Precision increase in electric drive speed loop of robotic complexes and process lines

The article presents the principles of synthesis of control structures for highprecision electric drives of robotic complexes and manipulators. It has been theoretically shown and experimentally confirmed that improved characteristics of speed maintenance in the zone of significant overloads are ach...

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Bibliographic Details
Published in:Journal of physics. Conference series 2018-05, Vol.1015 (3), p.32187
Main Authors: Tulegenov, E, Imanova, A A, Platonov, V V
Format: Article
Language:English
Subjects:
Coils (windings)
Electric drives
Excitation
Physics
Robot arms
Speed control
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Summary:The article presents the principles of synthesis of control structures for highprecision electric drives of robotic complexes and manipulators. It has been theoretically shown and experimentally confirmed that improved characteristics of speed maintenance in the zone of significant overloads are achieved in systems of series excitation. They are achieved due to the redistribution of control signals both in the zone of setting the armature current and in the excitation currents. At the same time, the characteristic of the electromagnetic torque becomes linear because the demagnetizing effect of the armature response is compensated by the setting of the excitation current. It is recommended in those cases when it is necessary to extend the range of speed control with a significant reduction in load to apply structures with two-zone speed control. The regulation of the weakening of the excitation flow is more convenient as a function of the voltage in the armature windings.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1015/3/032187