Structural and parametric synthesis of positioning systems of electromechatronic modules

摘要

Research is devoted to synthesis of positioning systems of electromechanical modules with set time, frequency and robust features. Structures and analytical expressions for parameters of static and astatic regulators and input filters are received. Bessel root distribution is tested in position regulators: static, astatic 1st and 2nd order. Parameters of time response, expressions for calculation of established positioning error are calculated at a constant, linearly and parabolically changing mechanical load. The analysis of time and frequency characteristics is made. The fixed adjustment providing robustness of positioning system at a variation of module inertance is defined. Application recommendations of the synthesized systems in machine-tool construction and robotics are developed.