PRECIZIA ROBOŢILOR INDUSTRIALI
PRECIZIA ROBOŢILOR INDUSTRIALI
PRECIZIA ROBOŢILOR INDUSTRIALI
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171<br />
<strong>PRECIZIA</strong> ROBOȚILOR <strong>INDUSTRIALI</strong><br />
Ecuaţia matriceală ce caracterizează modelul dinamic invers al erorilor dinamice este exprimat astfel:<br />
{ M ( ) M ( ) }<br />
xy xy xy xy<br />
dQ k = DE Qzk ; XDF Qzk YdQk<br />
Y Δ τ Δ τ = Ε ⋅ ε ydQK ; (6.32)<br />
T T<br />
T<br />
Y dQ = { ΔQ mQ ; Δ X dQ }; Δ X dQ = ⎡Δ vɺ<br />
dQ Δ ɺ ω ⎤<br />
⎣ dQ ⎦<br />
; (6.33)<br />
xy<br />
În expresiile matriceale prezentate mai sus, { YdQk}<br />
T<br />
T T<br />
ε ydQ k = ⎡<br />
⎣ ε yQ k ε MDQ k ⎤<br />
⎦ . (6.34)<br />
Y dQ depinde de erorile forţelor generalizate motoare, Δ QmQ<br />
, iar XdQ<br />
−1<br />
( ) ( ) ( ) ( ) ( )<br />
Ε reprezintă matricea de transfer a erorilor dinamice,<br />
{ ⎡ ⎤ ⎡ ⎤ }<br />
ɺɺ ɺ ɺ ɺ ɺ ɺ<br />
;<br />
⎣ ⎦ ⎣ ⎦<br />
0 0 2<br />
Xp = J θ ⋅M θ ⋅ Qm θ −M⋅J ⋅ θ + B θ ⋅ θ ⋅θ C θ ⋅ θ<br />
Δ de variabilele operaţionale.<br />
θ { θ<br />
ɺ<br />
θ θ ⎡ ɺ<br />
θ<br />
ɺ<br />
θ ⎤ θ ⎡ ɺ<br />
θ ⎤<br />
⎣ ⎦ ⎣ ⎦ }<br />
ɺ<br />
{ ⎡ ⎤ ⎡ ⎤ }<br />
0 xy −1 −1<br />
2<br />
Δ J ⋅M( ) ⋅ Qm( ) + M⋅J ⋅Jɺ ⋅ −B( ) ⋅ ⋅ −C( ) ⋅ +<br />
0 ɺɺ 0 −1 −1<br />
2 i i<br />
Δ Xp = + J( θ ) ⋅ΔM ⋅ Qm( θ ) + M⋅J ⋅J⋅ ɺ<br />
θ −B( θ ) ⋅<br />
ɺ<br />
θ ⋅<br />
ɺ<br />
θ −C( θ ) ⋅<br />
ɺ<br />
θ −Qg − QSU<br />
+<br />
⎣ ⎦ ⎣ ⎦<br />
xy<br />
1<br />
( xy<br />
−<br />
)<br />
xy −1<br />
xy<br />
Δ Qm +ΔM⋅ Jɺ ⋅<br />
ɺ<br />
θ + M⋅Δ J ⋅Jɺ ⋅<br />
ɺ<br />
θ + M⋅ΔJɺ ⋅<br />
ɺ<br />
θ −M⋅J ⋅Jɺ ⋅Δ<br />
ɺ<br />
θ −ΔB ⋅⎡ ɺ<br />
θ ⋅<br />
ɺ<br />
θ ⎤ −<br />
0<br />
−1<br />
⎣ ⎦<br />
+ J( θ ) ⋅M( θ ) ⋅<br />
−B( θ ) ⋅<br />
( ) ( ) ( ) xy<br />
⎧ ⎫<br />
⎪ ⎪<br />
⎪ ⎪<br />
⎪ ⎪<br />
⎪ ⎪<br />
⎪ ⎪<br />
⎨ ⎬<br />
⎪<br />
⎧ ⎫<br />
⎪<br />
⎪<br />
⎪ ⎪<br />
⎪ ⎪⎪<br />
⎪ ⎨ ⎬⎪<br />
⎪ ⎪ ⎡ xy xy xy 2 ⎡ 2 ⎤ i i<br />
Δ<br />
ɺ<br />
θ ⋅<br />
ɺ<br />
θ ⎤−B θ ⋅⎡ ɺ<br />
θ ⋅Δ<br />
ɺ<br />
θ ⎤−ΔC ⋅⎡ ɺ<br />
θ ⎤ −C θ ⋅ Δ<br />
ɺ<br />
θ −ΔQg −ΔQ<br />
⎪⎪<br />
⎣ ⎦ ⎣ ⎦ ⎣ ⎦ ⎢ ⎥<br />
SU<br />
⎪<br />
⎩<br />
⎪<br />
⎩ ⎣ ⎦<br />
⎪<br />
⎭⎪<br />
⎭<br />
0<br />
În expresia obţinută anterior pentru Δ X<br />
ɺɺ , forţele generalizate Δ Q şi Δ Q , se înlocuiesc cu valorile<br />
determinate anterior cu (6.8), respectiv (6.14).<br />
p<br />
Utilizând funcţiile polinomiale de interpolare, se determină legile de variaţie în raport cu timpul pentru<br />
variabilele operaţionale, exprimate în spaţiul cartezian al stărilor. Diferenţiala acestor funcţii este:<br />
0<br />
X<br />
p<br />
( τ )<br />
ɺɺ τ −τ τ −τ<br />
Δ Δ ɺ Δ ɺ ɺɺ ɺɺ<br />
= ⋅Δ + ⋅Δ ;<br />
( ) ( ) ( ) T p p-1<br />
⎡ ⎤<br />
0 0 xyT 0 xyT 0 xy 0 xy<br />
X p τ = v ndp τ ωndp τ X p 1<br />
X<br />
⎣ ⎦<br />
−<br />
p<br />
tp tp<br />
( ) ( ) 2<br />
2<br />
τ τ<br />
τ −τ<br />
p−1 i<br />
g<br />
( ) T<br />
ɺ<br />
Δ Δ Δ<br />
( τ ) ( τ ) ω ( τ )<br />
0 0 xy 0 xy<br />
X p = vndp<br />
ndp<br />
0 ɺ p− xy 0 ɺɺ xy 0ɺɺ ⎛ xy 0 xy 1 tp 0 ɺ ⎞ ⎛ xy 0 xy 1 tp<br />
0 ɺɺ ⎞ xy<br />
Δ X p = ⋅Δ X p−1 + ⋅Δ X p + ⎜Δ X p ⋅ − ⋅Δ X p ⎟−⎜ Δ X p−1 ⋅ − ⋅Δ Xp−1<br />
⎟;<br />
2⋅tp 2⋅t ⎜<br />
p<br />
tp 6 ⎟ ⎜ tp<br />
6 ⎟<br />
⎝ ⎠ ⎝ ⎠<br />
( ) ( )<br />
⎧ 3 3<br />
τ p- τ τ −<br />
⎫<br />
⎪ 0 ɺɺ xy τ p-1 0 ɺɺ xy<br />
= ⋅Δ X<br />
( ) ( )<br />
p-1 + ⋅Δ X p +<br />
⎪<br />
⎛ Δp τ ⎞ ⎛d τ ⎞ ⎪ 6 tp 6 tp<br />
⎪<br />
= ⎜<br />
( )<br />
⎟ = ⎜<br />
( )<br />
⎟ = ⎨ ⎬;<br />
⎜ ψ τ ⎟ ⎜δ τ ⎟<br />
⎝<br />
Δ<br />
⎠ ⎝ ⎠ ⎪ ⎛ 1 xy tp 0 ɺɺ ⎞ ⎛ xy 1 0 xy tp<br />
0 ɺɺ ⎞ xy ⎪<br />
⎪+ ⋅ΔX p − ⋅Δ X p ⋅( τ − τ p−1 ) + ⋅Δ X p-1 − ⋅Δ X p-1 ⋅(<br />
τ p-<br />
τ<br />
⎜ ⎟ ⎜ ⎟ ) ⎪<br />
tp 6 ⎟ ⎜ tp<br />
6 ⎟<br />
⎪⎩ ⎝ ⎠ ⎝ ⎠ ⎪⎭<br />
;<br />
i<br />
SU