| 摘要 |
FIELD: physics, robotics.SUBSTANCE: invention relates to robotics and can be used in designing control systems of manipulator electric drives. The manipulator electric drive has series-connected first adder, first multiplier unit, second adder, amplifier and electric motor. The electric motor is connected through a reducing gear to a gear wheel and a first position sensor, the output of which is connected to the first input of the first adder, the second input of which is connected to the input of the electric drive. The manipulator electric drive also has series-connected first signal setting device, third adder and second multiplier unit, the second input of which is connected to the output of the first speed sensor, the second input of the second adder and through a relay element to the third input of the second adder. The first inputs of the twenty-sixth and twenty-ninth multiplier units are connected to the output of the fifth function generator, and the second input of the thirty-third multiplier unit is connected to the first input of the twenty-sixth multiplier unit and to the output of the sixth function generator.EFFECT: generating a new control signal using an electric drive, which enables to obtain a new instantaneous action which compensates for the adverse instantaneous action on accuracy of operation of the electric drive.2 dwg |
