RU2705734C1 - Self-tuning electric manipulator drive - Google Patents

Abstract

FIELD: robotics.SUBSTANCE: invention relates to robotics and can be used in creation of manipulator drives. Invention objective is provision of complete invariance of dynamic properties of the electric drive of the third degree of mobility of the manipulator to continuous and fast changes of its dynamic moment load characteristics at movement of this manipulator on all five considered degrees of mobility and thereby increasing its dynamic control accuracy. Self-adjusting electric drive of manipulator additionally includes correcting devices ensuring invariance of quality of control to varying parameters of load.EFFECT: generating an additional control signal supplied to the input of the electric drive of the third degree of mobility of the manipulator, which enables to obtain the required momentary action, which accurately compensates for harmful variable moment actions on the electric drive during movement of the manipulator.1 cl, 2 dwg

Description

The invention relates to robotics and can be used to create drive control systems for manipulation robots.

A manipulator electric drive is 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 via 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 relay element and the fourth adder connected in series, the second input of which is connected to the input of the relay element, the second input the second adder and the output of the first speed sensor, and the output to the second input of the third adder, connected in series with the first signal pickup and the fifth adder, as well as the second speed sensor, mass sensor, second signal pickup, the first quadrator, sixth adder, second, third, fourth and the fifth multiplication blocks, the first acceleration sensor, as well as the first and second functional converters, the input of each of which is connected to the output of the first position sensor, the output of the mass sensor is connected to the second input of the first block multiplying the first input of the sixth adder and the second input of the fifth adder, connected by the output to the first inputs of the second and third multiplication units, the second input of each of which is connected respectively to the output of the first and second functional converters, and their outputs, respectively, to the second input of the sixth adder and the first the input of the fourth multiplication unit, connected by the second input through the first quadrator with the output of the second speed sensor, and the output with the third input of the fourth adder, the fourth input of which is connected n to the output of the fifth multiplication unit connected by the first input to the output of the first acceleration sensor, and the second input to the output of the sixth adder, the third input of which is connected to the output of the second signal setter, and the output of the second adder is connected to the third input of the third adder, the second sensor connected in series position, the seventh adder, the second input of which is connected to the output of the first position sensor, the third functional converter and the sixth multiplication unit, the second input of which is connected to the output of the fifth total pa, and the output goes to the fifth input of the fourth adder, the second amplifier, the fourth functional converter, the seventh multiplication unit, the eighth adder and the eighth multiplication unit, the fifth functional converter, the ninth and tenth multiplication units connected in series to the third speed sensor and the second a quadrator whose output is connected to the second input of the eighth multiplication unit, the output of which is connected to the sixth input of the fourth adder, t a third signal adjuster and a ninth adder, the second input of which is connected to the output of the second signal adjuster, its third input is to the output of the mass sensor, and the output is to the second input of the seventh multiplication unit, and the second input of the tenth multiplication unit through the sixth functional converter is connected to the output of the seventh the adder and the input of the second amplifier, and its output to the second input of the eighth adder, the second input of the ninth multiplication unit is connected to the output of the fifth adder, and the input of the fifth functional converter is connected to the WTO output the third position sensor, the third position sensor, the seventh functional converter, the eleventh multiplication unit, the second input of which is connected to the output of the fifth adder, the twelfth multiplication unit, the second input of which is connected to the output of the second acceleration sensor, and the thirteenth multiplication unit, the second input of which is connected to the output of the sixth functional converter, and the output to the seventh input of the fourth adder, connected in series to the eighth functional converter, the input of which the fourth is connected to the output of the third position sensor, the fourteenth multiplication unit, the second input of which is connected to the output of the fifth adder, the fifteenth multiplication unit, the second input of which is connected to the output of the third acceleration sensor, and the sixteenth multiplication unit, the second input of which is connected to the output of the sixth functional converter, and the output is to the eighth input of the fourth adder (Patent RU No. 2454695, cl. G05B 13/02, B25J 123/00, Bull. No. 18, 2012).

The disadvantage of this device is that the electric drive of the manipulator in question is not taken into account, being considered small, the electric time constant. As a result, this device will not accurately compensate for all its variable load characteristics and provide the required dynamic accuracy.

A self-adjusting manipulator electric 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 via a gearbox with a first position sensor, the output of which is connected to the first input of the first adder, connected by a second input to the input of the device, a relay element and a fourth adder connected in series, the second input of which is connected to the relay input about the element, the second input of the second adder and the output of the first speed sensor, and the output to the second input of the third adder, the first signal pickup, the fifth adder, the second multiplication unit, the sixth adder and the third multiplication unit, the output of which is connected to the third input of the fourth adder in series connected in series to the second signal master, the seventh adder, the fourth multiplication unit, the eighth adder, and the fifth multiplication unit, the output of which is connected to the fourth input of the fourth adder, but connected to the second speed sensor and the first quadrator, the output of which is connected to the second input of the fifth multiplication unit, the first sine functional converter and the sixth multiplication unit, the output of which is connected to the fifth input of the fourth adder, the second amplifier and the second sine functional converter in series, output are connected which is connected to the second input of the fourth multiplication unit, the third sine functional converter and the seventh connected in series the third multiplication unit, the fourth cosine functional converter and the eighth multiplication unit connected in series, the second input of which is connected to the output of the seventh multiplication unit, and its output - to the second input of the eighth adder, the second position sensor and the ninth adder connected in series, the second input of which is connected to the output the first position sensor, and the output to the inputs of the first sine function converter, the second amplifier and the fourth cosine function converter, followed by the third speed sensor, the second quadrator and the ninth multiplication unit, the output of which is connected to the sixth input of the fourth adder, the fifth sine function converter and the tenth multiplication unit, the output of which is connected to the second input of the ninth multiplication unit, the mass sensor whose output is connected to the second inputs of the first block of multiplication, as well as the fifth, sixth and seventh adders, the first acceleration sensor connected to the second input of the third block of multiplication, the third setter s drove connected to the third input of the seventh adder, the sixth cosine functional converter, the output of which is connected to the second input of the second multiplication unit, and the input to the output of the first position sensor and the input of the fifth sine functional converter, the output of the fifth adder connected to the second inputs of the sixth, seventh and the tenth multiplication blocks, the output of the second signal generator is to the third input of the sixth adder, the tenth adder, the eleventh and twelfth multiplication blocks are connected in series, the eleventh adder and the thirteenth multiplication unit, the first differentiator and the fourteenth multiplication unit connected in series, the second input of which is connected to the output of the sixth adder, the twelfth adder connected in series, the fifteenth and sixteenth multiplication units, the second acceleration sensor, the seventeenth multiplication unit and the thirteenth adder connected in series, the output which is connected to the fourth input of the third adder, the third, fifth, sixth and seventh inputs of which, respectively, are connected to the output I will give the third adder, the fourteenth, thirteenth and sixteenth multiplication units, and its eighth input through the third acceleration sensor is to the engine, the fourteenth adder is connected in series, the first input of which is connected to the output of the second position sensor and the input of the third sine functional converter, and the second to the output the first position sensor, the seventh cosine functional converter, the eighteenth multiplication unit, the fifteenth adder, the nineteenth multiplication unit, the second input of which is connected connected to the output of the fifth adder and the second inputs of the thirteenth and sixteenth multiplication blocks, the sixteenth adder and the twentieth multiplication block, the second input of which is connected to the output of the first quadrator, and the output - to the second input of the thirteenth adder, connected in series to the third amplifier connected to the output of the ninth adder, the eighth cosine functional converter, the twenty-first multiplication unit, the second input of which is connected to the output of the twelfth adder, and the twenty-second multiplication unit, the second input of which connected to the output of the seventh adder, and the output to the second input of the sixteenth adder, connected in series to the twenty-third multiplication unit, the first input of which is connected to the output of the second quadrator, and the twenty-fourth multiplication unit, the output of which is connected to the second output of the eleventh adder, as well as twenty the fifth multiplication unit, the first and second inputs of which are connected, respectively, to the outputs of the eighth adder and the second speed sensor, and the output to the second input of the seventeenth multiplication unit, twenty the second multiplication block, the first input of which is connected to the second input of the twenty-third multiplication block and the output of the sixth cosine functional converter, and the output to the second input of the fifteenth adder, and the seventeenth adder, the first input of which is connected to the first inputs of the tenth and twelfth adders, and also - to the output of the third speed sensor, and the second input to the second inputs of the tenth and twelfth adders, twenty-fourth and twenty-sixth multiplication units, and also to the output of the first speed sensor, and the output to the second input of the eighteenth multiplication block, the second input of the fifteenth multiplication block is connected to the output of the fourth cosine functional converter, the input of the first differentiator and the second input of the eleventh multiplication block are connected to the output of the first acceleration sensor, and the second input of the twelfth multiplication block is connected to the output of the fifth sine functional converter connected third position sensor, ninth cosine function converter, twenty-seventh, twenty-eighth and twenties ninth multiplication blocks, the output of the latter being connected to the seventh input of the fourth adder, the tenth sine-wave converter connected in series, the input of which is connected to the output of the third position sensor, the thirtyth multiplication block, the second input of which is connected to the second input of the twenty-seventh multiplication block and to the output of the fourth cosine functional converter, thirty-first multiplication unit, the second input of which is connected to the output of the second speed sensor, eighteenth adder, t thirty-second multiplication block, nineteenth adder and thirty-third multiplication block, the second input of which is connected to the second input of the twenty-eighth multiplication block and the output of the fifth adder, and the output to the ninth input of the third adder, the eleventh sine-wave functional converter connected in series to the output the fourteenth adder, the thirty-fourth multiplication block, the second input of which is connected to the output of the ninth cosine functional converter, and the thirty-fifth block of the mind a knife, the second input of which is connected to the output of the twelfth adder, and the output to the second input of the eighteenth adder, the fourth acceleration sensor, the second differentiator and the thirty-sixth multiplication unit connected in series, the second input of which is connected to the output of the twenty-seventh multiplication unit, and the output to the second the input of the nineteenth adder, and the second inputs of the twenty-ninth and thirty-second multiplication blocks are connected to the output of the fourth acceleration sensor (Patent RU No. 2562400, cl. G05B 13/02, Bull. No. 25, 2015.). This device in its technical essence is the closest to the proposed solution and is taken as a prototype.

The disadvantage is that it is intended for electric manipulator with a different kinematic scheme. As a result, it will not accurately compensate for all variable load characteristics and provide the required dynamic accuracy of the considered electric drive of the considered manipulator. Therefore, the problem arises of constructing such a self-adjusting correction that would ensure high dynamic accuracy of the operation of the drive in question, taking into account all its momentary effects.

The technical problem to which the claimed technical solution is directed is to ensure complete invariance of the dynamic properties of the drive in question to continuous and rapid changes in its dynamic moment load characteristics when the manipulator moves simultaneously over all its degrees of mobility.

The technical result that can be obtained by implementing the proposed solution is expressed in the formation of an additional control signal supplied to the input of the electric drive of the third degree of mobility of the manipulator, which provides the necessary moment effect, exactly compensating for the harmful variable moment effects on this electric drive when the manipulator moves.

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 the gearbox with the first position sensor, the output of which is connected to the first input of the first adder connected by the second input to the input of the device, a relay element and a fourth adder connected in series, the second input of which is connected to the input of the relay element, the second input of the second adder and the output of the first speed sensor, and the output to the second input of the third adder, the first signal adjuster, the fifth adder, the second multiplication unit, the sixth adder and the third multiplication unit, the output of which is connected to the third the input of the fourth adder, the second signal adjuster, the seventh adder, the fourth multiplication unit, the eighth adder, and the fifth multiplication unit, the output of which is connected to the fourth input of the fourth an adder connected in series to the second speed sensor and a first quadrator, the output of which is connected to the second input of the fifth multiplication unit, the first sine function converter and the sixth multiplication unit, the output of which is connected to the fifth input of the fourth adder, the second amplifier and the second sine function converter in series the output of which is connected to the second input of the fourth block of multiplication, connected in series to the third sine functional the converter and the seventh multiplication unit, the fourth cosine functional converter and the eighth multiplication unit connected in series, the second input of which is connected to the output of the seventh multiplication unit, and its output - to the second input of the eighth adder, the second position sensor and the ninth adder connected in series, the second input of which is connected to the output of the first position sensor, and the output to the inputs of the first sine functional converter, the second amplifier and the fourth cosine functional pre a third speed sensor, a second quadrator and a ninth multiplication unit, the output of which is connected to the sixth input of the fourth adder, a fifth sine function converter and a tenth multiplication unit, the output of which is connected to the second input of the ninth multiplication unit, a mass sensor, the output of which connected to the second inputs of the first block of multiplication, as well as the fifth, sixth and seventh adders, the first acceleration sensor connected to the second input of the third block smartly the third signal source connected to the third input of the seventh adder, the sixth cosine functional converter, the output of which is connected to the second input of the second multiplication unit, and the input to the output of the first position sensor and the input of the fifth sine functional converter, the output of the fifth adder connected to the second the inputs of the sixth, seventh and tenth multiplication blocks, the output of the second signal generator - to the third input of the sixth adder, the tenth adder, eleventh and dwen connected in series the eleventh multiplication blocks, the eleventh adder and the thirteenth multiplication block, connected in series to the first differentiator and the fourteenth multiplication block, the second input of which is connected to the output of the sixth adder, the twelfth adder connected in series, the fifteenth and sixteenth multiplication blocks, the second acceleration sensor, the seventeenth multiplication block connected in series and the thirteenth adder, the output of which is connected to the fourth input of the third adder, the third, fifth, sixth and seventh inputs of which, respectively They are connected to the outputs of the third adder, the fourteenth, thirteenth and sixteenth multiplication units, and its eighth input through the third acceleration sensor is connected to the motor, the fourteenth adder is connected in series, the first input of which is connected to the output of the second position sensor and the input of the third sine functional converter, and the second - to the output of the first position sensor, the seventh cosine functional converter, the eighteenth multiplication unit, the fifteenth adder, the nineteenth multiplication unit, sec the second input of which is connected to the output of the fifth adder and the second inputs of the thirteenth and sixteenth multiplication units, the sixteenth adder and the twentieth multiplication unit, the second input of which is connected to the output of the first quadrator, and the output to the second input of the thirteenth adder, in series connected to the third amplifier connected to the output the ninth adder, the eighth cosine functional converter, the twenty-first multiplication block, the second input of which is connected to the output of the twelfth adder, and the twenty-second block smartly the second input of which is connected to the output of the seventh adder, and the output is to the second input of the sixteenth adder, the twenty-third multiplication block is connected in series, the first input of which is connected to the output of the second quadrator, and the twenty-fourth multiplication block, the output of which is connected to the second output of the eleventh adder , as well as the twenty-fifth multiplication block, the first and second inputs of which are connected, respectively, to the outputs of the eighth adder and the second speed sensor, and the output to the second input of the seventeenth block multiplication, the twenty-sixth multiplication block, the first input of which is connected to the second input of the twenty-third multiplication block and the output of the sixth cosine functional converter, and the output to the second input of the fifteenth adder, and the seventeenth adder, the first input of which is connected to the first inputs of the tenth and twelfth adders, and also to the output of the third speed sensor, and the second input to the second inputs of the tenth and twelfth adders, twenty-fourth and twenty-sixth multiplication blocks, and also to the output of the first date speed sensor, and the output to the second input of the eighteenth multiplication block, the second input of the fifteenth multiplication block is connected to the output of the fourth cosine functional converter, the input of the first differentiator and the second input of the eleventh multiplication block are connected to the output of the first acceleration sensor, and the second input of the twelfth multiplication block is connected to the output of the fifth sine functional converter, the third position sensor, the ninth cosine functional converter, twenty-seventh, d twenty-eighth and twenty-ninth multiplication blocks, the output of the latter being connected to the seventh input of the fourth adder, the tenth sine-wave converter connected in series, the input of which is connected to the output of the third position sensor, the thirtyth multiplication block, the second input of which is connected to the second input of the twenty-seventh multiplication unit and to the output of the fourth cosine functional converter, the thirty-first multiplication unit, the second input of which is connected to the output of the second speed sensor, in the eighteenth adder, the thirty-second multiplication unit, the nineteenth adder and the thirty-third multiplication unit, the second input of which is connected to the second input of the twenty-eighth multiplication unit and the output of the fifth adder, and the output to the ninth input of the third adder, the eleventh sine function converter, the input of which is connected in series connected to the output of the fourteenth adder, a thirty-fourth multiplication unit, the second input of which is connected to the output of the ninth cosine functional converter, and a thirty-fifth multiplication unit, the second input of which is connected to the output of the twelfth adder, and the output to the second input of the eighteenth adder, the fourth acceleration sensor, the second differentiator and the thirty-sixth multiplication unit, the second input of which is connected to the output of the twenty-seventh multiplication unit, and the output is to the second input of the nineteenth adder, and the second inputs of the twenty-ninth and thirty-second multiplication units, connected to the output of the fourth acceleration sensor, are additionally entered after the fifth acceleration sensor, the thirty-seventh multiplication unit and the thirty-eighth multiplication unit, the second input of which is connected to the output of the fifth adder and the output to the eighth input of the fourth adder, the third differentiator and the thirty-ninth multiplication unit, the second input of which is connected to the output of the thirtieth multiplication block and to the second input of the thirty-seventh multiplication block, and the output to the third input of the nineteenth adder, the fortieth multiplication block connected in series is first the first input of which is connected to the output of the eleventh sine functional converter, and the second to the output of the tenth sine functional converter, the forty-first multiplication block, and the forty-second multiplication block, the second input of which is connected to the output of the twelfth adder, and the output - to the fourth input of the nineteenth adder, the forty-third multiplication block connected in series, the first input of which is connected to the output of the twenty-seventh multiplication block, and the second to the output of the fifth acceleration sensor, to the input of the third differential erentsiatora and to the second input of the forty-first multiplying unit, and forty-fourth multiplier, the second input of which is connected to the output of the second speed sensor and an output - to a fifth input nineteenth adder.

A comparative analysis of the proposed technical solution with its analogues and prototype indicates its compliance with the criterion of "Novelty."

The claimed combination of features, given in the characterizing part of the claims, allows to increase the dynamic accuracy of control of the manipulator in question under conditions of a significant and rapid change in its load parameters due to the mutual influence between all degrees of mobility of the manipulator.

The essence of the claimed invention is illustrated by drawings, where in FIG. 1 is a block diagram of a proposed self-adjusting electric manipulator drive; FIG. 2 presents its kinematic diagram.

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 reducer 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 relay element 10 and the fourth adder 11 are connected in series, the second input of which is connected to the input of the relay e element 10, the second input of the second adder 2 and the output of the first speed sensor 7, and the output to the second input of the third adder 4, connected in series to the first signal setter 12, the fifth adder 13, the second multiplication unit 14, the sixth adder 15 and the third multiplication unit 16, the output of which is connected to the third input of the fourth adder 11, the second signal adjuster 17, the seventh adder 18, the fourth multiplication unit 19, the eighth adder 20, and the fifth multiplier 21, the output of which is connected to the fourth input of the fourth sum, are connected in series a torus 11 connected in series with a second speed sensor 22 and a first quadrator 23, the output of which is connected to the second input of the fifth multiplication unit 21, the first sine function converter 24 and the sixth multiplication unit 25, the output of which is connected to the fifth input of the fourth adder 11, connected in series a second amplifier 26 and a second sine function converter 27, the output of which is connected to the second input of the fourth multiplication unit 19, the third sine function the ion converter 28 and the seventh multiplication unit 29, connected in series with the fourth cosine functional converter 30 and the eighth multiplication unit 31, the second input of which is connected to the output of the seventh multiplication unit 29, and its output is connected to the second input of the eighth adder 20, the second position sensor 32 connected in series and the ninth adder 33, the second input of which is connected to the output of the first position sensor 9, and the output to the inputs of the first sine functional converter 24, the second amplifier 26 and the fourth cosine an integral functional converter 30, connected in series with a third speed sensor 34, a second quadrator 35 and a ninth multiplier block 36, the output of which is connected to the sixth input of the fourth adder 11, a fifth sine functional converter 37 and a tenth multiplier block 38, the output of which is connected to the second input, in series the ninth multiplication block 36, the mass sensor 39, the output of which is connected to the second inputs of the first multiplication block 3, as well as the fifth 13th, sixth 15th and seventh 18 adders, the first acceleration sensor 40 I, connected to the second input of the third multiplication unit 16, the third signal master 41, connected to the third input of the seventh 18 adder, the sixth cosine functional converter 42, the output of which is connected to the second input of the second multiplication unit 14, and the input - to the output of the first position sensor 9 and the input of the fifth sine 37 functional converter, and the output of the fifth adder 13 is connected to the second inputs of the sixth 25, seventh 29 and tenth 38 of the multiplication units, and the output of the second 17 signal adjuster to the third input of the sixth 15 sum ator, the tenth adder 43, the eleventh 44 and the twelfth 45 connected in series, the eleventh adder 46 and the thirteenth multiplier unit 47, the first differentiator 48 and the fourteenth multiplier unit 49 connected in series, the second input of which is connected to the output of the sixth adder 15, the twelfth adder connected in series 50, fifteenth 51 and sixteenth 52 multiplication units connected in series to the second acceleration sensor 53, the seventeenth multiplication unit 54 and the thirteenth adder 55, the output of which is connected n to the fourth input of the third adder 4, the third, fifth, sixth and seventh inputs of which, respectively, are connected to the outputs of the third adder 2, fourteenth 49, thirteenth 47 and sixteenth 52 multiplication units, and its eighth input through the third acceleration sensor 56 is connected to the engine 6, connected in series with the fourteenth adder 57, the first input of which is connected to the output of the second position sensor 32 and the input of the third sine function converter 28, and the second to the output of the first position sensor 9, the seventh cosine function the converter 58, the eighteenth multiplication unit 59, the fifteenth adder 60, the nineteenth multiplication unit 61, the second input of which is connected to the output of the fifth adder 13 and the second inputs of the thirteenth 47 and sixteenth 52 multiplication units, the sixteenth adder 62 and the twentieth multiplication unit 63, the second input of which connected to the output of the first quadrator 23, and the output to the second input of the thirteenth adder 55, a third amplifier 64 connected in series to the output of the ninth adder 33, the eighth cosine functional transform The holder 65, the twenty-first multiplication unit 66, the second input of which is connected to the output of the twelfth adder 50, and the twenty-second 67 multiplication unit, the second input of which is connected to the output of the seventh adder 18, and the output - to the second input of the sixteenth adder 62, connected in series twenty-third a multiplication block 68, the first input of which is connected to the output of the second quadrator 35, and a twenty-fourth multiplication block 69, the output of which is connected to the second output of the eleventh adder 46, as well as a twenty-fifth multiplication block 70, the first and the second input of which is connected, respectively, to the outputs of the eighth adder 20 and the second speed sensor 22, and the output is to the second input of the seventeenth multiplication block 54, the twenty-sixth 71 multiplication block, the first input of which is connected to the second input of the twenty-third multiplication block 68 and the output of the sixth cosine functional converter 42, and the output to the second input of the fifteenth adder 60, and the seventeenth adder 72, the first input of which is connected to the first inputs of the tenth 43 and twelfth 50 adders, and also to the output of the third date speed sensor 34, and the second input to the second inputs of the tenth 43 and twelfth 50 adders, the twenty fourth 69 and twenty sixth 71 blocks of multiplication, and also to the output of the first speed sensor 7, and the output to the second input of the eighteenth multiplication block 59, the second the input of the fifteenth multiplication block 51 is connected to the output of the fourth cosine functional converter 30, the input of the first differentiator 48 and the second input of the eleventh multiplication block 44 are connected to the output of the first acceleration sensor 40, and the second input of the twelfth multiplication block 45 - to the output of the fifth sine function converter 37, the third position sensor 73, the ninth cosine function converter 74, the twenty-seventh 75, the twenty-eighth 76 and the twenty-ninth 77 are multiplied in series, the output of the latter being connected to the seventh input of the fourth adder 11 connected in series to the tenth sine function converter 78, the input of which is connected to the output of the third position sensor 73, the thirtieth multiplication unit 79, the second input of which is connected to the second input at the twenty-seventh multiplication block 75 and to the output of the fourth cosine functional converter 30, the thirty-first multiplication block 80, the second input of which is connected to the output of the second speed sensor 22, the eighteenth adder 81, the thirty-second multiplier block 82, the nineteenth adder 83 and the thirty-third block 84 multiplication, the second input of which is connected to the second input of the twenty-eighth multiplication block 76 and the output of the fifth adder 13, and the output to the ninth input of the third adder 4, connected in series with the eleventh sine wave a functional converter 85, the input of which is connected to the output of the fourteenth adder 57, a thirty-fourth multiplication unit 86, a second input of which is connected to the output of the ninth cosine functional converter 74, and a thirty-fifth multiplication unit 87, the second input of which is connected to the output of the twelfth adder 50, and the output - to the second input of the eighteenth adder 81, the fourth acceleration sensor 88, the second differentiator 89 and the thirty-sixth multiplication unit 90, the second input of which is connected to the output d seventy-seventh multiplication unit 75, and the output to the second input of the nineteenth adder 83, the second inputs of the twenty-ninth 77 and thirty-second 82 multiplication units connected to the output of the fourth acceleration sensor 88, connected in series to the fifth acceleration sensor 91, the thirty-seventh multiplication unit 92 and the thirty-eighth multiplication unit 93, the second input of which is connected to the output of the fifth adder 13, and the output to the eighth input of the fourth adder 11, the third differentiator 94 and the thirty-ninth multiplication unit 95 connected in series, the second input of which is connected to the output of the thirtieth block 79 of multiplication and to the second input of the thirty-seventh block 92 of multiplication, and the output to the third input of the nineteenth adder 83, connected in series to the fortieth block 96 of multiplication, the first input of which is connected to the output of the eleventh sinus functional converter 85, and the second - to the output of the tenth sine function converter 78, the forty-first multiplication unit 97, and the forty-second multiplication unit 98, the second input of which is connected to the output of the twelfth adder 50, and you one to the fourth input of the nineteenth adder 83, the forty-third multiplication unit 99 connected in series, the first input of which is connected to the output of the twenty-seventh multiplication unit 75, and the second to the output of the fifth acceleration sensor 91, to the input of the third differentiator 94 and to the second input of the forty-first block 97 multiplication, and forty-fourth block 100 multiplication, the second input of which is connected to the output of the second speed sensor 22, and the output to the fifth input of the nineteenth adder 83, the control object 91.

; m_i, _mг - массы соответствующих звеньев манипулятора и груза

; l₂, l₃ - длины соответствующих звеньев;

,

- расстояния от осей вращения соответствующих звеньев манипулятора до их центров масс;

- скорости изменения соответствующих обобщенных координат манипулятора;

соответственно, скорость и ускорение вращения ротора электродвигателя третьей степени подвижности манипулятора;

- ускорения в остальных степенях подвижности манипулятора.The following notation is shown in the figures: α _in - signal from the output of a software device; ε is the error signal of the electric drive; U ^* , U - respectively amplified signal and engine control signal; q _i - generalized coordinates of the corresponding degrees of mobility of the manipulator

; m _i , _mg - masses of the corresponding parts of the manipulator and the load

; l ₂ , l ₃ are the lengths of the corresponding links;

,

- the distance from the axis of rotation of the corresponding links of the manipulator to their centers of mass;

- the rate of change of the corresponding generalized coordinates of the manipulator;

accordingly, the speed and acceleration of rotation of the rotor of the electric motor of the third degree of mobility of the manipulator;

- acceleration in other degrees of mobility of the manipulator.

The inventive self-adjusting electric manipulator operates as follows.

At its input, the action α _BX is applied, which provides the required control law for the third generalized coordinate q ₃ (Fig. 2). At the output of adder 1, an error signal ε = α _ВХ -q _{3 is} generated, which, after correction in elements 2 and 3, amplifies, enters the input of electric motor 6 with gearbox 8, bringing its shaft into rotation with direction and speed (acceleration), depending on the magnitude of the incoming signal U and the external moment effect M _in .

Based on the Lagrange equation of the second kind, it can be written that the momentary effect on the output shaft of the electric drive controlling the coordinate q ₃ when the manipulator is moving with the load has the form

и механической

where J _S3 and J _N3 are the moments of inertia of the third link of the manipulator relative to its longitudinal and transverse axes passing through its center of mass, respectively, g is the acceleration of gravity. Taking into account relation (1), as well as the equations of electric

and mechanical

circuits of a DC motor with permanent magnets or independent excitation, the considered electric drive, controlling the coordinate q ₃ , can be described by the differential equation:

where R, L - respectively, the resistance and inductance of the anchor circuit of the electric motor 6; J is the moment of inertia of the armature of the electric motor 6 and the rotating parts of the gearbox 8, reduced to the shaft of the electric motor 6; K _M - torque coefficient; K _ω is the counter-EMF coefficient of the electric motor 6; K _B is the coefficient of viscous friction; i _P - gear ratio; M _STR - the moment of dry friction; K _y is the gain of the amplifier 5; i is the armature current of the electric motor 6.

где A=2q₂+q₃, B=q₃.Note that when obtaining expression (2) to simplify the subsequent implementation, the well-known relation 2 sin (q ₂ ) cos (q ₂ + q ₃ ) = sin (2q ₂ + q ₃ ) -sin (q ₃ ) was taken into account, which is obtained from the formula

where A = 2q ₂ + q ₃ , B = q ₃ .

. В результате в процессе работы рассматриваемо электропривода меняются (притом существенно) его динамические свойства. Поэтому для реализации поставленной выше задачи необходимо сформировать такое корректирующее устройство, которое застабилизировало бы параметры этого электропривода так, чтобы он всегда описывался дифференциальным уравнением с постоянными желаемыми параметрами.From equation (2) it can be seen that the parameters of this equation, and therefore the parameters of the electric drive controlling the coordinate q ₃ , are essentially variable, depending on the values of m _g , q ₂ , q ₃ ,

. As a result, during the operation of the electric drive under consideration, its dynamic properties change (moreover, significantly). Therefore, to implement the task posed above, it is necessary to form such a corrective device that would stabilize the parameters of this electric drive so that it is always described by a differential equation with constant desired parameters.

The first positive input of the adder 2 (from the side of the adder 1) has a unity gain, and its second negative input is the gain K _ω / K _y . As a result, a signal is generated at the output of block 3

, а с выхода задатчика 17 -

. Первый положительный вход сумматора 13 (со стороны задатчика 12) имеет единичный коэффициент усиления, а его второй положительный вход - коэффициент усиления l₂l₃/i_P. Первый (со стороны блока 14) и третий (со стороны задатчика 17) положительные входы сумматора 15 имеют единичные коэффициенты усиления, а его второй положительный вход (со стороны датчика 39) - коэффициент усиления

. Датчик 40 измеряет ускорение

. В результате на выходе сумматора 13 формируется сигнал

, на выходе блока 14 - сигнал

на выходе сумматора 15 - сигнал

на выходе блока 16 - сигнал

а на выходе блока 49 - сигнал

The signal from the output of the setter 12 is equal to

, and from the output of the setter 17 -

. The first positive input of the adder 13 (from the setter 12) has a unity gain, and its second positive input has a gain l ₂ l ₃ / i _P. The first (from the side of the unit 14) and the third (from the setter 17) positive inputs of the adder 15 have unit gain, and its second positive input (from the side of the sensor 39) is the gain

. Sensor 40 measures acceleration

. As a result, a signal is generated at the output of the adder 13

, the output of block 14 is a signal

at the output of the adder 15 - signal

at the output of block 16 - signal

and at the output of block 49, a signal

, поэтому на выходе блока 36 формируется сигнал

Sensor 34 measures speed

therefore, a signal is generated at the output of block 36

, а на выходе блока 31 - сигнал

.The sensor 32 measures the angle q ₂ , the adder 33 has positive inputs with unit gains, therefore, the signal sin (q ₂ + q ₃ ) is generated at the output of the functional converter 24, and the signal at the output of block 25

, and the output of block 31 is a signal

.

, а с выхода задатчика 41 на его третий отрицательный вход с единичным коэффициентом усиления поступает сигнал J_S3/i_P. В результате на выходе сумматора 18 формируется сигнал

The first (from the master 17) positive input of the adder 18 has a unity gain, the second positive (from the sensor 39) is the gain

, and from the output of the setter 41, a signal J _S3 / i _P is received at its third negative input with a unity gain. As a result, at the output of the adder 18, a signal is generated

а на выходе сумматора 20, первый (со стороны блока 19) и второй положительные входы которого имеют, соответственно, единичный коэффициент усиления и коэффициент усиления, равный 2, - сигнал

The amplifier 26 has a gain equal to 2. As a result, a signal is generated at the output of block 19

and at the output of the adder 20, the first (from the side of block 19) and second positive inputs of which have, respectively, a unity gain and a gain of 2, is a signal

поэтому на выходе блоков 77 и 93 формируются сигналы

и

The sensor 73 measures the angle q ₁ , and the sensors 88 and 91, respectively, - acceleration

therefore, signals are generated at the output of blocks 77 and 93

and

The output signal of the relay element 10 has the form

- величина момента сухого трения при движении.Where

- the value of the moment of dry friction during movement.

The first, third and sixth positive inputs of the adder 11 (respectively, from the side of the relay element 10, as well as blocks 16 and 36) have unit gains, its second (from the side of the sensor 7), fifth (from the side of block 25), seventh (with side of block 77) the positive inputs are the gain (K _M K _ω / R + K _B ), g / l ₂ , 1 / l ₂ , respectively, and the fourth and eighth negative (from the side of blocks 21 and 93) are the gain 1 / 2 and 1 / l ₂ , respectively. As a result, a signal is generated at the output of the adder 11

, где

, а на выходе блока 52 - сигнал

The first (sensor side 34) and second positive inputs of the adder 50 have a unity gain and gain equal to 1 / i _P , respectively. As a result, a signal is generated at its output.

where

, and at the output of block 52, a signal

а на выходе блока 45 - сигнал

The first positive input of the adder 43 (from the sensor 34 side) has a gain of 2, and its second negative input has a gain of 1 / i _P. As a result, a signal is generated at its output.

and at the output of block 45, a signal

Первый (со стороны блока 45) и второй положительные входы сумматора 46 имеют единичный коэффициент усиления и коэффициент усиления, равный 1/i_P, соответственно. В результате на выходе этого сумматора формируется сигнал

а на выходе блока 47 - сигнал

At the output of block 68, a signal is generated

The first (from the side of block 45) and second positive inputs of the adder 46 have a unity gain and gain equal to 1 / i _P , respectively. As a result, a signal is generated at the output of this adder

and at the output of block 47, a signal

, а датчик 53 - ускорение

, поэтому на выходе блока 54 формируется сигнал

Sensor 22 measures speed

and sensor 53 is acceleration

therefore, a signal is generated at the output of block 54

а на выходе блока 59 - сигнал

The second (from the side of the sensor 9) and the first positive inputs of the adder 57 have a unity gain and a gain equal to 2, respectively, therefore a 2q ₂ + q ₃ signal is generated at its output. The first (from the sensor side 34) and second positive inputs of the adder 72 have gains equal to 2 and 1 / i _P , respectively, therefore, a signal is generated at its output

and at the output of block 59, a signal

а на выходе блока 61 - сигнал

The first positive (from the side of block 59) and the second negative inputs of the adder 60 have a unity gain and gain equal to 1 / i _P , respectively. As a result, a signal is generated at its output.

and at the output of block 61, a signal

, а на выходе блока 67 - сигнал

The amplifier 64 has a gain equal to 2. As a result, a signal is generated at the output of block 66

, and at the output of block 67, a signal

The first (from the side of block 61) and the second positive inputs of the adder 62 have a gain of 1/2, and a unity gain, respectively. As a result, a signal is generated at the output of block 63

The first (from the side of block 54) and the second positive inputs of the adder 55 have unity gain. As a result, a signal is generated at its output.

на выходе блока 95 - сигнал

на выходе блока 98 - сигнал

а на выходе блока 100 - сигнал

At the output of block 90, a signal is generated

at the output of block 95 - a signal

at the output of block 98 - a signal

and at the output of block 100, a signal

The first and second positive inputs of the adder 81 have unity gain, therefore, a signal is generated at the output of block 82

который поступает на десятый отрицательный вход сумматора 4, имеющий единичный коэффициент усиления.The first, third and fifth (respectively from the side of blocks 82, 95 and 100) are positive, as well as the second and fourth negative inputs of the adder 83 have gains equal to 1 / l ₂ , therefore, a signal is generated at the output of block 84

which goes to the tenth negative input of the adder 4 having a unity gain.

второй положительный (со стороны сумматора 11) - коэффициент усиления R/(K_MK_y), третий положительный (со стороны сумматора 2) - коэффициент усиления

(где J_H - желаемое значение приведенного момента инерции, обеспечивающее рассматриваемому электроприводу требуемые динамические свойства и показатели качества), четвертый (со стороны сумматора 55) и девятый (со стороны блока 84) отрицательные, пятый (со стороны блока 49), шестой (со стороны блока 47) положительные входы - коэффициент усиления L/(K_MK_y), седьмой положительный (со стороны блока 52) - коэффициент усиления Lg/(K_MK_уl₂), восьмой положительный (со стороны датчика 56, измеряющего) - коэффициент усиления LK_B/(K_mK_y).The first positive input of the adder 4 (from the side of unit 3) has a gain

the second positive (from the adder 11) is the gain R / (K _M K _y ), the third positive (from the adder 2) is the gain

(where J _H is the desired value of the reduced moment of inertia that provides the drive with the required dynamic properties and quality indicators), the fourth (from the adder 55) and the ninth (from block 84) are negative, the fifth (from block 49), and the sixth (with side unit 47) are positive inputs - the gain of _{L / (K M K y)} , seventh positive (from block 52), - the gain Lg / (K _M K _y l _2), the eighth positive (by the sensor 56, which measures) - gain LK _B / (K _m K _y ).

As a result, at the output of the adder 4, a signal is generated

при движении электропривода достаточно точно соответствует М_СТР, то, подставив полученное значение U^* (3) в соотношение (2), получим

. Это уравнение имеет постоянные желаемые параметры. То есть электропривод, управляющий координатой q₃, будет обладать постоянными желаемыми динамическими свойствами и качественными показателями.It is easy to show that since

when the electric drive moves, it corresponds fairly accurately to M _STR , then, substituting the obtained value of U ^* (3) in relation (2), we obtain

. This equation has constant desired parameters. That is, the electric drive controlling the coordinate q ₃ will have constant desired dynamic properties and quality indicators.

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 via 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 to the input of the device, the relay element and the fourth adder connected in series, the second input of which is connected to the input of the relay element, the second input of the second adder and the output of the first speed sensor, and the output to the second input of the third adder, the first signal pickup, the fifth adder, the second multiplier, the sixth adder and the third multiplier, the output of which is connected to the third input of the fourth adder, connected in series a second signal adjuster, a seventh adder, a fourth multiplication unit, an eighth adder, and a fifth multiplication unit, the output of which is connected to the fourth input of the fourth adder, connected in series the second speed sensor and the first quadrator, the output of which is connected to the second input of the fifth multiplication unit, the first sine function converter and the sixth multiplication unit, the output of which is connected to the fifth input of the fourth adder, the second amplifier and the second sine function converter, the output of which is connected in series to the second input of the fourth multiplication block, the third sine functional converter and the seventh block are multiplied in series I, the fourth cosine functional converter and the eighth multiplication unit connected in series, the second input of which is connected to the output of the seventh multiplication unit, and its output - to the second input of the eighth adder, the second position sensor and the ninth adder connected in series, the second input of which is connected to the output of the first sensor position, and the output to the inputs of the first sine functional converter, the second amplifier and the fourth cosine functional converter, are connected in series the third speed sensor, the second quadrator and the ninth multiplication unit, the output of which is connected to the sixth input of the fourth adder, the fifth sine function converter and the tenth multiplication unit connected in series to the second input of the ninth multiplication unit, the mass sensor, the output of which is connected to the second the inputs of the first block of multiplication, as well as the fifth, sixth and seventh adders, the first acceleration sensor connected to the second input of the third block of multiplication, the third signal generator, I connect the sixth cosine functional converter, the output of which is connected to the second input of the second multiplication unit, and the input - to the output of the first position sensor and the input of the fifth sine functional converter, the output of the fifth adder connected to the second inputs of the sixth, seventh, and tenth multiplication blocks, the output of the second signal generator - to the third input of the sixth adder, the tenth adder, the eleventh and twelfth multiplication blocks connected in series, eleven an adder and a thirteenth multiplier unit, a first differentiator and a fourteenth multiplier unit connected in series, the second input of which is connected to the output of the sixth adder, a twelfth adder connected in series, a fifteenth and sixteenth multiplication unit, a second acceleration sensor, a seventeenth multiplication unit and a thirteenth adder whose output is connected in series connected to the fourth input of the third adder, the third, fifth, sixth and seventh inputs of which, respectively, are connected to the outputs of the third the adder, the fourteenth, thirteenth and sixteenth multiplication units, and its eighth input through the third acceleration sensor is connected to the engine, the fourteenth adder is connected in series, the first input of which is connected to the output of the second position sensor and the input of the third sine functional converter, and the second to the output of the first sensor position, seventh cosine functional converter, eighteenth multiplication unit, fifteenth adder, nineteenth multiplication unit, the second input of which is connected to the output of the adder and the second inputs of the thirteenth and sixteenth multiplication blocks, the sixteenth adder and the twentieth multiplication block, the second input of which is connected to the output of the first quadrator, and the output to the second input of the thirteenth adder, the third amplifier connected in series to the output of the ninth adder, the eighth cosine functional a converter, a twenty-first multiplication block, the second input of which is connected to the output of the twelfth adder, and a twenty-second multiplication block, the second input of which is connected to the output of the seventh adder, and the output to the second input of the sixteenth adder, connected in series to the twenty-third multiplication block, the first input of which is connected to the output of the second quadrator, and the twenty-fourth multiplication block, the output of which is connected to the second output of the eleventh adder, as well as the twenty-fifth block multiplication, the first and second inputs of which are connected, respectively, to the outputs of the eighth adder and the second speed sensor, and the output is to the second input of the seventeenth multiplication block, the twenty-sixth block is the mind The first input of which is connected to the second input of the twenty-third multiplication block and the output of the sixth cosine functional converter, and the output to the second input of the fifteenth adder, and the seventeenth adder, the first input of which is connected to the first inputs of the tenth and twelfth adders, and also to the output the third speed sensor, and the second input to the second inputs of the tenth and twelfth adders, twenty-fourth and twenty-sixth multiplication blocks, and also to the output of the first speed sensor, and the output to the second at the input of the eighteenth multiplication block, the second input of the fifteenth multiplication block is connected to the output of the fourth cosine functional converter, the input of the first differentiator and the second input of the eleventh multiplication block are connected to the output of the first acceleration sensor, and the second input of the twelfth multiplication block is connected to the output of the fifth sine functional converter connected third position sensor, ninth cosine function converter, twenty-seventh, twenty-eighth and twenty-nine the fifth multiplication unit, the output of the latter being connected to the seventh input of the fourth adder, the tenth sine function converter connected in series, the input of which is connected to the output of the third position sensor, the thirtieth multiplication unit, the second input of which is connected to the second input of the twenty-seventh multiplication unit and to the output of the fourth cosine functional converter, thirty-first multiplication unit, the second input of which is connected to the output of the second speed sensor, eighteenth adder, thirty the second multiplication unit, the nineteenth adder and the thirty-third multiplication unit, the second input of which is connected to the second input of the twenty-eighth multiplication unit and the output of the fifth adder, and the output to the ninth input of the third adder, the eleventh sine-wave functional converter connected in series to the output the fourteenth adder, the thirty-fourth multiplication block, the second input of which is connected to the output of the ninth cosine functional converter, and the thirty-fifth block is multiplied the second input of which is connected to the output of the twelfth adder, and the output is to the second input of the eighteenth adder, the fourth acceleration sensor, the second differentiator and the thirty-sixth multiplication unit are connected in series, the second input of which is connected to the output of the twenty-seventh multiplication unit, and the output to the second the input of the nineteenth adder, and the second inputs of the twenty-ninth and thirty-second multiplication blocks are connected to the output of the fourth acceleration sensor, characterized in that the sequence the fifth acceleration sensor, the thirty-seventh multiplication unit and the thirty-eighth multiplication unit, the second input of which is connected to the output of the fifth adder, and the output to the eighth input of the fourth adder, the third differentiator and the thirty-ninth multiplication unit, the second input of which is connected to the output of the thirtieth multiplication block and to the second input of the thirty-seventh multiplication block, and the output to the third input of the nineteenth adder, the fortieth multiplication block connected in series, the first input for which it is connected to the output of the eleventh sine functional converter, and the second to the output of the tenth sine functional converter, the forty-first multiplication unit, and the forty-second multiplication unit, the second input of which is connected to the output of the twelfth adder, and the output to the fourth input of the nineteenth adder, in series the forty-third multiplication unit connected, the first input of which is connected to the output of the twenty-seventh multiplication unit, and the second to the output of the fifth acceleration sensor, to the input of the third differential cytator to the second input of the forty-first multiplication block, and the forty-fourth multiplication block, the second input of which is connected to the output of the second speed sensor, and the output to the fifth input of the nineteenth adder.

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