FIELD: electricity.
SUBSTANCE: self-tuning electric drive contains the first adder, series connected correcting device with the amplifier, the electric motor with reducer the output shaft of which is connected to the speed sensor and the position sensor the output of which is connected to the first input of the first adder the second input of which is connected to the electric drive input, series connected relay element the input of which is connected to the speed sensor output, the second adder, series connected current sensor of armature winding of the electric motor and the third adder. It is also added by series connected integrator the input of which is connected to the output of the third adder the second input of which is connected to the output of the relay element, and the fourth adder, the second input of which is connected to the speed sensor output, and the output - to the third input of the third adder and the second input of the second adder the third input of which is connected to the output of the first adder, and the output - to the amplifier input.
EFFECT: ensuring invariance of the electric drive with reference to the value of the dry friction torque that provides stable performance during operation.
1 dwg
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