Модернізація промислових роботів

Abstract

The method of modernization of industrial robots due to the use of synchronous servo electric motors with a digital control system has been given. The digital control system can be arranged either on the basis of the controller, or with the use of a computer. The method of calculation of the digital regulator parameters to get the set indicators of control quality has been received. The use of digital controllers makes it possible not only to improve the control quality, but also to increase the margin of stability. Modern frequency converters that are part of complete electric drives already contain speed and current regulators. These regulators are arranged on different control principles: PI, PD, PID. The parameters of these controls are set in software and cannot be changed in any other way. An alternative is to use a programmable logic controller (PLC). It is connected through the digital inputs of the frequency converter and can also receive information through the digital outputs of that very frequency converter. However, unlike the fixed controllers, which are part of the frequency converter and are set up according to the specifications of the electric drive in accordance with the known methods of linear systems, the setting-up of the PLC software digital controller requires programming in a special programming language for this controller. In addition, the controller can change the settings of the regulators and the regulation law itself, turning the control system into an adaptive one. Therefore, the solution to the problem of setting-up digital controllers is entirely relevant, especially when connecting an electric drive to a computer. This improves the user’s dialogue, making it possible to reset up the parameters of the regulators and the control law. In modern robotic manipulators with stringent requirements for positioning accuracy, synchronous servo electric drives are widely used, which are replacing stepper drives. The exception is electric drives with piezoceramic actuators. But they are used in low-power robots. The paper provides an example of calculating the parameters of a digital controller using the method of logarithmic frequency characteristics