SELF-TUNING ELECTRIC DRIVE OF MANIPULATOR Russian patent published in 2015 - IPC G05B13/02 

FIELD: electricity.

SUBSTANCE: electric drive of manipulator is added by series connected the sixteenth multiplier unit the first and second inputs of which are connected, respectively, to the output of the thirteenth multiplier unit and through the fourth cosine functional generator - to the output of the third position sensor, and the seventeenth multiplier unit the output of which is connected to the fourth input of the tenth adder, series connected differentiating elements and the eighteenth multiplier unit, the second input of which is connected to the output of the sixteenth multiplier unit, and the output - to the fifth input of the tenth adder, series connected fifth sinus functional generator connected by the input to the output of the third position sensor, the nineteenth multiplier unit the second input of which is connected to the output of the thirteenth multiplier unit, the twentieth multiplier unit and the twenty first multiplier unit the second input of which is connected to the output of the third speed sensor and the output - to the sixth input of the tenth adder, series connected the twenty second multiplier unit which first input is connected to the output of the second speed sensor, and the second - to the output of the thirteenth adder, the twenty third multiplier unit the second input of which is connected to the output of the first sinus functional generator, the twenty fourth multiplier unit the output of which is connected to the seventh input of the tenth adder, and the second input - to the output of the twenty fifth multiplier unit the first input of which is connected to the output of the fourth cosine functional generator, and the second - to the output of the fourth acceleration sensor, the input of the differentiating element and the second inputs of the seventeenth and twentieth multiplier units.

EFFECT: compensation of harmful variable short-term impacts on the electric drive at the manipulator movement.

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