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

FIELD: electricity.

SUBSTANCE: electric drive is added by series connected the third position sensor, the ninth cosine functional generator, twenty seventh, twenty eighth and twenty ninth multiplier units, and the output of the latter is connected to the seventh input of the fourth adder, series connected the tenth sinus functional generator the input of which is connected to the output of the third position sensor, the thirtieth multiplier unit the second input of which is connected to the second input of the twenty seventh multiplier unit and to the output of the fourth cosine functional generator, the thirty first multiplier unit the second input of which is connected to the output of the second speed sensor, the eighteenth adder, the thirty second multiplier unit, the nineteenth adder and the thirty third multiplier unit the second input of which is connected to the second input of the twenty eighth multiplier unit and the output of the fifth adder, and the output - to the ninth input of the third adder, series connected eleventh sinus functional generator the input of which is connected to the output of the fourteenth adder, the thirty fourth multiplier unit the second input of which is connected to the output of the ninth cosine functional generator, and the thirty fifth multiplier unit the second input of which is connected to the output of the twelfth adder, and the output - to the second input of the eighteenth adder, series connected the fourth acceleration sensor, the second differentiating element and the thirty sixth multiplier unit the second input of which is connected to the output of the twenty seventh multiplier unit, and the output - to the second input of the nineteenth adder, and the second inputs of the twenty ninth and thirty second multiplier units are connected to the output of the fourth acceleration sensor.

EFFECT: compensation of variable impacts on the electric drive.

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