Modeling the Dynamics of Robot Motor Drive Control System

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.