Active Damping of Elastic Mechanisms Vibration of Manipulator of Robotics System with Induction Motor Power Drive System

摘要

Determination results of effective active vibration damping of the elastic transmission elements ShBM-150M type manipulator links with frequency-controlled induction electric drive (ED) will be presented in paper. Rational structure and symbolic expressions have been determined for parameters of compensating torque feedback in elastic element (EE) of cargo lift by manipulator. Control system has been developed with subordinated control system (SCS) of ED providing required decrease in vibration amplitude of torque in EE. Comparison of damping efficiency by ED of elastic vibrations of executive mechanism (EM) was completed for manipulator lift with current controller (CC) and speed controller (SC). Values of motor controllers in ED SCS have been calculated with standard recommendations about infinite stiffness mechanical transmission in system with recommended corrector.