| 摘要 |
FIELD: electricity.SUBSTANCE: invention proposes a self-adjusting electric drive of a manipulator, which unlike the known electric drive additionally includes the following components that are connected in series: the fourth acceleration sensor and the sixteen multiplication unit, the output of which is connected to the eighth input of the third adder, and the second input is connected to the output of the eighth adder and the first input of the seventeenth multiplication unit, the second input of which is connected through a differentiator to the output of the fourth acceleration sensor and to the first input of the eighteenth multiplication unit, the second input of which is connected to the output of the eighth multiplication unit, and the output is connected to the fourth input of the tenth adder, the fifth input of which is connected to the output of the seventeenth multiplication unit.EFFECT: shaping of a new control signal supplied to the input of the electric drive of the third movability degree of the manipulator, which provides reception of the required instantaneous influence, which accurately compensates for harmful variable instantaneous influences on the same electric drive at movement of the manipulator.2 dwg |
