Angle setting in a positional electric drive of robot devices

The article considers the problems of mathematical development and computer modeling of the angle setting block for positional electric drives in robotic devices. The angle setting unit is composed of three closed loops. The first (inner) circuit provides the dynamic torque limit and the required acceleration. The integration of the output value of the inner loop determines a given motor speed. The second control loop includes an inner loop and closed at a predetermined speed. The third (outer) loop was obtained similarly to the second circuit and forms a predetermined angle of rotation. Structure of the angle setting unit allows us to generate transients in the electric drive of robot devices only with the positional loop such as in a system with three loops. The method of block diagram simulation is used for the analysis of the positional system with the angle setting unit. The paper presents a computer model of the positional electric drive control system. The authors studied the operation in tracking and limitation modes in the software MATLAB.