Determination and elimination of current and voltage interharmonics for robotic structures

Determination and elimination of current and voltage interharmonics for robotic structures

Boris A. Avdeev
PhD in Technical Sciences, Associate Professor, Kerch State Maritime Technological University, Assistant Professor of the Department of Electrical Equipment of Ships and Automation of Production, 82, ul. Ordzhonikidze, Kerch, 298309, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-6902-245X

Alexey V. Vyngra
Kerch State Maritime Technological University, Lecturer at the Department of Electrical Equipment of Ships and Automation of Production, 82, ul. Ordzhonikidze, Kerch, 298309, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-0665-047Х

Sergey G. Chernyi
PhD in Technical Sciences, Associate Professor, Kerch State Maritime Technological University, Assistant Professor, 82, ul. Ordzhonikidze, Kerch, 298309, Russia; St. Petersburg State Marine Technical University (SMTU), 3, Lotsmanskaya ul. Saint Petersburg, 190121, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-5702-3260

Received May 31, 2023

Abstract
The development of robotic systems today is one of the key areas, which is reflected in the development programs of the state. Robotic complexes and their implementation are widely applicable in civil and military areas. The development of the industry today is associated with trends in the introduction of intelligent systems and components based on integrated solutions for training or self-development. Within the framework of this work, only the aspect of identifying intergamonics based on complex intelligent technologies will be solved to ensure the stability of the elements of robotic systems as a single robotic complex (production line) in the future. The article presents a method for determining and eliminating current and voltage interharmonics in smart power supply networks. A step-by-step algorithm for extracting and determining the frequencies of interharmonics, their amplitude and phase angle, as well as a method for eliminating them using an active harmonic filter, is presented. An asynchronous motor with a squirrel-cage rotor operating with a variable periodic load on the shaft was used as a source of interharmonics. The article uses simulation modeling in the Matlab/Simulink mathematical package. As a result of the simulation, the main harmonic of the current was identified and the difference between the current of the stator phase of the induction motor and its main harmonic was found. The resulting difference is presented as a harmonic Fourier series with subsequent determination of the frequency, amplitude and phase of the interharmonics. To confirm the theoretical calculations, an experiment was carried out on the basis of which interharmonic distortions were eliminated by using an active harmonic filter.

Key words
Robot, interharmonics, intelligent power supply networks, higher harmonics, Fourier series.

Acknowledgements
The research is partially funded by the Ministry of Science and Higher Education of the Russian Federation under the strategic academic leadership program ‘Priority 2030' (Agreement No. 075-15-2023-235 dated 13 Feb. 2023).

DOI
10.31776/RTCJ.11408

Bibliographic description
Avdeev, B.A., Vyngra, A.V. and Chernyi, S.G. (2023), "Determination and elimination of current and voltage interharmonics for robotic structures". Robotics and Technical Cybernetics, vol. 11, no. 4, pp. 312-320, DOI: 10.31776/RTCJ.11408. (in Russian).

UDC identifier
621.31

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