Abstract

In this paper, we study the process of controlling the rotation of an object relative to a rotating base using a two-stage electric drive that represents two gearless direct-current motors connected in series. The stator of one of the electric motor is rigidly fixed to the base while an object is fixed to the rotor of the other motor. Between the rotor and the stator of the second motor, there is a torsion spring (torsion) with a relatively low level of stiffness. The aim of the control is tracking by an object a specified orientation relative to the base. The drive control algorithm is built taking into account the incompleteness of the information on the dynamic parameters of the mechanical system, friction acting in it, laws of motion of the base, and changes in the tracked orientation.

中文翻译：

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使用两阶段电驱动的旋转基座上物体的方向控制

摘要

在本文中，我们研究了使用两级电驱动器控制对象相对于旋转基座的旋转过程，该驱动器代表两个串联的无齿轮直流电动机。电动机之一的定子牢固地固定在基座上，而物体固定在另一电动机的转子上。在第二电动机的转子和定子之间，具有相对较低的刚度的扭力弹簧（扭力）。控件的目的是通过对象跟踪相对于基础的指定方向。建立驱动控制算法时要考虑到有关机械系统动态参数的信息的不完整，作用在其中的摩擦力，基座的运动定律以及所跟踪方向的变化。