Improvement of manipulating robot servo drives' control system

摘要

There is developed the method of constructing the system of manipulating robots' control, essentially enhancing the quality indicators of their work. The work is devoted to the improvement of the method of adaptive control and study of its effectiveness by improving the quality of the course of dynamic processes in the system of manipulator's servo drives. The improvement is the implementation of adaptive control by direct modification of the transfer coefficient of servo drive controller, that causes simplification of the system and its technical implementation. A quantitative assessment of the course is carried out of dynamic processes in servo drives on the basis of construction of transient processes. The results of modeling dynamics system of manipulator's servo drives show that the dynamics compared with a normal system of coordinate regulated drive the nature of transient processes is improved and their indicators are provided. These studies have scientific and practical value, as one of many solutions to the problems of creation new highly efficient design of manipulating robots.