RU2577204C2 - Self-electric manipulator - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: invention relates to robotics, and can be used when making electric manipulators. Self-adjustment drive of manipulator controls generalized coordinate q₂ manipulator, whose design allows for horizontal rectilinear motion (coordinate q₄) and three rotational movements (coordinates q₁, q₂ and q₃), while forming a further control signal fed to the input of the actuator that produces torque needed to ensure full invariance of its quality indicators to continuously change the parameters of the load.

EFFECT: technical result is to ensure the invariance of the dynamic properties of the actuator to the continuous and rapid changes of its torque load characteristics.

1 cl, 2 dwg

Description

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

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 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 negative input of the first adder, connected by a second positive input to the input of the device, a relay block and a fourth adder connected in series, the second positive input of which is connected to the output 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 multiplication block 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 yes 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 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, the second sine function converter connected in series, the input of which is connected to 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 of the second block As a 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 There are, 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 fourth degree of robot mobility, 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 functional the converter 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 input of the tenth adder, and its output to the second the input of the eighth multiplication unit, connected in series to the third acceleration sensor, mechanically connected to the output shaft of the electric motor, the eleventh multiplication unit, the second input of which is 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 block multiplication, 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, sequentially connect the thirteenth adder connected to the output of the thirteenth multiplication block by the first negative input, and the fourteenth multiplication block, a 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 function connected in series a channel 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 of the fourteenth the 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 d the twenty-second multiplication block, connected in series to the second differentiator, connected to the output of the second acceleration sensor and the second input of the twentieth multiplication block, and the twenty-third multiplication block, as well as the twenty-fourth multiplication block, the second input of which is connected to the output of the second differentiator, and the output from 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, the ninth positive the first is to the output of the twelfth multiplication block, and the tenth negative is 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 with the output of the second speed sensor, the quad input, the second input of the sixteenth multiplication block and the second positive the input of the fourteenth adder, the second negative input of the thirteenth adder connected to the output of the fifteenth multiplication unit, connected in series to the twenty-sixth multiplication unit, the first input of which 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 with 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 with the output of nine of the eleventh 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 the 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 the output of the sixth the sine function converter - with the second inputs of the seventeenth and twenty-third multiplication blocks, a fourth acceleration sensor installed in the first degree of robot mobility, a twenty-ninth multiplication block and a seventeenth adder in series, the second positive input of which is connected to the second input of the twenty-ninth multiplication block and the output of the ninth adder, and the output is to the seventh positive input of the fourth adder, the thirtieth multiplication block and eighteen connected in series an 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 is 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 multiplication unit and the second input of the thirty-first multiplication block, and the output is to the sixth positive input of the twelfth adder, the third differential connected in series torus, whose input is 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 positive input of the twelfth adder (cm. RF patent No. 2399479, B.I. No. 26, 2010).

The disadvantage of this device is that it is intended for electric manipulation robot with a different kinematic scheme. As a result, this device will not accurately compensate for all the variable load characteristics of the drive in question and provide the required dynamic accuracy of its operation.

A device for controlling a robot drive is also known, comprising a first adder, a second adder, a first multiplication unit, a third adder, a first amplifier and an electric motor connected directly to the first speed sensor and through a gearbox with a first position sensor, the output of which is connected to the first input of the first an adder connected to the device input by a second input, a second speed sensor, a second multiplication unit, a third multiplication unit and a fourth adder, connected in series the swarm input of which is connected to the second input of the second adder and the output of the first speed sensor, the third input is the output of the relay element connected to the second input of the third multiplication unit and the output of the first speed sensor, and the output is connected to the second input of the third adder, the mass sensor is connected in series and a fifth adder, the second input of which is connected to the output of the first constant signal generator, and the output - to the second input of the first multiplication unit, the second position sensor connected in series, first a functional converter, a fourth multiplication unit, a sixth adder, the second input of which is connected to the output of the second constant signal generator, and 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, in series with the third constant controller signal, the seventh adder, the second input of which is connected to the output of the mass sensor, and the sixth multiplication unit, the second input of which through the second functional converter is connected to an ode to the second position sensor, and the output to the second input of the second multiplication unit, with the second input of the fourth multiplication unit connected to the output of the seventh adder, its output to the third input of the fifth adder, the third input of the sixth adder connected to the output of the mass sensor, the fifth input of the fourth adder through the seventh multiplication unit, the second input of which is connected to the output of the second multiplication unit, connected to the output of the second speed sensor, the fourth constant signal generator, the eighth adder, the second the first input of which is connected to the output of the mass sensor, and the eighth multiplication unit, the second input of which through the third functional converter is connected to the output of the first position sensor, and its output - with the sixth input of the fourth adder, the ninth adder connected in series, the first and second inputs of which are connected respectively to the outputs of the first and second position sensors, the fourth functional converter and the ninth multiplication unit, the second input of which is connected to the output of the seventh adder, and the output to the seventh input to the fourth adder, the second amplifier, the fifth functional converter, the tenth multiplication unit, the tenth adder and the eleventh multiplication unit, the second input of which through the quadrator is connected to the output of the third speed sensor, and the output to the eighth input of the fourth adder, the fifth constant signal, the eleventh adder and the twelfth multiplication unit, the second input of which is connected through a third amplifier and a sixth functional converter The receiver is connected to the output of the ninth adder, and its output is connected to the second input of the tenth adder, the twelfth adder connected in series, the first and second inputs of which are connected respectively to the outputs of the second position sensor and the second amplifier, the seventh functional converter and the thirteenth multiplication unit, the second input of which is connected to the output of the seventh adder, and its output to the third input of the tenth adder, the sixth constant signal generator and the thirteenth adder connected in series, the second input which is connected to the second input of the eleventh adder and the output of the mass sensor, and the output to the second input of the tenth multiplication unit, and the input of the second amplifier is connected to the output of the first position sensor, the third position sensor, the eighth functional converter, and the fourteenth multiplication unit, the second input of which are connected in series connected to the output of the second acceleration sensor, and the fifteenth multiplication unit, the output of which is connected to the ninth input of the fourth adder, the ninth function is connected in series a national converter, the input of which is connected to the output of the first position sensor, a sixteenth multiplication unit, the second input of which is connected to the output of the eighth adder, and a fourteenth adder, the output of which is connected to the second input of the fifteenth multiplication unit, the tenth functional converter inlet connected to the output in series the ninth adder, and the seventeenth multiplication unit, the second input of which is connected to the output of the seventh adder, and the output to the second input of the fourteenth adder (cm. RF patent No. 2372185, B.I. No. 31, 2009).

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

The disadvantage of this device is that it does not take into account the electric time constant of the electric motor. As a result, this device will not accurately compensate for all the variable load characteristics of the drive in question and provide the required dynamic accuracy of its operation.

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 the manipulator moves with a given kinematic scheme in 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 a self-adjusting electric drive of the manipulator, comprising a first adder, a second adder, a first multiplication unit, a third adder, a first amplifier and an electric motor connected directly to the first speed sensor and through a gearbox with the first position sensor, the output of which is connected to the first input of the first adder connected by the second input to the input of the device, the second speed sensor, the second multiplication block, the third block smartly connected and the fourth adder, the second input of which is connected to the second input of the second adder and the output of the first speed sensor, the third input is the output of the relay element connected to 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 connected in series to the mass sensor and the fifth adder, the second input of which is connected to the output of the first constant signal generator, and the output to the second input of the first multiplication unit, connected in series to the second a position sensor, a first cosine functional converter, a fourth multiplication unit, a sixth adder, the second input of which is connected to the output of the second constant signal generator, and a fifth multiplication unit, the second input of which is connected to the output of the first acceleration sensor, and the output to the fourth input of the fourth adder, connected in series with a third constant signal generator, a seventh adder, the second input of which is connected to the output of the mass sensor, and a sixth multiplication unit, the second input of which is through the second sine wave the national 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 third input of the sixth adder connected to the output of the mass sensor, the fifth input of the fourth adder through the seventh multiplication unit, the second input of which is connected to the output of the second multiplication unit, is connected to the output of the second speed sensor, the fourth unit connected in series a constant signal, the eighth adder, the second input of which is connected to the output of the mass sensor, and the eighth multiplication unit, the second input of which is connected through the third sine function converter to the output of the first position sensor, and its output - to the sixth input of the fourth adder, the ninth adder connected in series, the first and second inputs of which are connected respectively to the outputs of the first and second position sensors, the fourth sine functional converter and the ninth multiplication unit, the second input of which connected to the output of the seventh adder, and the output to the seventh input of the fourth adder, a second amplifier, a fifth sine function converter, a tenth multiplication unit, a tenth adder and an eleventh multiplication unit, the second input of which is connected through a quadrator to the output of the third speed sensor, and the output - to the eighth input of the fourth adder, the fifth constant signal generator, the eleventh adder and the twelfth multiplication unit, the second input of which are subsequently connected in series The third amplifier and the sixth sine function converter are connected to the output of the ninth adder, and its output is connected to the second input of the tenth adder, the twelfth adder is connected in series, the first and second inputs of which are connected to the outputs of the second position sensor and the second amplifier, the seventh sine function converter and the thirteenth multiplication block, the second input of which is connected to the output of the seventh adder, and its output - to the third input of the tenth adder, followed by the sixth constant signal generator and the thirteenth adder are connected, the second input of which is connected to the second input of the eleventh adder and the output of the mass sensor, and the output is connected to the second input of the tenth multiplication unit, the input of the second amplifier connected to the output of the first position sensor, the third position sensor connected in series , the eighth cosine functional converter, the fourteenth multiplication unit, the second input of which is connected to the output of the second acceleration sensor, and the fifteenth multiplication unit, the output which is connected to the ninth input of the fourth adder, the ninth cosine functional converter connected in series, the input of which is connected to the output of the first position sensor, is the sixteenth multiplication unit, the second input of which is connected to the output of the eighth adder, and the fourteenth adder, the output of which is connected to the second input of the fifteenth multiplication unit connected in series to the tenth cosine functional converter, the input of which is connected to the output of the ninth adder, and the seventeenth block multiplication, the second input of which is connected to the output of the seventh adder, and the output - to the second input of the fourteenth adder, an additional fifteen adder is added in series, the first input of which is connected to the output of the seventh constant signal generator, and the second input is connected to the output of the second multiplication block, the eighteenth block multiplication, the second input of which is connected to the output of the third acceleration sensor installed on the output shaft of the electric motor, and the output to the third input of the third adder, the nineteenth multiplication unit, the twentieth multiplication unit, the second input of which is connected to the output of the third position sensor through the eleventh sine function converter, the twenty-first multiplication unit, the output of which is connected to the fourth input of the third adder, the fourth speed sensor, the sixteenth adder, the twenty-second a multiplication block, the second input of which is connected to the output of the seventh adder, a twenty-third multiplication block, the second input of which is twelve the fifth cosine functional converter is connected to the output of the twelfth adder, the seventeenth adder, the twenty-fourth multiplication unit, the second input of which is connected to the quad output, and the output to the fifth input of the third adder, the twenty-fifth multiplication unit connected in series, the first input of which is connected to the first differentiator to the output of the second acceleration sensor and the first input of the nineteenth multiplication unit, and the second to the output of the eighth functional converter, and the twenty-sixth multiplication unit the second input of which is connected to the second input of the twenty-first multiplication block and the output of the fourteenth adder, the output of which is connected to the sixth input of the third adder, the twenty-seventh multiplication block connected in series, the first input of which is connected to the output of the eighth multiplication block, the eighteenth adder and the twenty-eighth multiplication block , the second input of which is connected to the output of the fourteenth multiplication block, and the output to the seventh input of the third adder, as well as the twenty-ninth multiplication block, the output of which It is connected to the eighth input of the third adder, the fourth acceleration sensor, the thirtieth multiplication unit, the second input of which is connected to the output of the third speed sensor and the second input of the nineteenth multiplication unit, and the thirty-first multiplication unit, the second input of which is connected to the output of the tenth adder, and the output is connected in series - to the ninth input of the third adder, the nineteenth adder and the thirty-second multiplication unit connected in series, the second input of which is connected to the output of the seventeenth multiplication unit, and in the output is to the tenth input of the third adder, the thirty-third multiplication block connected in series, the first input of which is connected to the output of the eleventh adder, the thirty-fourth multiplication block, the second input of which is connected through the thirteenth cosine functional converter to the output of the third amplifier, and the output to the second input of the seventeenth an adder connected in series to the thirty-fifth multiplication unit, the first input of which is connected to the output of the thirteenth adder, and the thirty-sixth multiplication unit, the second whose input through the fourteenth cosine functional converter is connected to the output of the second amplifier, and the output to the third input of the seventeenth adder, as well as the thirty-seventh multiplication unit, the first input of which is connected to the output of the sixteenth multiplication unit, the second input to the second inputs of the twenty-seventh and thirty-fifth multiplication blocks and the first input of the nineteenth adder, and the output to the eleventh input of the third adder, connected in series to the thirty-eighth multiplication block, the first input of which the twentieth adder, the second input of which is connected to the output of the thirty-ninth multiplication block, the first input of which is connected through the quadrator to the output of the second speed sensor, and the fortieth multiplication unit, the second input of which is connected to the output of the first speed sensor, and the output - to the twelfth input of the third adder, as well as the forty-first multiplication block, the first input of which is connected to the output of the nineteenth adder and the second input of the thirty-third multiplication block, the second input - to the output of nine of the second multiplication unit, and the output is to the second input of the eighteenth adder, forty-second multiplication units are connected in series, the first input of which is connected to the output of the quadrator, and the second to the output of the second speed sensor, to the second inputs of the sixteenth and nineteenth adders, to the first input of the twenty-ninth a multiplication block, the second input of which is connected to the output of the thirty-eighth multiplication block, and a forty-third multiplication block, the second input of which is connected to the output of the fourth multiplication block and the second input of thirty-nine th multiplication block, and the output to the thirteenth input of the third adder, as well as the forty-fourth multiplication block, the first input of which through the second differentiator is connected to the output of the first acceleration sensor and to the second input of the thirty-eighth multiplication block, the second input to the output of the sixth adder, and output - to the fourteenth input of the third adder.

A comparative analysis of the essential features of the proposed technical solution with the essential features of analogues and prototype indicates 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 self-adjusting manipulator electric drive comprises serially connected first adder 1, second adder 2, first multiplication unit 3, third adder 4, first amplifier 5 and electric motor 6 connected directly to the first speed sensor 7 and through the gearbox 8 with the first position sensor 9, the output of which is connected to the first input of the first adder 1, connected by the second input to the input of the device, the second speed sensor 10, the second multiplication unit 11, the third multiplication unit 12 and the fourth adder 1 are connected in series 3, the second input of which is connected to the second input of the second adder 2 and the output of the first speed sensor 7, the third input is with the output of the relay element 14 connected to the second input of the third multiplication unit 12 and the output of the first speed sensor 7, and the output to the second input the third adder 4, the mass sensor 15 connected in series and the fifth adder 16, the second input of which is connected to the output of the first constant signal generator 17, and the output - to the second input of the first multiplication unit 3, the second floor sensor 18 connected in series the first cosine functional converter 19, the fourth multiplication unit 20, the sixth adder 21, the second input of which is connected to the output of the second constant signal generator 22, and the fifth multiplication unit 23, the second input of which is connected to the output of the first acceleration sensor 24, and the output to the fourth input of the fourth adder 13, connected in series with the third constant signal adjuster 25, the seventh adder 26, the second input of which is connected to the output of the mass sensor 15, and the sixth multiplication unit 27, the second input of which is through the second syn the functional converter 28 is connected to the output of the second position sensor 18, and the output is to the second input of the second multiplication unit 11, the second input of the fourth multiplying unit 20 being connected to the output of the seventh adder 26, its output to the third input of the fifth adder 16, the third input of the sixth the adder 21 is connected to the output of the mass sensor 15, the fifth input of the fourth adder 13 through the seventh multiplication unit 29, the second input of which is connected to the output of the second multiplication unit 11, connected to the output of the second speed sensor 10, sequentially connected These are the fourth constant signal master 30, the eighth adder 31, the second input of which is connected to the output of the mass sensor 15, and the eighth multiplication unit 32, the second input of which is connected through the third sine function converter 33 to the output of the first position sensor 9, and its output to the sixth the input of the fourth adder 13, the ninth adder 34 connected in series, the first and second inputs of which are connected respectively to the outputs of the first 9 and second 18 position sensors, the fourth sine functional converter 35 and d the ninth multiplication block 36, the second input of which is connected to the output of the seventh adder 26, and the output to the seventh input of the fourth adder 13, the second amplifier 37, the fifth sine function converter 38, the tenth multiplier 39, the tenth adder 40 and the eleventh multiplier 41 the second input of which is connected through the quadrator 42 to the output of the third speed sensor 43, and the output to the eighth input of the fourth adder 13, the fifth constant signal generator 44, the eleventh adder 45 and d the eleventh multiplication unit 46, the second input of which is connected in series through the third amplifier 47 and the sixth sine function converter 48 to the output of the ninth adder 34, and its output to the second input of the tenth adder 40, the twelfth adder 49 connected in series, the first and second inputs of which are connected respectively, to the outputs of the second position sensor 18 and the second amplifier 37, the seventh sine function converter 50 and the thirteenth multiplication unit 51, the second input of which is connected to the output eighth adder 26, and its output is to the third input of the tenth adder 40, the sixth constant signal adjuster 52 and the thirteenth adder 53 are connected in series, the second input of which is connected to the second input of the eleventh adder 45 and the output of the mass sensor 15, and the output to the second input of the tenth block 39 multiplication, and the input of the second amplifier 37 is connected to the output of the first position sensor 9, sequentially connected to the third position sensor 54, the eighth cosine functional Converter 55, fourteenth block 56 multiplication, W the swarm input of which is connected to the output of the second acceleration sensor 57, and the fifteenth multiplication unit 58, the output of which is connected to the ninth input of the fourth adder 13, the ninth cosine function converter 59, the input of which is connected to the output of the first position sensor 9, the sixteenth multiplication unit 60, the second input of which is connected to the output of the eighth adder 31, and the fourteenth adder 61, the output of which is connected to the second input of the fifteenth multiplication unit 58, connected in series to the tenth a sine function converter 62, the input of which is connected to the output of the ninth adder 34, and the seventeenth multiplier block 63, the second input of which is connected to the output of the seventh adder 26, and the output to the second input of the fourteenth adder 61, connected in series to the fifteenth adder 64, the first input of which is connected to the output of the seventh constant signal adjuster 65, and the second input is connected to the output of the second multiplication unit 11, the eighteenth multiplication unit 66, the second input of which is connected to the output of the third acceleration sensor 67, installed on the output shaft of the electric motor 6, and the output to the third input of the third adder 4, connected in series to the nineteenth multiplication block 68, the twentieth multiplication block 69, the second input of which is connected to the output of the third position sensor 54, the twenty-first block 71 through the eleventh sine function converter 70 multiplication, the output of which is connected to the fourth input of the third adder 4, sequentially connected to the fourth speed sensor 72, the sixteenth adder 73, the twenty second multiplication unit 74, the second the first input of which is connected to the output of the seventh adder 26, the twenty-third multiplication unit 75, the second input of which is connected to the output of the twelfth adder 49 through the twelfth cosine functional converter 76, the seventeenth adder 77, the twenty-fourth multiplication unit 78, the second input of which is connected to the output of the quadrator 42 and the output goes to the fifth input of the third adder 4, the twenty-fifth multiplication unit 79 connected in series, the first input of which through the first differentiator 80 is connected to the output of the second acceleration sensor 57 and the first input of the nineteenth multiplication block 68, and the second to the output of the eighth functional converter 55, and the twenty-sixth multiplication block 81, the second input of which is connected to the second input of the twenty-first multiplication block 71 and the output of the fourteenth adder 61, the output of which is connected to the sixth input of the third adder 4, connected in series to the twenty-seventh multiplication block 82, the first input of which is connected to the output of the eighth multiplication block 32, the eighteenth adder 83 and the twenty-eighth multiplication block 84, the second input of which connected to the output of the fourteenth multiplication unit 56, and the output to the seventh input of the third adder 4, as well as the twenty-ninth multiplication unit 85, the output of which is connected to the eighth input of the third adder 4, the fourth acceleration sensor 86 connected in series, the thirtieth multiplication unit 87, the second input which is connected to the output of the third speed sensor 43 and the second input of the nineteenth multiplication block 68, and the thirty-first multiplication block 88, the second input of which is connected to the output of the tenth adder 40, and the output to the ninth input of the third the adder 4, the nineteenth adder 89 and the thirty-second multiplication unit 90 connected in series, the second input of which is connected to the output of the seventeenth multiplication unit 63, and the output to the tenth input of the third adder 4, the thirty-third multiplication unit 91 connected in series, the first input of which is connected to the output of the eleventh adder 45, the thirty-fourth multiplication unit 92, the second input of which through the thirteenth cosine functional converter 93 is connected to the output of the third amplifier 47, and the output to the second input of this the eleventh adder 77, connected in series with the thirty-fifth multiplier block 94, the first input of which is connected to the output of the thirteenth adder 53, and the thirty-sixth multiplier block 95, the second input of which is connected through the fourteenth cosine functional converter 96 to the output of the second amplifier 37, and the output to the third the input of the seventeenth adder 77, as well as the thirty-seventh multiplication block 97, the first input of which is connected to the output of the sixteenth multiplication block 60, the second input to the second inputs of the twenty-seventh 82 and thirty addition of 94 multiplication units and the first input of the nineteenth adder 89, and the output to the eleventh input of the third adder 4, connected in series with the thirty-eighth multiplication unit 98, the first input of which is connected to the output of the sixth multiplication unit 27, the twentieth adder 99, the second input of which is connected to the output the thirty-ninth multiplication block 100, the first input of which is connected through the squared 101 to the output of the second speed sensor 10, and the fortieth multiplication block 102, the second input of which is connected to the output of the first speed sensor 7, and the output is to the twelfth input of the third adder 4, as well as the forty-first multiplication block 103, the first input of which is connected to the output of the nineteenth adder 89 and the second input of the thirty-third multiplication block 91, the second input to the output of the ninth multiplication block 36, and the output to the second input of the eighteenth the adder 83, serially connected forty-second multiplication unit 104, the first input of which is connected to the output of the quadrator 101, and the second to the output of the second speed sensor 10, to the second inputs of the sixteenth 73 and nineteenth 89 adders, to the first input the twenty-ninth multiplication block 85, the second input of which is connected to the output of the thirty-eighth multiplication block 98, and the forty-third multiplication block 105, the second input of which is connected to the output of the fourth multiplication block 20 and the second input of the thirty-ninth multiplication block 100, and the output to the thirteenth the input of the third adder 4, as well as the forty-fourth multiplication block 106, the first input of which through the second differentiator 107 is connected to the output of the first acceleration sensor 24 and to the second input of the thirty-eighth multiplication block 98, the second input to the output of the total adder 21, and the output to the fourteenth input of the third adder 4. The control object 108.

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

- скорости изменения соответствующих обобщенных координат; $${\ddot{q}}_2$$

, $${\ddot{q}}_3$$

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

- ускорения изменения соответствующих обобщенных координат; m₁, m₂, m₃, m_г - соответственно массы первого, второго, третьего звеньев исполнительного органа и захваченного груза; $$1_2^{*}$$

, $$1_3^{*}$$

- расстояния от осей вращения соответствующих звеньев до их центров масс; 1₂, 1₃ - длины соответствующих звеньев; $${\dot{\alpha }}_2$$

, $${\ddot{\alpha }}_2$$

- 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: α _in - 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; $${\dot{q}}_2$$

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

- the rate of change of the corresponding generalized coordinates; $${\ddot{q}}_2$$

, $${\ddot{q}}_3$$

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

- 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; $${\mathrm{one}}_2^{*}$$

, $${\mathrm{one}}_3^{*}$$

- the distance from the axis of rotation of the respective links to their centers of mass; 1 ₂ , 1 ₃ - the lengths of the corresponding links; $${\dot{\alpha }}_2$$

, $${\ddot{\alpha }}_2$$

- accordingly, 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.

; J_Ni - моменты инерции соответствующих звеньев манипулятора относительно поперечных осей, проходящих через их центры масс (i=2, 3).In addition, it is assumed that J _Si are the moments of inertia of the corresponding parts of the manipulator relative to their longitudinal axes $$\left(i=\overline{\mathrm{one,}\text{3}}\right)$$

; J _Ni - moments of inertia of the corresponding parts of the manipulator relative to the transverse axes passing through their centers of mass (i = 2, 3).

The device operates as follows. The error signal ε from the adder 1, after the correction in the blocks 2-4, amplifying, is supplied to the motor 6, resulting in its shaft into a rotary motion with a direction and velocity (acceleration) depending on the magnitude of the incoming signal U, the friction torque moments and external impact _M . The electric drive when working with various loads, as well as due to the mutual influence of the degrees of mobility of the manipulator, 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. 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 ensures the stability of a given quality of the control system.

The considered electric drive controls the generalized coordinate q _{2 of the} manipulator, the design of which allows horizontal rectilinear movement (coordinate q ₄ ) and three rotational movements (coordinates q ₁ , q ₂ and q ₃ ).

Based on the Lagrange equations of the second kind, it can be written that the momentary effect on the output shaft of the electric drive controlling the coordinate q ₂ when the manipulator moves (Fig. 2) with the load has the form

,Where

,

,

,

g is the acceleration of gravity.

и механической $$i{K}_M=\left(H^{*}+J\right){\ddot{\alpha }}_2+\left(h^{*}+K_{В}\right){\dot{\alpha }}_2+{М}_{СТР}+{М}_{ВН}^{*}$$

цепей электродвигателя постоянного тока с постоянными магнитами или независимого возбуждения, управляющего координатой q₂, можно описать этот электродвигатель следующим дифференциальным уравнениемTaking into account relation (1), as well as the equations of electric $$U=L\frac{di}{dt}+Ri+k_{\omega }{\dot{\alpha }}_2$$

and mechanical $$i{K}_M=\left(H^{*}+J\right){\ddot{\alpha }}_2+\left(h^{*}+K_{\mathrm{AT}}\right){\dot{\alpha }}_2+M_{\mathrm{FROM}TR}+M_{\mathrm{AT}N}^{*}$$

circuits of a DC motor with permanent magnets or an independent excitation that controls the q ₂ coordinate, this motor can be described by the following differential equation

,Where

,

,

,

L, R - respectively, the inductance and resistance of the armature circuit of the electric motor; J is the moment of inertia of the rotor of the electric motor and the rotating parts of the gearbox, brought to the motor shaft; K _M - coefficient of torque; K _ω is the coefficient of counter-EMF; K _In - coefficient of viscous friction; i _P - gear ratio; M _STR - the moment of dry friction; To _y - the gain of the amplifier 5; i is the armature current of the electric motor.

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

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

, $${\ddot{q}}_1$$

, $${\ddot{q}}_3$$

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

, $${\stackrel{⃛}{q}}_3$$

, $${\stackrel{⃛}{q}}_4$$

и m_Г. В результате в процессе работы электропривода меняются (и при том существенно) его динамические свойства. Для реализации поставленной выше задачи необходимо сформировать корректирующее устройство, стабилизирующее параметры этого электропривода и дифференциального уравнения, которым он описывается.Obviously, the parameters of equation (3), and therefore the parameters of the electric drive controlling the coordinate q ₂ , are essentially variable, depending on the quantities q ₂ , q ₃ , $${\dot{q}}_{\mathrm{one}}$$

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

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

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

, $${\ddot{q}}_3$$

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

, $${\stackrel{⃛}{q}}_3$$

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

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 above task, it is necessary to form a corrective device that stabilizes the parameters of this electric drive and the differential equation with which it is described.

. Первый положительный вход сумматора 26 имеет единичный коэффициент усиления, а задатчик 25 подает на него сигнал $$1_2{1}_3^{*}+m_3$$

. Второй положительный вход этого сумматора имеет коэффициент усиления 1₂1₃. В результате на его выходе формируется сигнал $$1_2(m_3{1}_3^{*}+m_{Г}{1}_3)$$

.The first positive input of adder 2 (from the adder 1 side) has a unity gain, and its second negative input has a gain of K _ω / K _y . Therefore, at the output of adder 2, a signal is generated $$\epsilon -\frac{K_{\omega }}{K_{\mathrm{at}}}{\dot{\alpha }}_2$$

. The first positive input of the adder 26 has a unity gain, and the master 25 provides a signal to it $${\mathrm{one}}_2{\mathrm{one}}_3^{*}+m_3$$

. The second positive input of this adder has a gain of 1 ₂ 1 ₃ . As a result, a signal is generated at its output. $${\mathrm{one}}_2(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3)$$

.

. Все входы сумматора 16 положительные. Его второй вход имеет единичный коэффициент усиления. Задатчик 17 подает на этот вход сигнал $$\lfloor J+(J_{N2}+J_{N3}+m_2{1}_2^{*2}+m_3{1}_3^{*2}+m_3{1}_2^2)/i_P^2\rfloor /J_H$$

где J_H - желаемое значение суммарного момента инерции электродвигателя. На первый вход сумматора 16 с коэффициентом усиления $$\left(1_2^2+1_3^2\right)/\left(i_P^2{J}_H\right)$$

датчик 15 подает сигнал m_Г. Третий вход этого сумматора имеет коэффициент усиления $$2/\left(i_P^2{J}_H\right)$$

. В результате на его выходе формируется сигнал $$A=\left(J+H^{*}\right)/J_H=\left\{J+[J_{N2}+J_{N3}+m_2{1}_2^{*2}+m_3{1}_2^{*2}+m_3{1}_2^2+m_{Г}\left(1_2^2+1_3^2\right)+{21}_2\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\cos q_3]/i_P^2\right\}/J_H$$

, а на выходе блока 3 - сигнал $$A=\left(\epsilon -\frac{K_{\omega }}{K_{у}}{\dot{\alpha }}_2\right)$$

.The sensor 18 measures the generalized coordinate q _{3 of the} manipulator, and the functional transducer 19 implements the function cosq ₃ . As a result, a signal is generated at the output of block 20 $${\mathrm{one}}_2(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3)\cos q_3$$

. All inputs of the adder 16 are positive. Its second input has a unity gain. The master 17 provides a signal to this input $$\lfloor J+(J_{N2}+J_{N3}+m_2{\mathrm{one}}_2^{*2}+m_3{\mathrm{one}}_3^{*2}+m_3{\mathrm{one}}_2^2)/i_P^2\rfloor /J_H$$

where J _H is the desired value of the total moment of inertia of the electric motor. At the first input of the adder 16 with a gain $$\left({\mathrm{one}}_2^2+{\mathrm{one}}_3^2\right)/\left(i_P^2{J}_H\right)$$

the sensor 15 gives a signal m _G. The third input of this adder has a gain $$2/\left(i_P^2{J}_H\right)$$

. As a result, a signal is generated at its output. $$A=\left(J+H^{*}\right)/J_H=\left\{J+[J_{N2}+J_{N3}+m_2{\mathrm{one}}_2^{*2}+m_3{\mathrm{one}}_2^{*2}+m_3{\mathrm{one}}_2^2+m_R\left({\mathrm{one}}_2^2+{\mathrm{one}}_3^2\right)+{21}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\cos q_3]/i_P^2\right\}/J_H$$

, and at the output of block 3 - a signal $$A=\left(\epsilon -\frac{K_{\omega }}{K_{\mathrm{at}}}{\dot{\alpha }}_2\right)$$

.

.Functional Converter 28 implements the dependence of sinq ₃ . As a result, a signal is generated at the output of block 27 $${\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\sin q_3$$

.

, поступает сигнал $$1_2\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\sin \left(q_3\right){\dot{q}}_3{\dot{\alpha }}_2$$

, а на пятый отрицательный вход этого сумматора (со стороны блока 29), имеющий коэффициент усиления 1/i_P,- сигнал $$1_2\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\sin \left(q_3\right){\dot{q}}_3^2$$

.Sensor 10 measures the speed q ₃ . As a result, the first negative input of the adder 13 (from the side of block 12) having a gain $$2/i_P^2$$

a signal comes in $${\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\sin \left(q_3\right){\dot{q}}_3{\dot{\alpha }}_2$$

, and to the fifth negative input of this adder (from the side of block 29) having a gain of 1 / i _P , a signal $${\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\sin \left(q_3\right){\dot{q}}_3^2$$

.

. Задатчик 22 формирует сигнал $$J_{N3}+m_3{1}_3^{*2}$$

, а датчик 24 измеряет ускорение $${\ddot{q}}_3$$

. В результате на выходе блока 23 формируется сигнал $$\lfloor J_{N3}+m_3{1}_3^{*2}+m_{Г}{1}_3^2+1_2\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\cos q_3\rfloor {\ddot{q}}_3$$

, который поступает на четвертый положительный вход сумматора 13 с коэффициентом усиления 1/i_P. Третий и второй положительные входы сумматора 13 (соответственно, со стороны элемента 14 и датчика 7) соответственно имеют единичный коэффициент усиления и коэффициент усиления, равный К_MК_ω/R+K_B.The first and second positive inputs of the adder 21 (from the side of the block 20 and the setter 22) have unity gain, and its third positive input is the gain $${\mathrm{one}}_3^2$$

. The setter 22 generates a signal $$J_{N3}+m_3{\mathrm{one}}_3^{*2}$$

and sensor 24 measures acceleration $${\ddot{q}}_3$$

. As a result, a signal is generated at the output of block 23 $$\lfloor J_{N3}+m_3{\mathrm{one}}_3^{*2}+m_R{\mathrm{one}}_3^2+{\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\cos q_3\rfloor {\ddot{q}}_3$$

, which is fed to the fourth positive input of the adder 13 with a gain of 1 / i _P. The third and second positive inputs of the adder 13 (respectively, from the side of the element 14 and the sensor 7) respectively have a unity gain and gain equal to K _M K _ω / R + K _B.

The output signal of the element 14 has the form

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

, который поступает на седьмой положительный вход сумматора 13 с коэффициентом усиления g/(1₂i_P).The first and second positive inputs of the adder 34 have unity gain, and the functional Converter 35 implements the dependence sin (q ₂ + q ₃ ). As a result, a signal is generated at the output of block 36 $${\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\sin (q_2+q_3)$$

, which is fed to the seventh positive input of the adder 13 with a gain g / (1 ₂ i _P ).

и подает его на первый положительный вход сумматора 31, имеющий единичный коэффициент усиления, второй положительный вход этого сумматора имеет коэффициент усиления 1₂. Функциональный преобразователь 33 реализует зависимость sinq₂. В результате на выходе блока 32 формируется сигнал $$[m_2{1}_2^{*}+(m_3+m_{Г})1_2)\sin q_2$$

, который поступает на шестой положительный вход сумматора 13, имеющий коэффициент усиления g/i_P.The setter 30 generates a signal $$m_2{\mathrm{one}}_2^{*}+m_3{\mathrm{one}}_2$$

and feeds it to the first positive input of the adder 31 having a unity gain, the second positive input of this adder has a gain of 1 ₂ . Functional Converter 33 implements the dependence of sinq ₂ . As a result, a signal is generated at the output of block 32 $$[m_2{\mathrm{one}}_2^{*}+(m_3+m_R){\mathrm{one}}_2)\sin q_2$$

which is supplied to the sixth positive input of the adder 13 having a gain g / i _P.

.The positive inputs of the adder 49 have unity gain. Amplifiers 37 and 47 have gains equal to 2. Functional converters 38, 48 and 50 implement the sin function. As a result, a signal is generated at the output of block 51 $${\mathrm{one}}_2(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3)\sin (2q_2+q_3)$$

.

. Первый (со стороны этого задатчика) положительный вход сумматора 45 имеет единичный коэффициент усиления, а его второй положительный вход - коэффициент усиления, равный $$1_3^2$$

. В результате на выходе блока 46 формируется сигнал $$\left(J_{N3}-J_{S3}+m_3{1}_3^{*2}+m_{Г}{1}_3^2\right)\sin 2\left(q_2+q_3\right)$$

.The master 44 generates a signal $$J_{N3}-J_{S3}+m_3{\mathrm{one}}_3^{*2}$$

. The first (from the side of this setter) positive input of the adder 45 has a unity gain, and its second positive input has a gain equal to $${\mathrm{one}}_3^2$$

. As a result, a signal is generated at the output of block 46 $$\left(J_{N3}-J_{S3}+m_3{\mathrm{one}}_3^{*2}+m_R{\mathrm{one}}_3^2\right)\sin 2\left(q_2+q_3\right)$$

.

. Первый (со стороны этого задатчика) положительный вход сумматора 53 имеет единичный коэффициент усиления, а его второй положительный вход - коэффициент усиления, равный $$1_2^2$$

. В результате на выходе блока 39 формируется сигнал $$[J_{N2}-J_{S2}+m_2{1}_2^{*2}+\left(m_3+m_{Г}\right)1_2^2]\sin 2q_2$$

.The master 52 generates a signal equal to $$J_{N2}-J_{S2}+m_2{\mathrm{one}}_2^{*2}+m_3{\mathrm{one}}_2^2$$

. The first (from the side of this master) positive input of the adder 53 has a unity gain, and its second positive input has a gain equal to $${\mathrm{one}}_2^2$$

. As a result, a signal is generated at the output of block 39 $$[J_{N2}-J_{S2}+m_2{\mathrm{one}}_2^{*2}+\left(m_3+m_R\right){\mathrm{one}}_2^2]\sin 2q_2$$

.

The first (from the side of block 39) and the second (from the side of block 46) positive inputs of the adder 40 have unity gain, and its third positive input has a gain of 2.

. В результате на выходе блока 41 формируется сигнал

, который с коэффициентом усиления 1/(2i_P) подается на восьмой отрицательный вход сумматора 13.Sensor 43 measures the rate of change of coordinate $${\dot{q}}_{\mathrm{one}}$$

. As a result, a signal is generated at the output of block 41

, which with a gain of 1 / (2i _P ) is supplied to the eighth negative input of the adder 13.

. В результате на выходе блока 56 формируется сигнал $${\ddot{q}}_4$$

cos q₁ на выходе блока 60 - сигнал $$\lfloor m_2{1}_2^{*}+\left(m_3+m_{Г}\right)1_2\rfloor \cos q_2$$

, а на выходе блока 63 - сигнал $$1_2\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\cos \left(q_2+q_3\right)$$

. Первый (со стороны блока 60) и второй положительные входы сумматора 61 имеют, соответственно, единичный коэффициент усиления и коэффициент усиления, равный 1/1₂. В результате на выходе блока 58 формируется сигнал $$\left\{\lfloor m_2{1}_2^{*}+\left(m_3+m_{Г}\right)1_2\rfloor \cos q_2+\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\cos \left(q_2+q_3\right)\right\}{\ddot{q}}_4\cos q_1$$

, который идет на девятый положительный вход сумматора 13, имеющий коэффициент усиления, равный 1/i_P. В результате на выходе этого сумматора формируется сигнал $$B=\left[\frac{K_M{K}_{\omega }}{R}+K_{в}+h/i_p^2\right]{\dot{\alpha }}_2+M_{T}sig{\dot{\alpha }}_2+M_{вн}/i_p$$

.The sensor 54 measures the coordinate q ₁ . Functional converters 55, 59 and 62 implement the cos function. Sensor 57 measures acceleration $${\ddot{q}}_{\mathrm{four}}$$

. As a result, a signal is generated at the output of block 56 $${\ddot{q}}_{\mathrm{four}}$$

cos q ₁ at the output of block 60 - signal $$\lfloor m_2{\mathrm{one}}_2^{*}+\left(m_3+m_R\right){\mathrm{one}}_2\rfloor \cos q_2$$

, and the output of block 63 is a signal $${\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\cos \left(q_2+q_3\right)$$

. The first (from the side of block 60) and second positive inputs of the adder 61 have, respectively, a unity gain and a gain equal to 1/1 ₂ . As a result, a signal is generated at the output of block 58 $$\left\{\lfloor m_2{\mathrm{one}}_2^{*}+\left(m_3+m_R\right){\mathrm{one}}_2\rfloor \cos q_2+\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\cos \left(q_2+q_3\right)\right\}{\ddot{q}}_{\mathrm{four}}\cos q_{\mathrm{one}}$$

, which goes to the ninth positive input of the adder 13, having a gain equal to 1 / i _P. As a result, a signal is generated at the output of this adder $$B=\left[\frac{K_M{K}_{\omega }}{R}+K_{\mathrm{at}}+h/i_p^2\right]{\dot{\alpha }}_2+M_{T}sig{\dot{\alpha }}_2+M_{\mathrm{at}n}/i_p$$

.

. В результате на выходе сумматора 64 формируется сигнал (2h*+K_в), а на выходе блока 66 - сигнал $$\left(2h^{*}+K_{в}\right){\ddot{\alpha }}_2$$

, который подается на третий положительный вход сумматора 4, имеющий коэффициент усиления, равный L/(K_MK_у).At the output of the setpoint 65 is generated _in a signal K which is supplied to a first positive input of summer 64 having a unity gain. Its second negative input has a gain equal to $$\mathrm{four}/i_P^2$$

. As a result, a signal is generated at the output of adder 64 (2h * + K _in ), and a signal is generated at block 66 output $$\left(2h^{*}+K_{\mathrm{at}}\right){\ddot{\alpha }}_2$$

which is supplied to the third positive input of the adder 4 having a gain equal to L / (K _M K _y ).

, а на выходе блока 98 - сигнал $$1_2\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\sin \left(q_3\right){\ddot{q}}_3$$

. Первый и второй отрицательные входы сумматора 99 имеют коэффициенты усиления, равные $$2/i_p^2$$

. В результате на выходе блока 102 формируется сигнал $${\dot{h}}^{*}{\dot{\alpha }}_2$$

, поступающий на двенадцатый положительный вход сумматора 4, имеющий коэффициент усиления, равный L/(K_MK_у).At the output of block 100, a signal is generated $${\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\cos \left(q_3\right){\dot{q}}_3^2$$

, and at the output of block 98, a signal $${\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\sin \left(q_3\right){\ddot{q}}_3$$

. The first and second negative inputs of adder 99 have gains equal to $$2/i_p^2$$

. As a result, a signal is generated at the output of block 102 $${\dot{h}}^{*}{\dot{\alpha }}_2$$

entering the twelfth positive input of the adder 4 having a gain equal to L / (K _M K _y ).

, датчик 72 - скорость $${\dot{q}}_2$$

, датчик 86 - ускорение $${\ddot{q}}_1$$

. Дифференциаторы 80 и 107 используются для получения сигналов $${\stackrel{⃛}{q}}_4$$

и $${\stackrel{⃛}{q}}_3$$

, соответственно. На выходе блоков 106 и 105 формируются сигналы $${\stackrel{⃛}{q}}_3[J_{N3}+m_3{1}_3^{*2}+m_{Г}{1}_3^2+1_2\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\cos q_3]$$

и $${\dot{q}}_3^3{1}_2\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\cos q_3$$

, поступающие на четырнадцатый положительный и тринадцатый отрицательный входы сумматора 4, соответственно, имеющие коэффициенты усиления, равные L/(K_MK_уi_p).Sensor 67 measures acceleration $${\ddot{\alpha }}_2$$

sensor 72 - speed $${\dot{q}}_2$$

Sensor 86 - Acceleration $${\ddot{q}}_{\mathrm{one}}$$

. Differentiators 80 and 107 are used to receive signals $${\stackrel{⃛}{q}}_{\mathrm{four}}$$

and $${\stackrel{⃛}{q}}_3$$

, respectively. At the output of blocks 106 and 105, signals are generated $${\stackrel{⃛}{q}}_3[J_{N3}+m_3{\mathrm{one}}_3^{*2}+m_R{\mathrm{one}}_3^2+{\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\cos q_3]$$

and $${\dot{q}}_3^3{\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\cos q_3$$

arriving at the fourteenth positive and thirteenth negative inputs of the adder 4, respectively, having gains equal to L / (K _M K _y i _p ).

, подаваемый на восьмой отрицательный вход сумматора 4, имеющий коэффициент усиления, равный 3L/(K_MK_уi_p), а на выходе блока 97 - сигнал $${\dot{q}}_2[m_2{1}_2^{*}+(m_3+m_{Г})1_2]\cos q_2$$

, подаваемый на одиннадцатый положительный вход сумматора 4, имеющий коэффициент усиления, равный gL/(K_MK_уi_p). На выходе сумматора 89, имеющего положительные входы с единичными коэффициентами усиления, формируется сигнал $${\dot{q}}_2+{\dot{q}}_3$$

, а на выходе блока 90 - сигнал $$\left({\dot{q}}_2+{\dot{q}}_3\right)1_2\left(m_3{1}_3^{*}+m_{Г}{1}_3\right)\cos \left(q_2+q_3\right)$$

, подаваемый на десятый положительный вход сумматора 4, имеющий коэффициент усиления, равный gL/(K_MK_у1₂i_p).At the output of block 85, a signal is generated $${\dot{q}}_3{\ddot{q}}_3{\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\sin q_3$$

supplied to the eighth negative input of the adder 4 having a gain equal to 3L / (K _M K _y i _p ), and at the output of block 97, a signal $${\dot{q}}_2[m_2{\mathrm{one}}_2^{*}+(m_3+m_R){\mathrm{one}}_2]\cos q_2$$

supplied to the eleventh positive input of the adder 4 having a gain equal to gL / (K _M K _y i _p ). At the output of the adder 89 having positive inputs with unit gain, a signal is generated $${\dot{q}}_2+{\dot{q}}_3$$

, and at the output of block 90, a signal $$\left({\dot{q}}_2+{\dot{q}}_3\right){\mathrm{one}}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\cos \left(q_2+q_3\right)$$

supplied to the tenth positive input of the adder 4 having a gain equal to gL / (K _M K _y 1 ₂ i _p ).

подаваемый на девятый отрицательный вход сумматора 4, имеющий коэффициент усиления, равный L/(K_MK_уi_p).A signal is generated at the output of block 88 $$\begin{array}{l}\{[J_{N2}-J_{S2}+m_2{\mathrm{one}}_2^{*2}+\left(m_3+m_R\right){\mathrm{one}}_2^2\sin 2q_2+{21}_2\left(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3\right)\sin \left(2q_2+q_3\right)+\\ +\left(J_{N3}-J_{S3}+m_3{\mathrm{one}}_3^{*2}+m_R{\mathrm{one}}_3^2\right)\sin 2(q_2+q_3)\}{\dot{q}}_{\mathrm{one}}{\ddot{q}}_{\mathrm{one}}\end{array}$$

supplied to the ninth negative input of the adder 4 having a gain equal to L / (K _M K _y i _p ).

. Все входы сумматора 77 положительны и имеют единичные коэффициенты усиления. В результате на выходе блока 78 формируется сигнал

подаваемый на пятый отрицательный вход сумматора 4, имеющий коэффициент усиления, равный L/(K_MK_уi_p).The first (from the side of the sensor 72) and second (from the side of the sensor 10) positive inputs of the adder 73 have gains equal to 2 and 1, respectively. As a result, a signal equal to $$2{\dot{q}}_2+{\dot{q}}_3$$

. All inputs of the adder 77 are positive and have unity gain. As a result, a signal is generated at the output of block 78

supplied to the fifth negative input of the adder 4 having a gain equal to L / (K _M K _y i _p ).

, подаваемый на шестой положительный вход сумматора 4, имеющий коэффициент усиления, равный L/(K_MK_уi_p).At the output of block 81, a signal is generated $${\stackrel{⃛}{q}}_{\mathrm{four}}\cos q_{\mathrm{one}}\left\{[m_2{\mathrm{one}}_2^{*}+(m_3+m_R){\mathrm{one}}_2]\cos q_2+(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3)\cos (q_2+q_3)\right\}$$

supplied to the sixth positive input of the adder 4 having a gain equal to L / (K _M K _y i _p ).

, подаваемый на четвертый отрицательный вход сумматора 4, имеющий коэффициент усиления, равный L/(K_MK_уi_p).Functional Converter 70 implements the function sinq ₁ . As a result, a signal is generated at the output of block 71 $${\dot{q}}_{\mathrm{four}}{\ddot{q}}_{\mathrm{four}}\sin q_{\mathrm{one}}\left\{[m_2{\mathrm{one}}_2^{*}+(m_3+m_R){\mathrm{one}}_2]\cos q_2+(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3)\cos (q_2+q_3)\right\}$$

supplied to the fourth negative input of the adder 4 having a gain equal to L / (K _M K _y i _p ).

, подаваемый на седьмой отрицательный вход сумматора 4, имеющий коэффициент усиления равный L/(K_MK_уi_p).The first (from the side of block 82) and second positive inputs of the adder 83 have, respectively, a unity gain and a gain equal to 1/1 ₂ . As a result, a signal is generated at the output of block 84 $${\stackrel{⃛}{q}}_{\mathrm{four}}\cos q_{\mathrm{one}}\left\{[m_2{\mathrm{one}}_2^{*}+(m_3+m_R){\mathrm{one}}_2]\sin q_2+(m_3{\mathrm{one}}_3^{*}+m_R{\mathrm{one}}_3)({\dot{q}}_2+{\dot{q}}_3)\sin (q_2+q_3)\right\}$$

supplied to the seventh negative input of the adder 4 having a gain equal to L / (K _M K _y i _p ).

The first positive input of the adder 4 (from the side of unit 3) has a unity gain, and its second positive input (from the adder 13) has a gain of R / (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 $$L{J}_H{\stackrel{⃛}{\alpha }}_2+K_M{K}_{\omega }{\dot{\alpha }}_2=K_{у}{K}_M\epsilon$$

с постоянными номинальными желаемыми параметрами, обеспечивающими рассматриваемому электроприводу заданные динамические свойства и показатели качества.Because when driving an electric drive $$M_{T}sign{\dot{\alpha }}_2$$

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 $$L{J}_H{\stackrel{⃛}{\alpha }}_2+K_M{K}_{\omega }{\dot{\alpha }}_2=K_{\mathrm{at}}{K}_M\epsilon$$

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 considered electric drive to the effects of mutual influence between all degrees of manipulator mobility and friction moments. This allows you to get a consistently high quality control in all modes of operation of this drive. The practical implementation of the proposed device does not cause difficulties, since it uses only typical electronic elements.

Claims (1)

A self-adjusting manipulator electric drive, comprising a first adder, a second adder, a first multiplication unit, a third adder, a first amplifier and an electric motor connected directly to the first speed sensor and through a gearbox with a first position sensor, the output of which is connected to the first input of the first adder connected to the second the input with the input of the device, the second speed sensor, the second multiplication unit, the third multiplication unit and the fourth adder, the second input to 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 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 constant signal generator, and the output - to the second input of the first multiplication unit, the second position sensor connected in series, the first cosine function the national converter, the fourth multiplication unit, the sixth adder, the second input of which is connected to the output of the second constant signal generator, and the fifth multiplication unit, the second input of which is connected to the output of the first acceleration sensor, and the output - to the fourth input of the fourth adder, connected in series with the third constant signal, the seventh adder, the second input of which is connected to the output of the mass sensor, and the sixth multiplication unit, the second input of which is connected through the second sine functional converter the output of the second position sensor, and the output to the second input of the second multiplication unit, with the second input of the fourth multiplication unit connected to the output of the seventh adder, its output to the third input of the fifth adder, the third input of the sixth adder connected to the output of the mass sensor, the fifth input of the fourth adder through the seventh multiplication unit, the second input of which is connected to the output of the second multiplication unit, connected to the output of the second speed sensor, connected in series with the fourth constant signal generator, the eighth adder, the second input of which is connected to the output of the mass sensor, and the eighth multiplication unit, the second input of which through the third sine functional converter is connected to the output of the first position sensor, and its output - with the sixth input of the fourth adder, the ninth adder connected in series, the first and second inputs of which are connected respectively, to the outputs of the first and second position sensors, the fourth sine functional converter and the ninth multiplication unit, the second input of which is connected to the output of the seventh adder, and the output is to the seventh input of the fourth adder, the second amplifier, the fifth sine functional converter, the tenth multiplication unit, the tenth adder and the eleventh multiplication unit, the second input of which through the quadrator is connected to the output of the third speed sensor, and the output to the eighth input of the fourth adder are connected in series connected in series to a fifth constant signal master, an eleventh adder and a twelfth multiplication unit, the second input of which is connected through a third amplifier in series and the stable sine functional converter is connected to the output of the ninth adder, and its output is connected to the second input of the tenth adder, the twelfth adder is connected in series, the first and second inputs of which are connected respectively to the outputs of the second position sensor and the second amplifier, the seventh sine function converter and the thirteenth multiplication unit, the second input of which is connected to the output of the seventh adder, and its output to the third input of the tenth adder, connected in series to the sixth the signal and the thirteenth adder, the second input of which is connected to the second input of the eleventh adder and the output of the mass sensor, and the output to the second input of the tenth multiplication unit, and the input of the second amplifier is connected to the output of the first position sensor, the third position sensor is connected in series, the eighth cosine functional a converter, the fourteenth multiplication unit, the second input of which is connected to the output of the second acceleration sensor, and the fifteenth multiplication unit, the output of which is connected to the ninth input the fifth adder, the ninth cosine functional converter connected in series, the input of which is connected to the output of the first position sensor, the sixteenth multiplier unit, the second input of which is connected to the output of the eighth adder, and the fourteenth adder, the output of which is connected to the second input of the fifteenth multiplication unit, sequentially connected the tenth cosine a functional converter, the input of which is connected to the output of the ninth adder, and the seventeenth multiplication block, the second input of which is connected It is connected to the output of the seventh adder, and the output to the second input of the fourteenth adder, characterized in that it is additionally connected in series with the fifteenth adder, the first input of which is connected to the output of the seventh constant signal generator, and the second input is connected to the output of the second multiplication unit, eighteenth a multiplication unit, the second input of which is connected to the output of the third acceleration sensor mounted on the output shaft of the electric motor, and the output to the third input of the third adder, sequentially connected the nineteenth multiplication block, the twentieth multiplication block, the second input of which is connected to the output of the third position sensor through the eleventh sine-wave converter, the twenty-first multiplication block, the output of which is connected to the fourth input of the third adder, the fourth speed sensor, sixteenth adder, the twenty-second block are connected in series multiplication, the second input of which is connected to the output of the seventh adder, the twenty-third multiplication block, the second input of which is through the twelfth cosine the seventh functional converter is connected to the output of the twelfth adder, the seventeenth adder, the twenty-fourth multiplication unit, the second input of which is connected to the quad output, and the output to the fifth input of the third adder, the twenty-fifth multiplication unit connected in series, the first input of which is connected to the output through the first differentiator the second acceleration sensor and the first input of the nineteenth multiplication unit, and the second to the output of the eighth functional converter, and the twenty-sixth multiplication unit, the second input which is connected to the second input of the twenty-first multiplication unit and the output of the fourteenth adder, the output of which is connected to the sixth input of the third adder, the twenty-seventh multiplication unit connected in series, the first input of which is connected to the output of the eighth multiplication unit, the eighteenth adder and the twenty-eighth multiplication unit, the second input which is connected to the output of the fourteenth multiplication block, and the output to the seventh input of the third adder, as well as the twenty-ninth multiplication block, the output of which is connected to the the fourth input of the third adder, the fourth acceleration sensor, the thirtieth multiplication unit, the second input of which is connected to the output of the third speed sensor and the second input of the nineteenth multiplication unit, and the thirty-first multiplication unit, the second input of which is connected to the output of the tenth adder, and the output to the ninth input of the third adder, the nineteenth adder and the thirty-second multiplication unit connected in series, the second input of which is connected to the output of the seventeenth multiplication unit, and the output to ten the input of the third adder, the thirty-third multiplication unit connected in series, the first input of which is connected to the output of the eleventh adder, the thirty-fourth multiplication unit, the second input of which is connected through the thirteenth cosine functional converter to the output of the third amplifier, and the output to the second input of the seventeenth adder, in series connected the thirty-fifth multiplication block, the first input of which is connected to the output of the thirteenth adder and the thirty-sixth multiplication block, the second input of which о through the fourteenth cosine functional converter is connected to the output of the second amplifier, and the output is connected to the third input of the seventeenth adder, as well as the thirty-seventh multiplication unit, the first input of which is connected to the output of the sixteenth multiplication unit, the second input to the second inputs of the twenty-seventh and thirty-fifth multiplication units and the first input of the nineteenth adder, and the output to the eleventh input of the third adder, connected in series to the thirty-eighth multiplication unit, the first input of which is connected to the output the sixth multiplication unit, the twentieth adder, the second input of which is connected to the output of the thirty-ninth multiplication unit, the first input of which is connected through the quadrator to the output of the second speed sensor, and the fortieth multiplication unit, the second input of which is connected to the output of the first speed sensor, and the output to the twelfth the input of the third adder, as well as the forty-first multiplication block, the first input of which is connected to the output of the nineteenth adder and the second input of the thirty-third multiplication block, the second input to the output of the ninth block and the output is to the second input of the eighteenth adder, the forty-second multiplication unit is connected in series, the first input of which is connected to the output of the quadrator, and the second to the output of the second speed sensor, to the second inputs of the sixteenth and nineteenth adders, to the first input of the twenty-ninth multiplication block the second input of which is connected to the output of the thirty-eighth multiplication block, and the forty-third multiplication block, the second input of which is connected to the output of the fourth multiplication block and the second input of the thirty-ninth block and the output goes to the thirteenth input of the third adder, as well as the forty-fourth multiplication unit, the first input of which through the second differentiator is connected to the output of the first acceleration sensor and to the second input of the thirty-eighth multiplication unit, the second input to the output of the sixth adder, and the output to the fourteenth input of the third adder.

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