Mathematical model based investigation on DC servo robot drives

摘要

The aim of this presentation is to publish the results achieved by the use of a mathematical modeling technique invented and applied to the development of different mechatronic units such as drives and actuators. In the first part of the presentation, a detailed description of a modular technical system built up of electric and electronic components and end-effecters is given. Each of these components was developed separately at different industrial companies. The particular mechatronic unit under consideration was constructed using the appropriate mathematical model of these units. A unified model describing the whole system was developed with the integration of the models valid to the particular components. To test the models, a program approximating typical realistic situations in terms of workloads and the physical state of the system during operation was developed and applied. The main innovation consists in integrating the conclusions of professional experiences which the developers gained during their former R&D activity in different professional environments. The control system is constructed on the basis of classical methods; therefore the results of the model investigations can immediately be utilized by the developer of the whole complex system, which, for instance, may be an industrial robot.