SU996990A2

SU996990A2 - Robot drive control device

Info

Publication number: SU996990A2
Application number: SU813287444A
Authority: SU
Inventors: Александр Сергеевич Суляев; Владимир Федорович Филаретов
Original assignee: Дальневосточный Ордена Трудового Красного Знамени Политехнический Институт Им.В.В.Куйбышева
Priority date: 1981-04-30
Filing date: 1981-04-30
Publication date: 1983-02-15

Description

Изобретение относитс к робототехНике и может быть использовано при создании устройств управлени приводами роботов.This invention relates to robotics and can be used to create robot drive control devices.

По основному авт. св. 928298 известно устройство, содержащее по- . след6вател1;но соединенные первый сумМйГСр , блок умножени , блок коррекции , первый усилитель, электродвигатель и датчик тока, причем вал электродвигател св зан с исполнительным механизмом, датчиком положени и датчиком скорости, выход которого подключен к первому входу блока делени , а выход датчика положени соединен с первым входом первого сумматора , вторым входом подключенного к входу устройства, и, кроме того , источник опорного напр жени , последовательно соединенные датчик момента и второй сумматор, а также последовательно соединенные второй усилитель и третий сумматор, второй вход которого подключен к выходу источника опорного напр жени , а выход - к второму входу блока умножени , выход датчика тока соединен с вторым входом второго сумматора, выходом подключенного к второму входуAccording to the main author. St. 928298 known device containing a. but connected the first sum, the multiplier, the correction unit, the first amplifier, the electric motor and the current sensor, the motor shaft connected to the actuator, the position sensor and the speed sensor, the output of which is connected to the first input of the division unit, and the output of the position sensor is connected with the first input of the first adder, the second input connected to the input of the device, and, in addition, the source of the reference voltage, series-connected torque sensor and the second adder, as well as sequentially with union of the second amplifier and a third adder, a second input connected to the output of the reference voltage source, and an output - to a second input of the multiplying unit, the current sensor output is connected to the second input of the second adder output is connected to the second input

блока делени , выход которого соединен с входе второго усилител Cl 1«dividing unit, the output of which is connected to the input of the second amplifier Cl 1 "

Однако в данном устройстве при ( 5 формировании сигнала коррекции не учитываетс сухого- трени , а также момент в зкого трени , поскольку инфОЕЯлаци об этих моментах не содержитс в выходном сигнале датчика to момента.:However, in this device, when (5 forming the correction signal, the dry friction is not taken into account, as well as the moment of viscous friction, because the information about these moments is not contained in the output signal of the torque sensor:

Целью изобретени вл етс повышение точности устройства.The aim of the invention is to improve the accuracy of the device.

Поставленна цель достигаетс тем, что устройство содержит нелинейный с элемент и третий усилитель, входы которых соединены с выходом датчика скорости, а выходы - с третьим и четвертым входами второго сумматора соответственно .The goal is achieved by the fact that the device contains a nonlinear element and a third amplifier, the inputs of which are connected to the output of the speed sensor, and the outputs to the third and fourth inputs of the second adder, respectively.

На чертеже изображена функцио20 нальна схема устройства.The drawing shows a functional diagram of the device.

Схема содержит первый сумматор 1, блок 2 умножени , блок 3 коррекции, первый усилитель 4, электродвигатель The circuit contains the first adder 1, block 2 multiplying, block 3 correction, the first amplifier 4, the motor

Claims

25 5, current sensor b, dividing unit 7, moment sensor 8, position sensor 9, executive mechanism 10, second amplifier 11, second and third sum 12 and 13, respectively, source 14., Reference, speed sensor 15, nonlinear element 16 , the third amplifier 17. In the drawing, it is indicated: sigNssh of the driving force, "/ - mismatch of the electric drive; Him momentary impact on the drive; (lL, A are the angle and speed of rotation of the motor shaft, respectively, i is the overload signal of the torque sensor, i is the signal of the motor control. The device works as follows. The error signal of the actuator L from the first adder 1 after correction in block 3, amplifies, enters on the electric motor 5, driving its shaft into rotational movement with direction and speed depending on the sign and magnitude of the signal 1 and the external impact of the robot drive due to variable load, changing the configuration performer Due to the mutual influence of the degrees of mobility on each other, it has a variable moment of inertia, which can vary within wide limits. This, as a rule, causes a significant decrease in the quality characteristics of the drive, leading to instability of its operation. As a result, . associated with ensuring the invariance of the dynamic properties of the drive and changing the moment of inertia of the load. In addition, for the speed of the electric drive, it is advisable to fully compensate the effect anicheskoy time constant, which influence the performance of the system is increased by Uwe lichenie The output load torque on. Mr. engine shaft. In order to implement the tasks posed: the prototype proposes to introduce a signal in the direct circuit of the electric drive, where the active resistance of the electric motor's main winding; The electromechanical coefficient of proportionality / Р - simovap differentiation. However, in the process of determining the sig nal K in the prototype, the resistance elements that the torque sensors cannot measure are neglected. These controls significantly reduce the accuracy with which the variable J is compensated. It is known that M., iK., | St4; nci + W, (2) de MDD is the total moment developed by the executive engine Mr - the moment of dry friction, f is the coefficient of viscous friction. Proceeding from the expression (2), it is possible to teach, to learn. (-% H / S "- | Mc.Tf l 4 if / S" -f-i / K,) f ". . (To obtain the signal K (expression (1) according to expression (3)) it is necessary to subtract the value of MRM / EC from the sensor’s 8 ms, yMr.Tp/sieynoi;/ Kj, output from the nonlinear output (i type of relay) of element 16 and fi / Kg from the output of the third amplifier 17. The received signal must be divided by the signal from the speed sensor 15 (we will get a signal equal to JP / KJM). Then the signal received after the separation should be passed through the second amplifier 11 with the coefficient gain Kxt sRoKjM (we will receive a signal equal to and add to the received signal a unit with The drive from the source 14 of the reference voltage. The application of the present invention, will allow for improving the accuracy of the device due to the best commability of the variable moment of inertia of the electric motor. Formula of the Invention A device for controlling the drive of the robot according to Aut. No. 928298, TL and For accuracy of the device, it contains a non-linear element and a third amplifier, the inputs of which are connected to the output of the speed sensor, and the conclusions to the third and fourth inputs of the SECOND adder, respectively. . Sources of information, taken into account during the examination 1. USSR author's certificate 928298, cl. Ci 05 B 11/00, 1982. (Prototype).