INVESTIGATION OF THE LOAD INFLUENCE IN THE FOLLOW-UP SYSTEM IN MATLAB AND SCILAB
To the follower drive with the modal controller (MC) for moving the transport manipulator, the same requirements are imposed on the quality of regulation as to tracking drives for moving the links of the manipulator. We consider a two-loop system with feedbacks on speed and position and a single-loop servo system with feedback on position. In the practical implementation of such tracking systems with MC, the permissible limits of static load variation for a stable operating mode have not been investigated. The search for ways to eliminate the influence of the load is the goal of the presented and subsequent studies of the tracking system with MC. Simulation of structural circuits of single-loop and two-loop servo systems with MC is implemented in the Matlab and Scilab environments. The results of investigations of two variants of the structural circuits of servomechanisms allow us to conclude that a change in the static load in a single-loop servo system leads to oscillations in the components of the controlled state vector X4 (voltage) and X3 (current or developed torque) with a control input waveform of a meander or a triangular form. The variable component of the controlled state vector X2 (velocity) does not change. Parameters of the quality of control of the servo system, determined for the output signal, the movement (component X1) do not change. A change in the specified limits of the static load in a two-loop servo system does not affect the parameters of the components of the controlled vector X