Synthesis of the Force Control System in the Actuator of the Electromechanical Silo-Compensating Manipulator

Abstract

The electromechanical system of perspective force compensation manipulator which design includes springy actuator of rope gear has been studied. Motion parameters of load are provided by means of jobman force action. Requirements to a control system of force compensation manipulator are formulated. The mathematical definition of considered manipulator by way of Mason oriented graph is defined, the efficient structure of control system of manipulator load vertical traverse for a research of external action influencing is proved. The grapho-analytical method of corrector synthesis of force compensation manipulator control system is applied. Corrector parameters in efforts actuating path of actuator are determined. Researches were performed and performance of base mechanical system of manipulator and corrective system were quoted. Problem decision result of electromechanical system synthesis with proposed corrector was considered.