SU1547559A1 - Variable-structure system - Google Patents
Variable-structure systemInfo
- 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
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
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)
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 |
-
1987
- 1987-10-28 SU SU4331114/24A patent/SU1547559A1/en active
Cited By (1)
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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