Combined control of a tracking electric drive with compensation for acceleration errors

This article presents the technical implementation of a second-order corrective device for combined control of a tracking electric drive with adjustment of the speed contour to a symmetrical optimum with a filter and the position contour to a modular optimum. The effect of current limitation and limitation on the control signal at the input of the power converter is taken into account. A formula for determining the optimal gear ratio of the gearbox is presented, which ensures achievement of the maximum angle of rotation with a zero-acceleration error and the maximum permissible engine torque. A formula for calculating the required power of an electric motor is given. Tracking systems with acceleration error compensation are relevant in the field of robotics, where it is necessary to move along a complex trajectory of wheels or grips, as well as for guidance locators.

Authors: S. V. Stelmashchuk

Direction: Electrical Engineering

Keywords: correction device, gear ratio, current limitation, typical setting, anti-windup

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