Fast response of mechatronics module for robotic

The synthesis technique, the mathematical model and results of experimental investigation of the control system of the robotic complex mechatronic module are presented in the article. It is shown that in most cases the dynamic system can be approximated by the serial connection of two first-order ap...

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Bibliographic Details
Published in:Journal of physics. Conference series 2018-05, Vol.1015 (3), p.32165
Main Authors: Bukhanov, S S, Gryzlov, A A, Tsirkunenko, A T
Format: Article
Language:English
Subjects:
Electric drives
Mechatronics
Modules
Physics
Reference signals
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Summary:The synthesis technique, the mathematical model and results of experimental investigation of the control system of the robotic complex mechatronic module are presented in the article. It is shown that in most cases the dynamic system can be approximated by the serial connection of two first-order aperiodic links, while the speed in the torque control loop can reach 200-300 rad/s. The specified speed of the system was achieved due to improved specific weight and dimensions parameters of the electric drive (element of the mechatronic system) made on the basis of a contactless motor. The obtained results indicate the possibility of successful application of the proposed mechatronic module for objects of robotized systems in which the reference signal changes at a frequency not exceeding 50 Hz.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1015/3/032165