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Cascade design of a manipulator control system with consideration for dynamics of electric drives

机译：考虑电驱动动力学的机械手控制系统的级联设计

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摘要

A methodological approach is suggested to cascade design (synthesis) of a control system of a robotic manipulator operating under the conditions of uncertainty and the action of external disturbances with due regard for the dynamics of direct-current drives. To solve the problem of tracking of prescribed trajectories, suggestion is made of the algorithmic two-level decomposition with the separation of the initial problem of control synthesis into independently solvable subproblems of a smaller dimension: synthesis of control actions in a mechanical subsystem and synthesis of control actions in actuators with the further subdivision of the problems of synthesis in each of subsystems into elementary subproblems. A problem is solved for the security of invariance to disturbances with the aid of the methods involving the systems with high gains and discontinuous controls and the composite control. Decomposition procedures are evolved of the synthesis of observers on the basis of measurements of positions of a manipulator and armature currents of electric drives.
机译：提出了一种方法学方法，以在不确定性和外部干扰作用下，对机器人操纵器的控制系统进行级联设计（综合），并充分考虑直流驱动器的动力学特性。为了解决跟踪预定轨迹的问题，建议进行算法的两级分解，将控制综合的初始问题分解为较小尺寸的可独立解决的子问题：机械子系统中的控制动作综合和控制子系统的综合。通过将每个子系统中的综合问题进一步细分为基本子问题，进一步控制执行器中的控制动作。借助于涉及具有高增益和不连续控制的系统以及复合控制的方法，解决了干扰不变性的安全性问题。分解程序是根据机械手的位置和电驱动的电枢电流的测量结果演变而来的，用于合成观察者。

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