SU1405023A1 - Robot drive control apparatus - Google Patents

Abstract

This invention relates to automatic control. The device for controlling the drive of the robot makes it possible, through information on the motor current and acceleration of its output shaft, to simplify the design of the computing unit, which increases the reliability of the entire system, 1 hp. f-ly, 2 ill.

Description

: The invention relates to an automated, iecKOMy control and can be used in electric drives of industrial jjieHHbix manipulators.

i The aim of the invention is to improve the device.

FIG. 1 shows the function 1 | {the schematic diagram of the proposed device for controlling the drives of the robot; in fig. 2 is a kinematic diagram of a robot actuator controlled by this device.

The device for controlling the drive of the robot contains the first adder

, differentiator 2, first block 3 knives, second adder 4, aperiodic link 5, second multiplication unit 6, amplifier 7, electric motor 8 with gearbox, position sensor 9, speed sensor 10, current sensor 11, acceleration sensor 12, control object 13 the first division unit 14 and the computational unit 15.

Computing unit 15 contains a third adder 16, an integrator 17,:) the second division block 18, the relay element 19, the reference voltage source 20, the third multiplication unit 2, the fourth adder 22, the second amplifier 3, the fifth adder 24, the third block 15 division, amplifiers 26 and 27.

In addition, in FIG. 1 introduced the following notation oL signal input-; yugrstviyi; 8 - drive error; “I-, 5, (Si is the angular position, speed and acceleration of the output shaft of the drive shaft, respectively; U, i is the corresponding voltage and current of the electric motor crust; U, is the amplified arrester.

 The device works as follows.

The error signal 8 after correction in Apple 2-6, amplifying, goes to the electric motor 8, drives it, the shaft, and consequently, the gearbox shaft into rotational motion with direction and speed (acceleration), depending on the signal size S and : mentally influencing this shaft from the side of the control object. The electric drive, when working with various loads, as well as due to the mutual degree of mobility of the executive body, has variable moment characteristics that can

vary widely. This reduces the quality indicators of the electric drive and even leads to a loss of stability of its work.

The moment characteristics of the drive controlling the coordinate g, respectively, depend on the change in the coordinates g and §3. In this connection, for the quality control of the coordinate g, it is necessary to precisely compensate for the negative effect of the change in the coordinates g and g on the dynamic properties of the turn actuator.

For the development / control device of the rotational drive, which ensures the invariance of this drive to varying load parameters, first determine the characteristics of the momentary effect on this drive from the moving mass of the actuator shown schematically in FIG. 2. Enter the following notation:

I - the moment of inertia of the vertical link of the executive body of mass t relative to the longitudinal axis; 1 is the moment of inertia of the horizontal link of the executive body of mass t, relative to the transverse axis, passing through the center of mass; 1 - initial distance from axis

rotation of the horizontal link to its center of mass (at

);

1 is the distance from the center of mass of the horizontal link to the midpoint of the gripper;

ha, - is the mass of the captured cargo.

To determine the torque effects on the rotary actuator (generalized moments of nonconservative forces), use the Langrange equation of the 2nd kind. The kinetic energy T of all moving masses of the executive organ (Fig. 2) can be represented as

T bSi + + I} j il lSill.Si 4. 22 2

+ .ij. + () S2

where g const. Considering that

314050234

||; Igg, -H, g, + m (,) g, m, (ir + g, + l, f g ,,

rl FROM.-It 7 i 4

3t u | () 8, s () g, -H2m, (l, + g,) g, g, +, -H3) g ,, + l,) g, g ,, | 0

It can be noted that the momentary motions of the moving masses of the executive action on the actuator of the turn from the side of the robot and the load have the form

(g,) g, + h (g ,,, g,) g ,, (O. where H (gj) m, (,), + 1h) + 1y-1m5 h (g, gj) 2 (m , (lt + g3) - -mrat -gi + 4) g5;

 , M, + f +

where MDD is the total moment developed by the engine core winding), by an electric motor, K is the moment-to-momentfraction (4) can be represented

coefficient, 6in joig, ui а - correspondingly

Actually, the angle, speed and acceleration25.

engine shaft rotation, I - moment m) oig

the inertia of the rotor of the engine and rotate-.

parts of mechanical transmission, xh (gj}. / w / / t-i

ip - gear ratio reduk-

Torah. Kg - coefficient of viscous triple

NIN, Meter moment of dry friction Taking into account only the linear composition (Cc and Meter are given to the shaft of the motor expressions (6) we have

l), „g ,. ip.

With regard to expressions (1) and (2), respectively-K, / -t. „Hhfr + v + iLw

wearing (3) takes the form. one; Hm {n

M ,, K ... S | S.); I. ,, H 2iS | i; h.

KoV / cTp / sig q- (P.

"G 0

Consider that U ,, (where K is 40 ggg taking into account the introduced correction (block gain coefficient of the first amplifier 2-6) U, 8ts from the expression (7) can y y Kcpjiij, V. it is possible to obtain the transmission the function of the grain / fl 1 JJ

Kdtroprovod turn on the basis of electric (where is the coefficient vs emf. - dc motor with independent motor, cd - active resistance 45 u excitation

W, (p) -.5l5 ..

° (Cd (1 + n) p + K / i + Kz)

and

KtKll) + KijKa,

-Wry :)

R "(h + k,)

where p is a symbol of differentiation, and without taking into account the mutual and viscous

Since the electric drive is constantly described by the transfer functional load characteristics of the type

fl

five

(9)

Kjj- / K oe

bii-p i

the normal value of the moment is then to ensure the electric actuator's turn to ms load parameters is not 13050236

it is necessary that it always be described, with only an expression of the form (9), regardless of the value of Mn. For this in

about

the direct chain of the real system described by the transfer function (8), it is enough to introduce a sequential correction link of the form

T - W g)

(bK.j: b- (h .iKeK. .iihl + ii

wiEl-bk - „KA; K« + Eb; + Square 11.

K 1n

kgk

p + l

From expressions (2) and (10) it can be seen that, taking into account equality (11), the correlation parameters of the corrective device (4) can be represented in

the form

P (P) (hH) must be continuously adjusted to their current values, since, m,), and (g, gj m).

ix:. d (i-fH)

 dt

Oi + Kf, a +

 ° ,, p / sign ;. liliHli ii k, s.

From relation (2), the equality h is obvious. (eleven)

ip / McTp /,

 you .. „1 -iP /% /

Chg

0

and at the output of the adder 16 a signal is generated equal to

1p (Mlv-Kb 51- / M / sign n), - „(y + n: 1s) P

ip

dt

and on

At the output of the integrator 17, we have a signal ip (I + H) ci (Ii + H), - the output of the first dividing unit 18 is the signal Up + H. After multiplying this signal (in block 21 multiplying by the signal oi we have (Ii p + H) Oh, and at the output of the p of the adder 22 according to

ho6. Divided

in block 25

dividing it, we get a signal equal to h. By adding this signal on the fifth adder with the coefficient equal to Rfl, with the signal of the source 20 of the reference voltage equal to- (,, + R ,, К) ip

expression (4) iphu / Q last signal on oi

at the output of the fifth adder 2, we get a signal (Kgip + h). By passing this signal through the fourth amplifier 23 with a gain of 1 / (K K ... jip), at its output we get a signal equal to the gain of the successive corrective

"KA; K" + Eb; + Square 11

K 1n

kgk

p + l

ix:. d (i-fH)

 dt

Oi + Kf, a +

 ° ,, p / sign ;. liliHli ii k, s.

+ /M,p / psignuZ.(12)

The output signal of the relay element is 25.t19 is formed according to the law

uio 0

with oio o

6 O (const;)

the link

etc) . ihl)

you

razheniye (10),

5 Dividing the signal from the output of dividing unit 18, equal to Iir + H, to the signal from the output of adder 24, equal to + + R (Kgi | + h), at the output of the first dividing unit 14 we will have a signal (1 + H)

0 (K Kjj + Rj, (Kg + h)). Considering that the transfer function of an aperiodic

link 5 has the form W (p) l / (p + 1), and

Km xs

the transfer function of the differentiator 2 is W2. (p) R ,, p / () is not difficult

see that at the output of the first block 3

multiply we will have a signal

tg 6vb ti; -

and the output of the first adder 4 - signal

55 ((„.RilHliiL-p i) / (5 lp +,)) §. XvR, (Vh) P Emergency

45

0

Multiply with the help of the second block 6 multiplying this signal and the signal from you71 .405Q238

the progress of the second amplifier 23, the output signal of the second block 6 multiplication will have

(KAKIYYA 1Y + to v1 (.Rf UiHllр,)

and (t) JSal ipKjjKj iBjibliK

p + 1

From expression (13), it can be seen that the parameters of the successive correction device are continuously adjusted during the process of changing the load parameters of the system.

The use of the proposed computing unit allows to reduce the number of units included in its composition, as well as the number of sources of reference voltage, which leads to a simplification of the computing unit and the device as a whole, and, consequently, increases the reliability of the entire system.

Claims (2)

1. Device for controlling the robot drive, containing the first adder, the output of which is connected via a aperiodic link to the first input of the second adder, the output of which is connected to the first input of the first multiplication unit, the second input of which is connected to the first output of the computing unit, and the output is connected to serially connected the first amplifier, an electric motor with a gearbox and a position sensor, the output of which is connected to the second input of the first adder, the output of which is connected through a differentiator to the first input of the second Lok multiplying the output of which is coupled to a second WMOs. the house of the second adder, and the second input - with the output of the first dividing unit, the input of the dividend and the divider are connected respectively to the second and third outputs of the computing unit, the input of the position sensor is connected via a speed sensor to the high-speed input of the computing unit, iden (13) /.a p + 1 An identifying input is connected to an output of a voltage source, characterized in that, in order to simplify the device, an acceleration sensor and a current sensor are added, the outputs of which are connected respectively to the acceleration input and the torque input of the calculating unit. 2. The device according to claim 1, about tl is that the computing unit is made in the form of a third adder, the output of which through an integrator is connected to the input of a divisible second division unit, the output of which is connected to the second output of the computing unit and the first input of the third unit the multiplication, the output of which is connected to the first input of the fourth adder, the second input of which is connected to the input of the integrator, and the output - to the input of the divisible third division unit, the output of which is connected to the first input of the fifth adder, the second input of which connected to the identification input of the computing unit, and the output to the third output of the computing unit, and through the second amplifier to the first output of the computing unit, the input of the divider of the second division block is connected to the high-speed input of the computing unit, the first input of the third adder, and through the relay element to the second input of the third adder, the acceleration input and the moment input of the computing unit are connected respectively to the second input of the third multiplication unit and the third input of the third adder. Editor V. Bugrenkova 12 Compiled by S. Isakov Tehred A. Kravchuk to Proofreader G. Reshetnik