SU1547559A1 - Variable-structure system - Google Patents

Variable-structure system

Info

Publication number
SU1547559A1
SU1547559A1 SU4331114/24A SU4331114A SU1547559A1 SU 1547559 A1 SU1547559 A1 SU 1547559A1 SU 4331114/24 A SU4331114/24 A SU 4331114/24A SU 4331114 A SU4331114 A SU 4331114A SU 1547559 A1 SU1547559 A1 SU 1547559A1
Authority
SU
USSR - Soviet Union
Prior art keywords
motor
acceleration
switching function
error signal
current
Prior art date
Application number
SU4331114/24A
Other languages
Russian (ru)
Inventor
А.А. Дыда
В.С. Очкал
В.Ф. Филаретов
Ф.Д. Юрчик
Original Assignee
Дальневосточный политехнический институт им.В.В.Куйбышева
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Дальневосточный политехнический институт им.В.В.Куйбышева filed Critical Дальневосточный политехнический институт им.В.В.Куйбышева
Priority to SU4331114/24A priority Critical patent/SU1547559A1/en
Application granted granted Critical
Publication of SU1547559A1 publication Critical patent/SU1547559A1/en

Links

Landscapes

  • Feedback Control In General (AREA)
  • Manipulator (AREA)
  • Control Of Velocity Or Acceleration (AREA)

Abstract

FIELD: robotics, mechanical engineering; control of variable-load drives of welding robots. SUBSTANCE: forward action is compared in system with current position of controlled entity. Error signal obtained is detected, multiplied by switching function sign, amplified in power, and applied to input of motor whose shaft is kinematically coupled with shafts of controlled entity, position detector, speed and acceleration transmitters. In addition, armature current sensor varies motor armature current. Switching function is shaped in the form of, where ε is error signal;andare derivatives of signal e,Cand Care factors depending on motor shaft speed and acceleration and motor current. EFFECT: reduced overshoot of system. 1 dwg
SU4331114/24A 1987-10-28 1987-10-28 Variable-structure system SU1547559A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SU4331114/24A SU1547559A1 (en) 1987-10-28 1987-10-28 Variable-structure system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SU4331114/24A SU1547559A1 (en) 1987-10-28 1987-10-28 Variable-structure system

Publications (1)

Publication Number Publication Date
SU1547559A1 true SU1547559A1 (en) 1996-11-27

Family

ID=60528863

Family Applications (1)

Application Number Title Priority Date Filing Date
SU4331114/24A SU1547559A1 (en) 1987-10-28 1987-10-28 Variable-structure system

Country Status (1)

Country Link
SU (1) SU1547559A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2461036C1 (en) * 2011-05-17 2012-09-10 Учреждение Российской академии наук Институт автоматики и процессов управления Дальневосточного отделения РАН (ИАПУ ДВО РАН) Manipulator electric drive

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2461036C1 (en) * 2011-05-17 2012-09-10 Учреждение Российской академии наук Институт автоматики и процессов управления Дальневосточного отделения РАН (ИАПУ ДВО РАН) Manipulator electric drive

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