STUDYING TRANSIENT CHARACTERISTICS OF ELECTRICAL CIRCUITS IN ROBOT DRIVES

The article deals with the issues of mathematical analysis, mathematical modeling, creating an analytical foundation for constructing hardware and algorithmic support for the drive device for launching aircraft by robots in order to determine the optimal choice of structure and parameters of the control loop. The article examines equivalent circuits for control loops in the form of RL circuits and RLC circuits. Mathematical modeling for the drive functioning is carried out by considering first- and second-order differential equations. The article determines the transient characteristics of control loops as a response to the supply of a single step function and estimates the time parameters for reaching a steady state mode when using P and PID controllers. The article adopts an equivalent circuit for a DC motor in the form of a series circuit of active resistance R and inductance L and uses typical ratings R and L of the motor and power source E in conjunction with regulator type. The article presents recommendations for choosing engine type for launching an aircraft and choosing regulator type.