiator connected in series to the output of the second acceleration sensor, and a twenty-third multiplication unit, the second input of which is connected to the output of the eighth multiplication unit, as well as twenty the fourth multiplication block, the first input of which is connected to the output of the tenth multiplication block, and its second input - with the output of the second differentiator, and the output - with the third positive input of the twelfth sum a matora whose fourth positive input is connected to the output of the twenty-third multiplication block, the fifth positive input is to the output of the eighteenth multiplication block, the sixth positive input is to the output of the twenty-first multiplication block, the seventh positive input is to the output of the fourteenth multiplication block, the eighth negative input is to the output of the sixteenth multiplication block, the ninth positive input - to the output of the twelfth multiplication block, and the tenth negative - to the output of the twenty-fifth multiplication block, the first input of which is connected with the output of the thirteenth multiplication block, and the second input with the output of the second speed sensor, the input of the quadrator, the second input of the sixteenth multiplication block and the second positive input of the fourteenth adder, the second negative input of the thirteenth adder connected to the output of the fifteenth multiplication block, characterized in that additionally introduced are the sixth signal setter and the fifteenth adder connected in series, the second positive input of which is connected to the output of the second acceleration sensor, and the output to watts to the first inputs of the ninth, twentieth and twenty second multiplication blocks (see RF patent No. 2312007, BI No. 34, 2007).

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

A device for controlling a robot drive is also known, comprising first and second adders connected in series, a first multiplication unit, a third adder, an amplifier and an engine connected to the first speed sensor directly and through the gearbox to the first position sensor, the output of which is connected to the first negative input of the first an adder connected by a second positive input to the input of the device, a relay block and a fourth adder connected in series with the second positive input the house of the first speed sensor and the input of the relay unit, the first signal pickup and the fifth adder connected in series, the second positive input of which is connected to the output of the mass sensor, and the output to the second input of the first multiplication unit, the second speed sensor connected in series, installed in the third degree of robot mobility , the second block of multiplication and the third block of multiplication, the second input of which is connected to the output of the first speed sensor, and the output to the third negative input of the fourth adder, as well as the second a position sensor installed in the third degree of robot mobility, wherein the second negative input of the second adder is connected to the output of the first speed sensor, and the output of the fourth adder is connected to the second positive input of the third adder, the second signal adjuster, the sixth adder, the fourth multiplication unit, the second input are connected in series which through the first cosine functional converter is connected to the output of the second position sensor, the seventh adder, the second positive input of which is connected with the output of the third signal generator, and the fifth multiplication unit, the second input of which is connected to the output of the first acceleration sensor installed in the third degree of mobility of the robot, and the output is connected to the fourth positive input of the fourth adder, a second sine function converter in series, the input of which is connected to the input, is connected in series the first cosine functional converter, and the sixth multiplication unit, the second input of which is connected to the output of the sixth adder, and the output to the second input of the second multiplication, the fifth negative input of the fourth adder is connected to the output of the seventh multiplication unit, the first input of which is connected to the output of the second speed sensor, and the second input is connected to the output of the second multiplication unit, the third positive input of the fifth adder is connected to the output of the fourth multiplication unit, third positive input the seventh adder is connected to the output of the mass sensor and the second positive input of the sixth adder, the eighth adder connected in series, the first and second positive inputs of which are connected respectively the outputs of the second and first position sensors, the third sine functional converter, the eighth multiplication unit and the ninth adder, as well as the ninth multiplication unit, the second input of which is connected to the output of the second acceleration sensor installed in the first degree of robot mobility, and its output to the sixth positive input of the fourth adder, connected in series with the fourth signal generator, the tenth adder, the tenth multiplication unit, the second input of which is through the fourth sine functional The transmitter is connected to the output of the first position sensor, and its output is to the second positive input of the ninth adder, the fifth signal pickup and the eleventh adder are connected in series, the second positive input of which is connected to the output of the mass pickup and to the second input of the tenth adder, and its output to the second the input of the eighth multiplication block, connected in series to the third acceleration sensor, mechanically connected to the output shaft of the engine, the eleventh multiplication block, the second input of which is connected to the output the second multiplication unit, and the twelfth adder, the second positive input of which is connected to the output of the third acceleration sensor, and the output to the third positive input of the third adder, the first differentiator and the twelfth multiplication unit connected in series, the second input of which is connected to the output of the seventh adder, the thirteenth multiplication unit the first input of which is connected to the output of the sixth multiplication unit, and the second input to the output of the first acceleration sensor and the input of the first differentiator, connected in series the eleventh adder connected to the output of the thirteenth multiplication block by the first negative input, and the fourteenth multiplication block, the quadrator connected in series, the fifteenth multiplication block, the second input of which is connected to the output of the fourth multiplication block, and the sixteenth multiplication block, the fourteenth adder connected in series, the seventeenth multiplication block and the eighteenth multiplication block, the second input of which is connected to the output of the eleventh adder, the fifth cosine functional connected in series a converter, the input of which is connected to the output of the first position sensor, and a nineteenth multiplication unit, the second input of which is connected to the output of the tenth adder, as well as the twentieth and twenty-first multiplication blocks, the second input of the last connected to the output of the first speed sensor, the first positive input of the fourteenth adder and the second input of the fourteenth multiplication unit, connected in series with the sixth cosine functional converter connected by the input to the output of the eighth adder, and twenty a second multiplication unit, connected in series to the second differentiator, connected to the output of the second acceleration sensor and the second input of the twentieth multiplication unit, and a twenty-third multiplication unit, as well as a twenty-fourth multiplication unit, the second input of which is connected to the output of the second differentiator, and the output to the third the positive input of the twelfth adder, the fifth positive input of which is connected to the output of the eighteenth multiplication block, the sixth positive - to the output of the twenty-first multiplication block, the seventh positive to the output of the fourteenth multiplication block, the eighth negative input to the output of the sixteenth multiplication block, the ninth positive to the output of the twelfth multiplication block, and the tenth negative to the output of the twenty-fifth multiplication block, the first input of which is connected to the output of the thirteenth multiplication block, and the second input - with the output of the second speed sensor, the input of the quadrator, the second input of the sixteenth multiplication block and the second positive input of the fourteenth adder, and the second negative input is thirteen o the adder is connected to the output of the fifteenth multiplication unit, characterized in that it is additionally introduced in series with the twenty-sixth multiplication unit, the first input of which is connected to the output of the eighth multiplication unit, and its second input is to the output of the fourteenth adder, and the fifteenth adder, the second positive the input of which through the twenty-seventh multiplication block is connected to the output of the first speed sensor, and the output is to the first input of the twentieth multiplication block, the output of which is negative m the input of the twelfth adder, as well as the sixteenth adder, the first positive input of which is connected to the output of the twenty-second multiplication block, the second positive input - with the output of the nineteenth multiplication block and the first inputs of the twenty-first and twenty-fourth multiplication blocks, and the output - with the first input of the ninth block multiplication, and the twenty-eighth multiplication block, the first input of which is connected to the output of the twenty-third multiplication block, the second input is to the output of the eleventh adder and the second input of the twenty-second block and the multiplication, and the output, to the fourth positive input of the twelfth adder, the second input of the twenty-seventh multiplication unit connected to the output of the tenth multiplication unit, the output of the ninth adder connected to the seventh positive input of the fourth adder, and the output of the sixth cosine functional converter to the second inputs of the seventeenth and twenty-third blocks of multiplication (see RF patent No. 2312006, BI No. 34, 2007)

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 moment load characteristics, since it considers a robot with a different kinematic scheme.

The task to which the claimed technical solution is directed is to ensure the 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 degrees of mobility, taking into account the electric time constant of the electric motor.

The technical result that can be obtained by implementing the proposed technical solution is expressed in the formation of an additional control signal supplied to the input of the electric drive, which provides 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 and second adders in series, the first multiplication unit, the third adder, the amplifier and 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 negative the input of the first adder connected by the second positive input to the input of the device, a relay unit and a fourth adder connected in series, the second positive input of which inen with the output of the first speed sensor and the input of the relay unit, the first signal pickup and the fifth adder connected in series, the second positive input of which is connected to the mass sensor output, and the output to the second input of the first multiplication unit, the second speed sensor connected in series, installed in the third degree the mobility of the robot, the second multiplication unit and the third multiplication unit, the second input of which is connected to the output of the first speed sensor, and the output to the third negative input of the fourth adder, and e a second position sensor installed in the third degree of robot mobility, the second negative input of the second adder connected to the output of the first speed sensor, and the output of the fourth adder connected to the second positive input of the third adder, the second signal adjuster, the sixth adder, the fourth multiplication unit connected in series, the second input of which, through the first cosine functional converter, is connected to the output of the second position sensor, the seventh adder, the second positive input of which о is connected to the output of the third signal setter, and the fifth multiplication unit, the second input of which is connected to the output of the first acceleration sensor installed in the third degree of robot mobility, and the output is connected to the fourth positive input of the fourth adder, the second sine functional converter, the input of which is connected in series with the input of the first cosine functional converter, and the sixth multiplication unit, the second input of which is connected to the output of the sixth adder, and the output to the second input the second multiplication unit, the fifth negative input of the fourth adder is connected to the output of the seventh multiplication unit, the first input of which is connected to the output of the second speed sensor, and the second input is connected to the output of the second multiplication unit, the third positive input of the fifth adder is connected to the output of the fourth multiplication unit, the third positive the input of the seventh adder is connected to the output of the mass sensor and the second positive input of the sixth adder, the eighth adder connected in series, the first and second positive inputs of which The third sine function converter, the eighth multiplication unit and the ninth adder, as well as the ninth multiplication unit, the second input of which is connected to the output of the second acceleration sensor installed in the fourth degree of robot mobility, respectively, are connected to the outputs of the second and first position sensors, and its output to the sixth positive input of the fourth adder, the fourth signal adjuster, the tenth adder, the tenth multiplication unit, the second input of which is through the fourth sine the national converter is connected to the output of the first position sensor, and its output is to the second positive input of the ninth adder, the fifth signal pickup and the eleventh adder are connected in series, the second positive input of which is connected to the output of the mass sensor and to the second input of the tenth adder, and its output to the second input of the eighth multiplication block, connected in series to the third acceleration sensor, mechanically connected to the output shaft of the electric motor, the eleventh multiplication block, the second input of which connected to the output of the second multiplication unit, and the twelfth adder, the second positive input of which is connected to the output of the third acceleration sensor, and the output to the third positive input of the third adder, the first differentiator and the twelfth multiplication unit connected in series, the second input of which is connected to the output of the seventh adder, the thirteenth multiplication block, the first input of which is connected to the output of the sixth multiplication block, and the second input to the output of the first acceleration sensor and the input of the first differentiator, are followed the thirteenth adder, connected by the first negative input to the output of the thirteenth multiplication unit, and the fourteenth multiplication unit, the quadrator connected in series, the fifteenth multiplication unit, the second input of which is connected to the output of the fourth multiplication unit, and the sixteenth multiplier connected in series with the fourteenth adder, the seventeenth unit multiplication and the eighteenth multiplication block, the second input of which is connected to the output of the eleventh adder, the fifth cosine connected in series the first functional converter, the input of which is connected to the output of the first position sensor, and the nineteenth multiplication unit, the second input of which is connected to the output of the tenth adder, as well as the twentieth and twenty-first multiplication blocks, the second input of the last connected to the output of the first speed sensor, the first positive input the fourteenth adder and the second input of the fourteenth multiplication unit, connected in series with the sixth cosine functional converter, connected by the input to the output of the eighth a matrator, and a twenty-second multiplication unit, connected in series to a second differentiator connected to the output of the second acceleration sensor and a second input of the twentieth multiplication unit, and a twenty-third multiplication unit, as well as a twenty-fourth multiplication unit, the second input of which is connected to the output of the second differentiator, and output - with the third positive input of the twelfth adder, the seventh positive - to the output of the fourteenth multiplication block, the eighth negative input - to the output of the sixteenth multiplication block, ninth positive - to the output of the twelfth multiplication block, and the tenth negative - to the output of the twenty-fifth multiplication block, the first input of which is connected to the output of the thirteenth multiplication block, and the second input - with the output of the second speed sensor, quad input, second input of the sixteenth multiplication block and second positive the input of the fourteenth adder, the second negative input of the thirteenth adder connected to the output of the fifteenth multiplication block, connected in series to the twenty-sixth multiplication block, the first input One of which is connected to the output of the eighth multiplication unit, and its second input is to the output of the fourteenth adder, and the fifteenth adder, the second positive input of which through the twenty-seventh multiplication unit is connected to the output of the first speed sensor, and the output to the first input of the twentieth multiplication unit, the output which is connected to the eleventh negative input of the twelfth adder, as well as the sixteenth adder, the first positive input of which is connected to the output of the twenty-second multiplication block, the second positive input - from to the output of the nineteenth multiplication block and the first inputs of the twenty-first and twenty-fourth multiplication blocks, and the output is with the first input of the ninth multiplication block, and the twenty-eighth multiplication block, the first input of which is connected to the output of the twenty-third multiplication block, the second input is to the output of the eleventh adder and the second input of the twenty-second multiplication block, and the output to the fourth positive input of the twelfth adder, and the second input of the twenty-seventh multiplication block is connected to the output of the tenth multiplication block, and you One of the sixth cosine functional converter - with the second inputs of the seventeenth and twenty-third multiplication blocks, an fourth acceleration sensor installed in the first degree of robot mobility, a twenty-ninth multiplication block and a seventeenth adder, the second positive input of which is connected to the second input of the twenty-ninth block, are additionally introduced in series multiplication and the output of the ninth adder, and the output to the seventh positive input of the fourth adder, connected in series the first multiplication unit and the eighteenth adder, the second positive input of which is connected to the output of the eighteenth multiplication unit and the second input of the thirtieth multiplication unit, and the output to the fifth positive input of the twelfth adder, the thirty-first multiplication unit and the nineteenth adder connected in series, the second positive input of which is connected to the output of the twenty-first block of multiplication and the second input of the thirty-first block of multiplication, and the output to the sixth positive input of the twelfth adder, followed by The third differentiator, the input of which is connected to the output of the fourth acceleration sensor and the first inputs of the thirtieth and thirty-first multiplication blocks, and the thirty-second multiplication block, the second input of which is connected to the output of the ninth adder and the output to the twelfth positive input of the twelfth adder, are directly connected.

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

At the same time, the distinguishing features of the claims provide high accuracy and stability of the robot electric drive 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 electric drive of the robot contains serially connected first 1 and second 2 adders, a first multiplication unit 3, a third adder 4, an amplifier 5 and an electric motor 6 connected directly with the first speed sensor 7 and through the gearbox 8 to the first position sensor 9, the output of which is connected to the first the negative input of the first adder 1, connected by a second positive input to the input of the device, the relay unit 10 and the fourth adder 11 are connected in series, the second positive input of which is connected to the output of the first sensor ka 7 speed and the input of the relay unit 10, connected in series to the first signal setter 12 and the fifth adder 13, the second positive input of which is connected to the output of the mass sensor 14, and the output to the second input of the first multiplication unit 3, sequentially connected to the second speed sensor 15 installed in the third degree of mobility of the robot, the second multiplication block 16 and the third multiplication block 17, the second input of which is connected to the output of the first speed sensor 7, and the output to the third negative input of the fourth adder 11, as well as the second yes a position sensor 18, installed in the third degree of robot mobility, the second negative input of the second adder 2 connected to the output of the first speed sensor 7, and the output of the fourth adder 11 connected to the second positive input of the third adder 4, sequentially connected to the second signal adjuster 19, sixth adder 20 , the fourth block 21 multiplication, the second input of which through the first cosine functional converter 22 is connected to the output of the second position sensor 18, the seventh adder 23, the second positive input cat The second one is connected to the output of the third signal setter 24, and the fifth multiplication unit 25, the second input of which is connected to the output of the first acceleration sensor 26 installed in the third degree of robot mobility, and the output is connected to the fourth positive input of the fourth adder 11, the second sinus functional converter connected in series 27, the input of which is connected to the input of the first cosine functional converter 22, and the sixth multiplication unit 28, the second input of which is connected to the output of the sixth adder 20, and the output - to the second input of the second multiplication unit 16, the fifth negative input of the fourth adder 11 is connected to the output of the seventh multiplication unit 29, the first input of which is connected to the output of the second speed sensor 15, and the second input is the output of the second multiplication unit 16, the third positive input of the fifth adder 13 is connected to the output of the fourth multiplication unit 21, the third positive input of the seventh adder 23 is connected to the output of the mass sensor 14 and the second positive input of the sixth adder 20, the eighth adder 30 connected in series, the first the first and second positive inputs of which are connected respectively to the outputs of the second 18 and first 9 position sensors, the third sine function converter 31, the eighth multiplication unit 32 and the ninth adder 33, as well as the ninth multiplication unit 34, the second input of which is connected to the output of the second acceleration sensor 35 installed in the fourth degree of mobility of the robot, and its output is to the sixth positive input of the fourth adder 11, the fourth signal adjuster 36, the tenth adder 37, and the tenth multiplier 38 are connected in series I, the second input of which through the fourth sine functional converter 39 is connected to the output of the first position sensor 9, and its output - to the second positive input of the ninth adder 33, the fifth signal adjuster 40 and the eleventh adder 41 connected in series, the second positive input of which is connected to the sensor output 14 of the mass and to the second input of the tenth adder 37, and its output to the second input of the eighth block 32 of the multiplication, sequentially connected to the third acceleration sensor 42, mechanically connected with the output shaft electric motor 6, the eleventh multiplication unit 43, the second input of which is connected to the output of the second multiplication unit 16, and the twelfth adder 44, the second positive input of which is connected to the output of the third acceleration sensor 42, and the output - to the third positive input of the third adder 4, connected in series with the first a differentiator 45 and a twelfth multiplication unit 46, the second input of which is connected to the output of the seventh adder 23, a thirteenth multiplication unit 47, the first input of which is connected to the output of the sixth multiplication unit 28, and the second input one - to the output of the first acceleration sensor 26 and the input of the first differentiator 45, the thirteenth adder 48 connected in series, connected by the first negative input to the output of the thirteenth multiplication unit 47, and the fourteenth multiplication unit 49, the quadrator 50 connected in series, the fifteenth multiplication unit 51, the second input of which connected to the output of the fourth multiplication unit 21, and the sixteenth multiplication unit 52, connected in series to the fourteenth adder 53, the seventeenth multiplication unit 54 and the eighteenth multiplication unit 55, second the first input of which is connected to the output of the eleventh adder 41, the fifth cosine functional converter 56 is connected in series, the input of which is connected to the output of the first position sensor 9 and the nineteenth multiplication unit 57, the second input of which is connected to the output of the tenth adder 37, as well as the twentieth 58 and twenty-first 59 blocks of multiplication, and the second input of the latter is connected to the output of the first speed sensor 7, the first positive input of the fourteenth adder 53 and the second input of the fourteenth block 49 of multiplication, the sixth cosine functional converter 60 connected to the output of the eighth adder 30 and the twenty second multiplier 61, connected in series to the second differentiator 62, connected to the output of the second acceleration sensor 35 and the second input of the twentieth multiplication unit 58, and the twenty third block 63 multiplication, as well as the twenty-fourth multiplication block 64, the second input of which is connected to the output of the second differentiator 62, and the output to the third positive input of the twelfth adder 44, seventh positive - to the output of the fourteenth multiplication block 49, the eighth negative input - to the output of the sixteenth multiplication block 52, the ninth positive - to the output of the twelfth multiplication block 46, and the tenth negative - to the output of the twenty-fifth multiplication block 65, the first input of which is connected to the output of the thirteenth block 47 multiplication, and the second input - with the output of the second speed sensor 15, the input of the quadrator 50, the second input of the sixteenth multiplication unit 52 and the second positive input of the fourteenth adder 53, the second negative the input of the thirteenth adder 48 is connected to the output of the fifteenth multiplication block 51, the twenty-sixth multiplication block 66 is connected in series, the first input of which is connected to the output of the eighth multiplication block 32, and its second input is to the output of the fourteenth adder 53, and the fifteenth adder 67, the second positive input which through the twenty-seventh multiplication block 68 is connected to the output of the first speed sensor, and the output is to the first input of the twentieth multiplication block 58, the output of which is connected to the eleventh negative input of the twelfth the adder 44, as well as the sixteenth adder 69, the first positive input of which is connected to the output of the twenty-second multiplication block 61, the second positive input - with the output of the nineteenth multiplication block 57 and the first inputs of the twenty-first 59 and twenty-fourth 64 multiplication blocks, and the output - with the first the input of the ninth multiplication block 34, and the twenty-eighth multiplication block 70, the first input of which is connected to the output of the twenty-third multiplication block 63, the second input is to the output of the eleventh adder 41 and the second input of the twenty-second block 61 mind knives, and the output to the fourth positive input of the twelfth adder 44, the second input of the twenty-seventh multiplication block 68 being connected to the output of the tenth multiplying block 38, and the output of the sixth cosine functional converter 60 to the second inputs of the seventeenth 54 and twenty third 63 multiplying blocks the fact that the fourth acceleration sensor 71, installed in the first degree of robot mobility, the twenty-ninth multiplication unit 72 and the seventeenth 73 adder, sequentially connected, is additionally introduced into it a swarm positive input which is connected to the second input of the twenty-ninth multiplication block 72 and the output of the ninth 33 adder, and the output to the seventh positive input of the fourth adder 11, the thirtieth multiplication block 74 and the eighteenth adder 75 connected in series, the second positive input of which is connected to the output of the eighteenth block 55 multiplication and the second input of the thirtieth block 74 multiplication, and the output to the fifth positive input of the twelfth adder 44, connected in series thirty-first block 76 multiplication and virgins the eleventh adder 77, the second positive input of which is connected to the output of the twenty-first multiplier block 59 and the second input of the thirty-first multiplier block 76, and the output to the sixth positive input of the twelfth adder 44, the third differentiator 78 in series, the input of which is connected to the output of the fourth sensor 71 acceleration and the first inputs of the thirtieth 74 and thirty-first 76 multiplication blocks, and the thirty-second multiplication block 79, the second input of which is connected to the output of the ninth adder 33, and the output to the twelfth floor zhitelnym twelfth input adder 44. The control object 80.

- скорости изменения соответствующих обобщенных координат;

- ускорения изменения соответствующих обобщенных координат; m₁, m₂, m₃, m_г - соответственно массы первого, второго, третьего звеньев исполнительного органа и захваченного груза;

- расстояния от осей вращения соответствующих звеньев до их центров масс; l₂, l₃ - длины соответствующих звеньев;

- соответственно скорость и ускорение вращения ротора электродвигателя; U^*, U - соответственно усиливаемый сигнал и сигнал управления электродвигателем 6.The following notation is introduced in the drawings: q _i — signal of the desired position; ε is the error of the electric drive (the value of the mismatch); q ₁ , q ₂ , q ₃ , q ₄ - the corresponding generalized coordinates of the executive body of the robot;

- the rate of change of the corresponding generalized coordinates;

- accelerate changes in the corresponding generalized coordinates; m ₁ , m ₂ , m ₃ , m _g - respectively, the mass of the first, second, third links of the executive body and the captured cargo;

- the distance from the axis of rotation of the respective links to their centers of mass; l ₂ , l ₃ are the lengths of the corresponding links;

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

The device operates as follows. The error signal ε from the adder 1 after correction in blocks 2, 3, 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 external torque M _century 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 of the robot, has variable torque characteristics, which can vary widely. This reduces the quality of the drive and even leads to a loss of stability of its operation. As a result, a problem arises related to ensuring the invariance of the dynamic properties of the electric drive to continuous and rapid changes in its moment load characteristics, which allows to ensure the stability of a given quality of the control system.

The drive in question controls the generalized coordinate q _{2 of the} robot. The design of its executive body allows horizontal rectilinear movement in the plane (coordinates q ₁ and q ₄ ) and two rotational movements (coordinates q ₂ and q ₃ ) in the vertical plane.

и массы груза m_г. В связи с этим для качественного управления координатой q₂ необходимо компенсировать отрицательное влияние изменения этих координат и переменной массы груза m_г на динамические свойства рассматриваемого электропривода.The moment characteristics of the electric drive controlling the coordinate q ₂ substantially depend on the change in coordinates

and mass of cargo m _g . In this regard, for quality control of the q ₂ coordinate, it is necessary to compensate for the negative effect of changes in these coordinates and the variable mass of the load m _g on the dynamic properties of the drive in question.

Based on the Lagrange equations of the second kind, one can write the momentary effect on the output shaft of the drive controlling the coordinate q ₂ . This effect has the form

Where

g is the acceleration of gravity.

и электрической

цепей электродвигателя постоянного тока с постоянными магнитами или независимого возбуждения электропривод, управляющий координатой q₂, можно описать следующим дифференциальным уравнениемTaking into account relation (1), as well as the equations of mechanical

and electrical

chains of a constant current electric motor with permanent magnets or independent excitation, the electric drive controlling the coordinate q ₂ can be described by the following differential equation

;

;

;

Where

;

;

;

L, R - respectively, the inductance and resistance of the armature circuit of the electric motor 6; J is the moment of inertia of the armature of the motor and the rotating parts of the gearbox 8, reduced to the shaft of the motor; k _m , k _ω , k _in , k _y - respectively, the coefficients of torque, counter-EMF, viscous friction and amplifier gain 5; i _p - gear ratio; M _p is the moment of dry friction; i is the armature current of the electric motor.

и m_г. В результате в процессе работы электропривода меняются (и при том существенно) его динамические свойства. Для реализации поставленной выше задачи необходимо сформировать такое корректирующее устройство, которое застабилизировало бы параметры электропривода таким образом, чтобы он описывался дифференциальным уравнением с постоянными параметрами.From equation (2) it can be seen that its parameters, and therefore the parameters of the drive that controls the coordinate q ₂ , are essentially variable, depending on the values

and m _g . As a result, in the process of operation of the electric drive, its dynamic properties change (and at the same time significantly). To implement the task set above, it is necessary to form such a corrective device that would stabilize the parameters of the electric drive so that it is described by a differential equation with constant parameters.

.The first positive input of adder 2 (from the adder 1 side) has a unity gain, and its second negative input has a gain k _ω / k _y . Therefore, at the output of adder 2, a signal is generated

.

. Второй положительный вход этого сумматора имеет коэффициент усиления l₂l₃. В результате на выходе этого сумматора формируется сигнал

. Датчик 18 установлен в третьей степени подвижности исполнительного органа и измеряет обобщенную координату q₃, a функциональный преобразователь 22 реализует функцию cosq₃. В результате на выходе блока 21 формируется сигнал

The first positive input of the adder 20 has a unity gain, and the master 19 sends a signal to it

. The second positive input of this adder has a gain of l ₂ l ₃ . As a result, a signal is generated at the output of this adder

. The sensor 18 is installed in the third degree of mobility of the actuator and measures the generalized coordinate q ₃ , while the functional converter 22 implements the function cosq ₃ . As a result, a signal is generated at the output of block 21

где J_н=const - номинальное значение приведенного момента инерции электропривода. На его второй вход с коэффициентом усиления

датчик 14 массы подает сигнал m_г. Третий вход сумматора 13 имеет коэффициент усиления

. В результате на его выходе формируется сигналAll inputs of the adder 13 are positive. The first of them has a unity gain, and the signal setter 12 supplies a signal to this input

where J _n = const is the nominal value of the reduced moment of inertia of the electric drive. On his second input with a gain

the mass sensor 14 gives a signal m _g . The third input of the adder 13 has a gain

. As a result, a signal is generated at its output.

а на выходе блока 3 - сигнал

.

and at the output of block 3 - a signal

.

Functional Converter 27 implements the function sinq ₃ . As a result, a signal is generated at the output of block 28

. В результате на третий отрицательный вход сумматора 11 (со стороны блока 17) с коэффициентом усиления

поступает

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

The sensor 15 is installed in the third degree of mobility of the Executive body and measures the value

. As a result, the third negative input of the adder 11 (from the side of block 17) with a gain

arrives

and its fifth negative input (from the side of block 29) with a gain of 1 / i _p is a signal

Задатчик 24 формирует сигнал

а датчик 26, установленный в третьей степени подвижности исполнительного органа, измеряет

. В результате на выходе блока 25 формируется сигнал

который поступает на четвертый положительный вход сумматора 11, имеющий коэффициент усиления 1/i_p. Первый и второй положительные входы сумматора 11 (соответственно, со стороны релейного элемента 10 и датчика 7) соответственно имеют единичный коэффициент усиления и коэффициент усиления, равный k_мk_ω/R+k_в.All inputs of the adder 23 are positive. The first and second (respectively from the side of the block 21 and the setter 24) have unity gain, and its third - gain

The setter 24 generates a signal

and the sensor 26, installed in the third degree of mobility of the executive body, measures

. As a result, a signal is generated at the output of block 25

which arrives at the fourth positive input of the adder 11 having a gain of 1 / i _p . The first and second positive inputs of the adder 11 (respectively, from the relay element 10 and the sensor 7) respectively have a unity gain and gain equal to k _m k _ω / R + k _in .

, а второй вход - коэффициент усиления l₂/i_p. В результате на выходе этого сумматора формируется сигнал

Функциональный преобразователь 39 реализует функцию sinq₂. В результате на выходе блока 38 формируется сигнал

All inputs of the adder 37 are positive. The first input has a unity gain and the master 36 provides a signal to it

and the second input is the gain l ₂ / i _p . As a result, a signal is generated at the output of this adder

Functional converter 39 implements the function sinq ₂ . As a result, a signal is generated at the output of block 38

а его второй вход имеет коэффициент усиления, равный l₃/i_p. В результате на выходе этого сумматора формируется сигнал

Сумматор 30 имеет положительные входы с единичными коэффициентами усиления. В результате на его выходе формируется сигнал q₂+q₃. Функциональный преобразователь 31 реализует функцию sin(q₂+q₃). В результате на выходе блока 32 формируется сигнал

All inputs of the adder 41 are positive. The master 40 delivers a signal to its first input with a unity gain

and its second input has a gain of l ₃ / i _p . As a result, a signal is generated at the output of this adder

The adder 30 has positive inputs with unity gain. As a result, a q ₂ + q ₃ signal is generated at its output. Functional Converter 31 implements the function sin (q ₂ + q ₃ ). As a result, a signal is generated at the output of block 32

Датчик 71 установлен в первой степени подвижности исполнительного органа и измеряет ускорение

. Первый положительный вход сумматора 73 (со стороны блока 72) имеет единичный коэффициент усиления, а его второй положительный вход - коэффициент усиления g. В результате с выхода сумматора 73 на седьмой положительный вход сумматора 11 с единичным коэффициентом усиления поступает сигнал

The positive inputs of the adder 33 have unity gain, therefore, a signal is generated at its output

The sensor 71 is installed in the first degree of mobility of the Executive body and measures the acceleration

. The first positive input of the adder 73 (from the side of block 72) has a unity gain, and its second positive input has a gain g. As a result, from the output of the adder 73 to the seventh positive input of the adder 11 with a unity gain signal is received

Functional converter 60 implements the function cos (q ₂ + q ₃ ). As a result, a signal is generated at the output of block 61

Functional Converter 56 implements the function cosq ₂ . As a result, a signal is generated at the output of block 57

. В результате на выходе блока 34 формируется сигнал

который поступает на шестой положительный вход сумматора 11, имеющий единичный коэффициент усиления.The adder 69 has positive inputs with unity gain. The sensor 35 is installed in the fourth degree of mobility of the Executive body and measures the acceleration

. As a result, a signal is generated at the output of block 34

which arrives at the sixth positive input of the adder 11 having a unity gain.

The output signal of the relay element 10 has the form

,

,

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

As a result, a signal is generated at the output of the adder 11

. В результате на седьмой положительный вход сумматора 44, имеющий единичный коэффициент усиления, со стороны блока 49 поступает сигнал

Для исполнительного органа рассматриваемого робота выполняется условие

, а датчик 42 измеряет ускорение

. В результате на первый отрицательный вход сумматора 44, имеющий коэффициент усиления

, со стороны блока 43 поступает сигнал

Второй положительный вход этого сумматора (со стороны датчика 42) имеет коэффициент усиления k_в.The negative inputs of the adder 48 have gains

. As a result, the seventh positive input of the adder 44, having a unity gain, from the side of block 49 receives a signal

For the executive body of the robot in question, the condition

and sensor 42 measures acceleration

. As a result, the first negative input of the adder 44 having a gain

, from the side of block 43 a signal is received

The second positive input of this adder (from the side of the sensor 42) has a gain of k _in .

на его десятый отрицательный вход, имеющий коэффициент усиления 3/i_p, (со стороны блока 65) - сигнал

а на восьмой отрицательный (со стороны блока 52) - сигнал

The ninth positive input of the adder 44 (from the block 46) receives a signal

to its tenth negative input having a gain of 3 / i _p , (from the side of block 65) - a signal

and on the eighth negative (from the side of block 52) - a signal

. В результате на четвертый положительный вход сумматора 44 (со стороны блока 70) поступает сигнал

At the output of block 63, a signal is generated

. As a result, the fourth positive input of the adder 44 (from the block 70) receives a signal

а на выходе блока 55 - сигнал

Первый положительный вход сумматора 75 (со стороны блока 55) имеет коэффициент усиления g, а его второй положительный вход - единичный коэффициент усиления. В результате на пятый положительный вход сумматора 44 (со стороны сумматора 75) поступает сигналThe first (from the side of the sensor 7) positive input of the adder 53 has a gain of 1 / i _p , and its second positive input has a unity gain. As a result, a signal is generated at the output of this adder

and at the output of block 55, a signal

The first positive input of the adder 75 (from the side of unit 55) has a gain g, and its second positive input has a unity gain. As a result, the fifth positive input of the adder 44 (from the adder 75) receives a signal

Первый положительный вход сумматора 77 (со стороны блока 59) имеет коэффициент усиления g/i_p, а его второй положительный вход - коэффициент усиления 1/i_p. В результате на шестой положительный вход сумматора 44 (со стороны сумматора 77) поступает сигнал

At the output of block 59, a signal is generated

The first positive input of the adder 77 (from the side of block 59) has a gain of g / i _p , and its second positive input has a gain of 1 / i _p . As a result, the sixth positive input of the adder 44 (from the adder 77) receives a signal

The third positive input of the adder 44 (from the block 64) receives a signal

The first positive input of the adder 67 (from the side of block 66) has a unity gain, and its second positive input has a gain of 1 / i _p . As a result, the eleventh negative input of the adder 44 (from the side of block 58) receives a signal

который поступает на двенадцатый положительный вход сумматора 44.All positive inputs of the adder 80 have unity gain, therefore, a signal is generated at its output

which goes to the twelfth positive input of the adder 44.

The third, fourth, fifth, sixth, eleventh and twelfth inputs of the adder 44 have unit gains, and the eighth and ninth inputs have gains 1 / i _p . As a result, at the output of the adder 44, a signal is generated

The first positive input of adder 4 (from the side of block 3) has a unity gain, its second positive input (from adder 11) has a gain R / (k _m k _y ), and the third positive input is a gain L / (k _m k _y ).

As a result, at the output of the adder 4, a signal U * equal to

достаточно точно соответствует М_стр, то сигнал U^* (3), как несложно убедиться, обеспечивает превращение уравнения (2) с существенно переменными параметрами в уравнение

с постоянными номинальными желаемыми параметрами, обеспечивающими рассматриваемому электроприводу заданные динамические свойства и показатели качества.Because when driving an electric drive

quite accurately corresponds to M _p , then the signal U ^* (3), as is easy to verify, ensures the transformation of equation (2) with substantially variable parameters into the equation

with constant nominal desired parameters providing the drive under consideration with specified dynamic properties and quality indicators.

Thus, due to the introduction of additional elements and connections, it was possible to ensure the complete invariance of the electric drive in question to the effects of mutual influence between the degrees of mobility of the robot's actuator and the friction moments. This allows you to get a consistently high quality control in any operating modes of the drive in question.

The practical implementation of the proposed device does not cause difficulties, since it uses only typical electronic elements.

Claims (1)

The electric drive of the robot, containing the first and second adders in series, the first multiplication unit, the third adder, the amplifier and 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 negative input of the first adder connected to the second positive the input to the input of the device, a relay unit and a fourth adder connected in series, the second positive input of which is connected to the output of the first speed sensor and the input of the relay block, the first signal setter and the fifth adder are connected in series, the second positive input of which is connected to the output of the mass sensor, and the output to the second input of the first multiplication unit, the second speed sensor installed in the third degree of robot mobility, the second multiplication unit and a third multiplication unit, the second input of which is connected to the output of the first speed sensor, and the output to the third negative input of the fourth adder, as well as the second position sensor installed the third degree of mobility of the robot, and the second negative input of the second adder is connected to the output of the first speed sensor, and the output of the fourth adder is connected to the second positive input of the third adder, the second signal adjuster, the sixth adder, the fourth multiplication unit, the second input of which through the first the cosine functional converter is connected to the output of the second position sensor, the seventh adder, the second positive input of which is connected to the output of the third setter a signal, and a fifth multiplication unit, the second input of which is connected to the output of the first acceleration sensor installed in the third degree of robot mobility, and the output is connected to the fourth positive input of the fourth adder, the second sine functional converter, the input of which is connected to the input of the first cosine functional converter, is connected in series , and the sixth multiplication block, the second input of which is connected to the output of the sixth adder, and the output to the second input of the second multiplication block, the fifth is negative the input of the fourth adder is connected to the output of the seventh multiplication unit, the first input of which is connected to the output of the second speed sensor, and the second input is connected to the output of the second multiplication unit, the third positive input of the fifth adder is connected to the output of the fourth multiplication unit, the third positive input of the seventh adder is connected to the output of the mass sensor and the second positive input of the sixth adder, the eighth adder connected in series, the first and second positive inputs of which are connected respectively to the output m of the second and first position sensors, the third sine functional converter, the eighth multiplication unit and the ninth adder, as well as the ninth multiplication unit, the second input of which is connected to the output of the second acceleration sensor installed in the fourth degree of robot mobility, and its output to the sixth positive input the fourth adder, connected in series with the fourth signal generator, the tenth adder, the tenth multiplication unit, the second input of which is connected through the fourth sine functional converter the output of the first position sensor, and its output is to the second positive input of the ninth adder, the fifth signal pickup and the eleventh adder are connected in series, the second positive input of which is connected to the output of the mass sensor and to the second input of the tenth adder, and its output to the second input of the eighth block multiplication, sequentially connected to the third acceleration sensor, mechanically connected with the output shaft of the electric motor, the eleventh multiplication block, the second input of which is connected to the output of the second block multiplying and the twelfth adder, the second positive input of which is connected to the output of the third acceleration sensor, and the output - to the third positive input of the third adder, the first differentiator and the twelfth multiplication unit connected in series, the second input of which is connected to the output of the seventh adder, the thirteenth multiplication unit, the first the input of which is connected to the output of the sixth multiplication unit, and the second input to the output of the first acceleration sensor and the input of the first differentiator, the thirteenth adder connected in series, connected by the first negative input to the output of the thirteenth multiplication block, and the fourteenth multiplication block, connected in series to the quadrator, the fifteenth multiplication block, the second input of which is connected to the output of the fourth multiplication block, and the sixteenth multiplication block, connected in series to the fourteenth adder, the seventeenth multiplication block and the eighteenth multiplication block the second input of which is connected to the output of the eleventh adder, connected in series with the fifth cosine functional converter, input One of which is connected to the output of the first position sensor and the nineteenth multiplication unit, the second input of which is connected to the output of the tenth adder, as well as the twentieth and twenty-first multiplication units, the second input of the latter being connected to the output of the first speed sensor, the first positive input of the fourteenth adder and the second input the fourteenth multiplication unit, connected in series with the sixth cosine functional converter connected to the output of the eighth adder, and the twenty-second multiplication unit I, connected in series to the second differentiator, connected to the output of the second acceleration sensor and the second input of the twentieth multiplication unit, and the twenty-third multiplication unit, as well as the twenty-fourth multiplication unit, the second input of which is connected to the output of the second differentiator, and the output to the third positive input the twelfth adder, the seventh positive - to the output of the fourteenth multiplication block, the eighth negative input - to the output of the sixteenth multiplication block, the ninth positive - to the output of the twelfth multiplication lock, and the tenth negative to the output of the twenty-fifth multiplication block, the first input of which is connected to the output of the thirteenth multiplication block, and the second input is to the output of the second speed sensor, the quad input, the second input of the sixteenth multiplication block and the second positive input of the fourteenth adder, the second negative input of the thirteenth adder is connected to the output of the fifteenth multiplication block, the twenty-sixth multiplication block is connected in series, the first input of which is connected to the output of the eighth multiplication unit, and its second input to the output of the fourteenth adder, and the fifteenth adder, the second positive input of which through the twenty-seventh multiplication unit is connected to the output of the first speed sensor, and the output to the first input of the twentieth multiplication unit, the output of which is connected to the eleventh negative input the twelfth adder, as well as the sixteenth adder, the first positive input of which is connected to the output of the twenty-second multiplication block, the second positive input is the output of the nineteenth multiplication block and the first inputs of the twenty-first and twenty-fourth multiplication blocks, and the output - with the first input of the ninth multiplication block, and the twenty-eighth multiplication block, the first input of which is connected to the output of the twenty-third multiplication block, the second input - to the output of the eleventh adder and the second input of the twenty-second block multiplication, and the output to the fourth positive input of the twelfth adder, the second input of the twenty-seventh multiplication block is connected to the output of the tenth multiplication block, and the output of the sixth cosine functional transducer - with second inputs of the seventeenth and twenty-third multiplication units, characterized in that it additionally includes a fourth acceleration sensor installed in the first degree of robot mobility, a twenty-ninth multiplication unit, and a seventeenth adder, the second positive input of which is connected to the second input the twenty-ninth block of multiplication and the output of the ninth adder, and the output is to the seventh positive input of the fourth adder, the thirtieth block of mind is connected in series knives, and an eighteenth adder, the second positive input of which is connected to the output of the eighteenth multiplication unit and the second input of the thirty block of multiplication, and the output to the fifth positive input of the twelfth adder, the thirty-first multiplication unit and the nineteenth adder connected in series, the second positive input of which is connected to the output twenty-first block of multiplication and the second input of the thirty-first block of multiplication, and the output to the sixth positive input of the twelfth adder, connected in series nnye third differentiator having an input connected to the output of the acceleration sensor of the fourth and first inputs of the thirtieth and thirty-first multiplying units, and thirty-second multiplier, a second input coupled to an output of the ninth adder, and an output - to a twelfth twelfth positive input of the adder.

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