The Stabilization Accuracy of the Phase Position of the Working Body of the Robotics Complex

Abstract

To stabilize the phase position of the working body of the robotics complex a single-circuit precision electric drive system was developed based on the principle of phase-locked loop. The direct-driven electric drive is made on the basis of brushless direct current motor, which is switched to synchronous mode with minimal discrepancy between the phases of the reference signals and the pulse speed sensor. The phase error signal is fed to the input of the PID controller, which controls the pulse width modulation of the impulses controlling the operation of the power transistors of the autonomous voltage inverter. In a static mode, the control system of the autonomous voltage inverter implements a sinusoidal law of the pulse width modulation of the output pulses. The PID controller and the control system of the autonomous voltage inverter are programmatically implemented on the basis of the controller.
 In the process of analysing of the stabilization accuracy, the synchronous motor is represented by a second-order linear link, which establishes a relation between the phase deviations of the motor rotor and the stator magnetic field. The autonomous voltage inverter is represented by a zero-order hold whose coefficient of amplification on amplitude is found by the results of the approximation of its output voltage using the Walsh-Fourier series.
 The analysis of the phase stabilization process is performed on the basis of the state variables method taking into account the perturbations at the moment of load using the program which implements the recurrent procedure.
 The settings of the PID controller are determined by the variation results when the moment of load changes. Their initial values ​​are determined as a result of optimizing the system in terms of operation speed considering the condition of finite duration processes. It is assumed that there is no moment of load perturbation.
 The procedure for setting the PID controller parameters to the optimal operation speed mode can also be performed on the basis of neural networks.
 As a result of the calculations, it was found that with an increase of the load moment by 5%, the maximum deviation of the rotor phase was 0.22 us and 0.03 us of minimum deviation respectively.