Modeling the Dynamics of Robot Motor Drive Control System

被引：0
|
作者：
Amandyk, Tuleshov [1 ]
Kassymbek, Ozhikenov [2 ]
Ruslan, Utebayev [2 ]
Erkebulan, Tuleshov [2 ]
机构：
[1] Comm Sci, Astana 010000, Kazakhstan
[2] Kazakh Natl Tech Univ K Satpayev, Alma Ata 050013, Kazakhstan
来源：
MATERIALS SCIENCE AND MECHANICAL ENGINEERING | 2014年 / 467卷
关键词：
Modeling; Electric drive; Adaptive regulator; Stabilization; Dynamics of control;
D O I：
10.4028/www.scientific.net/AMM.467.510
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This work studies the effectivenessof applyingadaptive regulatorindirect current drive control system ofmanipulator robot link. An adaptive stabilization ofcontrol system dynamics by directly modifying the transfer factor of electric drive regulator was carried out. In turn, this causes simplification of the system with adaptive regulator and its technical implementation. This system was modeled inMATLAB (Simulink). A comparative evaluation of the results of modeling of electric drives with adaptive regulator with traditionally used methodology coordinate regulation was carried out. It is shown that the usage of adaptive regulator in electric drives systemdelivers desired dynamic characteristics of the manipulator.
引用
收藏
页码：510 / +
页数：2
相关论文
共 50 条
  • [1] Dynamic Modeling and Control of Inspection Robot Joint Drive System
    Li, Xiaopeng
    Shang, Dongyang
    Yang, Yingnan
    Guo, Jungiang
    [J]. PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 3665 - 3670
  • [2] Integrated design of brushless motor drive and control system for robot joints
    Mo Shuai
    Li Xu
    Yang Zhen-ning
    Zhou Chang-peng
    Gao Han-jun
    Cen Guo-jian
    Huang Yun-sheng
    [J]. JOURNAL OF CENTRAL SOUTH UNIVERSITY, 2021, 28 (12) : 3818 - 3828
  • [3] Induction Motor Drive Control for Gantry Robot Position
    Zhao, Bingkun
    Yu, Haisheng
    Yu, Jinpeng
    Wu, Herong
    Liu, Xudong
    Xu, Xu
    [J]. PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, : 4403 - 4408
  • [4] Motor system for direct-drive robot joint
    Chen, H
    Zhu, YF
    [J]. PROCEEDINGS OF THE CHINA ASSOCIATION FOR SCIENCE AND TECHNOLOGY, VOL 1, NO 1, 2004, : 15 - 19
  • [5] Simulation and control of a motor drive system
    Perdikaris, GA
    [J]. 1997 IEEE INTERNATIONAL ELECTRIC MACHINES AND DRIVES CONFERENCE RECORD, 1997, : TC231 - TC233
  • [6] Modeling and Control of Dual Parallel BLDC Motor Drive System with Single Inverter
    Ebadpour, Mohsen
    Sharifian, Mohammad Bagher Bannae
    Babaei, Ebrahim
    [J]. IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2017, : 3740 - 3743
  • [7] Modeling and Control of Dual Parallel BLDC Motor Drive System with Single Inverter
    Ebadpour, Mohsen
    Sharifian, Mohammad Bagher Bannae
    Babaei, Ebrahim
    [J]. 2017 INTERNATIONAL ELECTRICAL ENGINEERING CONGRESS (IEECON), 2017,
  • [8] Synthesis and mathematical modeling of synchronous motor drive with digital synergetic control system
    Glazunov V.F.
    Repin A.A.
    [J]. Russian Electrical Engineering, 2009, 80 (2) : 66 - 71
  • [9] Research on Modeling of PWM Drive Motor System
    Sun Yaxiu
    Chen Bingcai
    Guo Lili
    [J]. PROCEEDINGS OF 2009 CONFERENCE ON COMMUNICATION FACULTY, 2009, : 350 - 354
  • [10] Modeling and control of biped robot dynamics
    Caux, S
    Zapata, R
    [J]. ROBOTICA, 1999, 17 : 413 - 426
12345