Determination and elimination of current and voltage interharmonics for robotic structures

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 de-velopment 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 asynchro-nous 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 harmon-ic 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.