SU424184A1 - DEVICE FOR MODELING MULTI-CHANNEL SERVO DRIVE - Google Patents

Description

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This invention relates to the field of analog computing.

A device for simulating a multichannel servo drive is known that contains a summing amplifier, a first integrating amplifier, a multiplication unit and a second integrating amplifier in each channel, the outputs of the integrating amplifiers are connected to the input of the summing amplifier, the other input of the multiplication unit is connected to the output of the nonlinearity unit, the input which is connected to a switch; the disconnect switch of each channel is connected to the output of the output summing amplifier.

The known device does not take into account the influence of the interaction of the channels and the external load, and the speed of movement of the output element of the servo drive channels.

The proposed device is characterized in that it comprises an average selection unit and an additional summing amplifier and a relay characteristic unit sequentially connected in each channel. The output of the second integrating amplifier of each channel is connected to the corresponding input of the medium selection block and to one of the inputs of the additional summing amplifier, the other input of which is connected to the output of the medium selection block. Output each block with

the relay characteristic is connected to the closing contact of the switch of the dan channel and to one of the high voltage outputs of the output summing amplifier.

These differences have allowed to increase the accuracy of modeling and expand the functionality of the device.

FIG. 1 is a schematic of a device for simulating a three-channel servo; in fig. 2 is a comparison logic.

The proposed device contains summing amplifiers 1-3, integrating amplifiers 4-9, multiplication blocks 10-12, block

13 average values, summing amplifiers 14-16, blocks 17-19 with a relay characteristic, nonlinearity blocks 20-22, switches 23-25 and output summing amplifier 26.

Input U, U-i, Us, respectively, in three channels of the steering unit. The transfer function of each of the channels is carried out with the help of summing amplifiers 1-3 and integrating amplifiers.

4-9. The output magnitudes of the channels are the signals of the Xi, X, and A Porn movement, which go to block 13. For each moment, block 13 determines the magnitude of the average signal, which is the displacement of the output servo element, as well

as in the general case, if there is a mismatch between the channels, the position of the output element coincides with the channel average in position.

The difference between the signals of the displacement of the output element and the displacements of the corresponding channels (obtained on summing amplifiers 14-16) enters the blocks 17-19, which have a relay dependence of the force FT generated by the hydraulic clutch on the channel displacement. The proposed modeling device allows the output forces of the servo to reproduce the following forces: external load and force from the pilot; forces from crimped hydraulic clutches and force from uncompressed hydraulic clutches.

The channel whose movement coincides with the movement of the output element has an uncompressed hydraulic clutch (the force perceived by the hydraulic clutch of this subchannel can vary from zero to the magnitude of the force at which the hydraulic clutch is compressed). If the fluid coupling of the channel is crimped, then the channel is loaded by the force of this fluid coupling, since an external load on the channel is transmitted only through the hydraulic coupling. If the fluid coupling of the channel is crimped, then the channel is loaded by the effort of compressing this fluid coupling, since the external load on the channel is transmitted only through the hydraulic coupling. If the fluid coupling of the channel is not crimped, then this channel is loaded: by the sum of the forces from the two crimped hydraulic couplings (for symmetrical hydraulic couplings, this sum is equal to zero if the hydraulic couplings are crimped in opposite directions relative to the uncontracted hydraulic coupling); external load and effort of the pilot.

Using the switch installed in each channel, PA block nonlinearity with a parabolic load characteristic

 (Φ) (where X is the reduction factor of the channel speed due to the influence of the external load Φ) a signal is received that is equivalent to the load of this particular channel.

The factor of decreasing the velocity X from the load, obtained at the output of the nonlinearity blocks 20-22, enters the multipliers 10-12, at the output of which a signal is generated that is proportional to the speed with regard to the load.

The selection of the average value is carried out using a comparison logic (see Fig. 2). The input signals of the comparison logic are the Xi, Xz and Xz channel movements. The summing amplifiers 27-29 are supplied with a negative negative voltage -Uc, which is obviously greater than the input signals, and positive voltages are obtained at the output of the amplifiers 27-29. These voltages are compared in pairs in a logic device consisting of diodes, and a signal with a high potential relative to the reference voltage L / on passes to the output. The resulting three voltages are compared again in a logic device consisting of diodes 36-38, and a signal with a high potential relative to the reference voltage passes through the output - Uon- This signal is received

The summing amplifier 39 is added to a constant negative voltage Uc, and the output of the amplifier 39 is a signal Xi, which is average and equivalent to the displacement of the output element.

A prototype of the proposed device for mathematical modeling of a three-channel servo is assembled from 50 blocks, its operation is investigated and the dynamic characteristics obtained

on the model and on the real servo. The results obtained on the model, coincide with the results of the real servo. This makes it possible to analyze the characteristics of aircraft control systems without using expensive real units or complex modeling devices.

Subject invention

A device for simulating a multichannel servo drive, containing a summing amplifier, a first integrating amplifier, a multiplication unit and a second integrating amplifier in each channel, the outputs of the integrating amplifiers are connected to the inputs of the summing amplifier, another input of the multiplication unit is connected to the output of the nonlinearity unit, the input of which is connected to a switch, the disconnecting contact of each channel switch is connected to the output of an output summing amplifier, characterized in that that, in order to increase the accuracy of modeling and expand the functionality of the device, it contains an average selection unit and an additional summing amplifier and a relay characteristic unit connected in series to each channel, with the output of the second integrating amplifier of each channel connected to the corresponding input of the average selection unit and to one from the inputs of the additional summing amplifier, the other input of which is connected to the output

block selection of the average, and the output of each block with a relay characteristic is connected to the closing contact of the switch of the channel and one of the inputs of the output summing amplifier.

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