DE2039005C3 - Electric control device for optional command or automatic operation - Google Patents

Description

The invention relates to one in the preamble of the preceding main claim described electrical control device for optional control or automatic operation.

Such a device is known from GB-PS 1111 840. In this device there is the control strength from a time division multiplex used amplifier and a so-called "memory". In this memory there will be a Storage capacitor used for such time constants is designed, which are intended for the time division multiplex operation of the amplifier. The storage capacitor acts only as a holding element for the time division multiplex operation and thus has nothing to do with the for the switch from management to manual operation and vice versa required storage effect of To do condenser recirculation. Compared to the time constant of the capacitor of the capacitor return the storage capacitor has a disproportionately long time constant. because this capacitor does not contribute to the integration, but only provided for the time division multiplex circuit is. which has a much larger time constant. In the known electrical control device is the second capacitor in the feedback network is switched in such a way that several switching contacts are used when switching from control mode to automatic mode be turned over.

It is the object of the invention to provide an electrical control device of the type mentioned the second capacitor is connected in such a way that you can make sound contacts with a minimum of effort gets by.

According to the invention, this object is achieved in that the guide-automatic switch is off a single changeover contact, which selects the pole connected to the input network

with the Reuelverstärker zui! enrHnet _s pj _{ij (j CI} üem the reference potential associated PoS \ erbindet, and that the / capacitor wide arch during ν of the guide operation between the Aussmn "and input of the control erstarkers remains switched /

By Japanese application 12 526 65 is it is known per se, with a control device Manual-automatic switchover the capacitor to increase the rain in both operating modes between and to switch the output of the control amplifier.

In the present description, under "management company" the operation means »an external link, such as z. B digital computers or handheld control devices etc. understood. It is clear that the lead automatic switch can also be built up by electronic switching elements.

By using only one in the above Wise switched Umschaltkoniaktes and by keeping the second capacitor connected A particularly simple circuit is established between the output and input of the real amplifier achieved.

Further expedient refinements of the invention electrical control device are described in the subclaims.

The invention will now be described in more detail with reference to the drawing. It shows

1 shows the basic layout of the inventive Control device.

2 shows an expedient embodiment of the basic circuit.

F i g. 3 a further expedient embodiment of the basic circuit.

Fi g. 4 a third expedient embodiment of the basic circuit,

F i g. 5 a v'orte expedient embodiment of the basic circuit according to the invention.

F i g. 6 a fifth expedient embodiment with a limiting circuit,

Fig. 7 is a limiting curve for the limiting circuit according to FIG. 6th

F i g. 8 a limiting curve for manual control,

F i g. 9 shows another useful embodiment of the basic circuit according to the invention with a second filler. ungsform the limitation circuit and

Fig. 10 shows an expedient embodiment of the Basic circuit according to the invention with a third embodiment of the limiting circuit according to the invention.

In the electrical control device shown in FIG. 1, via input terminals T ₁ and 7, a signal>, which is proportional to the control deviation signal, is transmitted via an input network 1.1. connected to a control amplifier OA ₁ . The input network consists of a parallel connection of a capacitor C and a resistor R ₁ . The feedback network of the control amplifier OA ₁ is formed by a capacitor C, _u (second capacitor). To switch from a command mode to automatic mode by an external signal, a command-automatic switch is provided, which consists of a single changeover contact S ₁ , which is connected to the output of the input network 1.1. connected is. The changeover _{contact S 1} works with two fixed contacts S ,, and S _u . The pre-Steiierkreis MC for the management operation comprises the manual switches i and S ₁₁ as well as voltage sources E ₁ and E _{2 assigned to them} . The connection point of the two manual switches S ₁ and S ₁ is connected via a resistor r to the input of the control amplifier OA 1 and the fixed contact S _{1 of the switch.}

For the automatic control, the changeover contact S _{1 of} the master automatic changeover switch is placed on the fixed contact S., so that the signal> via the input network 1,1. to the rule amplifier

ίο 0.4, achieved. The output voltage E _{0 of} the control amplifier is applied to a load L _{1 via terminals T and T 4} . The output voltage is _{fed back to the input of the control amplifier via the capacitor C w} , so that the input of the control amplifier is brought to zero. The capacitor C \, therefore stores one of the loads on L _{ . applied output voltage E ₁ , corresponding voltage. If the gain of the control amplifier OA _{1 is} sufficiently large, then the relationship between the control deviation signal ι and the voltage £ over the load results, expressed by the following equation (1).

C ₁ Cu

, C ₁ Sj

- ■■ «Ό- τ'Λ

whereby

S =

df

Kp = C ₁ C \ ,.
T ₁ = R ₁ C ₁ .

As can be seen from equation (1), the control device shown in FIG. 1 operates as a PI controller whose proportional gain Kp is determined by C ₁ Cu and its integration time T _{1 is} determined by R, ■ C ₁ . For the lead mode (in this case manual mode) the changeover contact S _{1 is placed} on the other fixed contact _{S st} . As a result, the output ds- »input network 1.1. separated from the input of the control amplifier OA ₁ and connected to the reference potential (shown as ground) via the changeover contact S _1. The circuit, consisting of the control amplifier OA ₁ and the capacitor C _A , then acts as a holding amplifier and emits an output voltage determined by the charge stored on the capacitor C _Sf. Therefore, the output voltage E ₀ does not initially change when switching from automatic to manual mode. A surge-free switchover from automatic mode to manual mode can thus be achieved without prior decoupling. After switching over the changeover _{contact S 1} , one of the Iland switches S, or S _{0 is} actuated so that a positive or negative voltage from the positive source E ₁ or the negative source E ₂ reaches the control amplifier OA ₁ via the resistor r Charging voltage of the capacitor C _A , and thus the output voltage .E ₀ via load L ₀ to change. If z. B. the manual switch S is closed, the output voltage E _{0 increases} with a by the value of the resistor r and the capacitance of the

Capacitor C \ _t specific time constants. If the manual switch S ₁ , is closed, the output voltage £ (j drops with the same time consistency. If neither of the two manual switches S ₁ or S ₁ , is closed, the charging voltage of the capacitor C _{w is} maintained, so that the output voltage £ _u remains to a certain value. Since the output of Finganysnelzwcrkcs 1.1. above the t 'mschallkoniakl .V ₁ harbors grounded, while the output remains the hand control sK's mil connected to the reference potential causes Therefore, a Imlegcn of I'mschaltkontaktes .V. from Fixed contact St, on the fixed contact .V ₁ / ur In connection from manual control to automatic control, no rapid change in the output voltage £ Value of the signal proportional to the control:> deviation signal.

In the embodiment shown in Figure 2 expedient embodiment of the (according to irundschaliung I 1 g. I is the output of the Regelverstarkers OA _1, an output transistor Tr η.ichgeschaltet, which amplifies the output signal of the Regelverstarkers OA _1, before it as an output voltage to the output terminals 7 . and 7_ is placed The output terminals 7, and Z ₄ are parallel to a resistor K _11. which builds up the emuter line of the transistor Tr ,, In the collector line of the Tiansislor Tr, l · ··· « ·. · '!>« current converter .. C ₁ whose output terminals with length and 7, bc / cichnei the Ausgaiigsspannung are / is, through the capacitor _'u zuruckgckoppclt Further, a switch /) _s provided with the I dei mschaltko'i; ik ', V of the I nischalters can be operated synchronously, and the end of the resistor ι- n><.'- L-TiLiii digital urchner which is not connected to the input of the control variable O -I _{1 can be connected.} like that. because the switch l \ is closed during relaxation operation

Bl-; LLschlosscnem switch / JS a signal consisting of impulses / '"is impressed by the computer h.'r on the control amplifier Ci A When the system consists of positive or ücii.r; ■ -« .- η ii.ipuis / i; Signal P ₁ , at the input of the regulating amplifier OA ₁ , the circuit consisting of the regulating amplifier and the capacitor ( \, works as an integrating holding circuit, which at the output _{terminals 7;} and 7 ₄ cmc delivers an analog output voltage corresponding to the impulse signal of the digital computer .

The electrical control device according to FIG. 3 differs from the electrical control device according to F 1 g. 2 in that the resistor R, in the emitter path, which the load /. ,, howls in parallel, consists of a series connection of two resistors R, _n and R ,, ₂
l

consists. The Regelverstarkers of OA not gear ₁ connected terminal of the second capacitor C _f with the A is connected to the mil Verbin dungS'punkl these two resistors in this sound transmission is a voltage from WcrU £ ,, / i, via the capacitor C _u in the Eingant of the control amplitude i OA ₁ , where / 1 = R ₁₁ , ("" R ₁₁₁ + R ₁ - ,, I

Furthermore, between the entrance kk-innien 7 to. I _{2 of} the input network II. A voltage divider consisting of the resistors R ₁ and R 2. placed its connection point with the one terminal de-resistance R, of the input nct / works 1.1. connected is. In this circuit, a voltage is applied in front of / ■ / ?, across the resistor R, the input of the control amplifier OA. embossed, where // - R ₂ (R ₁ + R ₂ ) is. In this control device, the integration line can be reduced during automatic control by changing the ratio ;;, the voltage division of the voltage divider consisting of the resistors R and R and the proportional gain by changing the ratio; / ·, the voltage division of the resistor R ₁₁ , by R ₁₁ , change the existing voltage divider Dk integration time and the proportional gain can now be multiplied by the factors; i or / 1.

With the m the! G. 4 shown A; is guide> -bc! The game of the control device according to the invention hosts the input small.ivn I ₁ and / _; ai'fg; pr: igtt actual signal c _u differentiated by cir.cn Fingangsdificrentiaherstar ker OAi , dt ssen feedback nctzvverl a capacitor (,,. has a resistor R ₁ , around a voltage divider R _M R ₁ , du in de: Figure The differentiated actual signal / ". reaches the input of a regulating amplifier _{OA * via a resistor R 1,} while the other input of the regulating amplifier OA * is connected to the other input of the regulating amplifier via a resistor R" _s is performed The feedback ¹ ·· ■ .- ' ■ · ■ "· ■■ " - ".: _;' ■ rstronger OI ₂ consists of a resistance R ,, correspondingly arises λ., Λ ν \ ν gang des Regelverstiirkers 0.4, em of differentiation, Erten different between the actual signal ί _·; and the reference signal £ _s corresponding output signal A of the resistors R ,, and _R; best Henden voltage divider derived fractions de output voltage - ~ .rd tiher dcii contradiction R ₂ fed back.

In the case of the electrical control device according to FIG. 4, the relationship between a resistor R ₁ , which is in series with the load L ₁ , generated output voltage £ “and the actual signal i- _{w is} expressed by the following equation> 2).

- R ₁ , C ₁ , S

^R * ^: _D R "-c" -s

¹¹ "* ^i: (R ν

o " ⁽ ' ^K l ^Λ

R ₂ , R, _t -r R ₂₂

- R _n C ₁₁ S

¹ M - ¹ S.

R: C ₁

R ( _u mC, R ₁ S

df

«32

(II -

R ₁ , + K ₁₁

According to equation i2) are the various constants in the embodiment according to FIG. 4th the following:

Proportional gain: Kp - ■ _R ^2j
Integration time: T ₁ = »1 C ₁ ■ R ₁ .

Integration gain: K ₁ .4,
Strengthening of 0/1,).
Differential time (only actual signal): 7
Differential gain: Kp - 11

HlC,

C,

(.4 ,: Ver

In the case of the F 1 g. ^ shown embodiment is between the fixed terminal .S ", or dcrn. ^, input of the control amplifier OA ₁ and the reference potential, an anliparaUci ^ Iialiünji .rwcicr r * ^: ~ rier> D ₁ and D ₂ connected. The antiparallel connection limits the charge with the capacitor C _u can be charged and therefore veihinriert the so-called rocking. the switches S ₁₁ and S shown in Figs. 1 to 4 as probes are, g in F1. 5 shown as field effect transistors by p \ learn On the FcIds.i ^r A: t ..--- ^; - * " ^p , ~ -« ^ r ^ ni »tpn manual control circuit SH CKT are the up pulses and on the field effect transistor The downward pulses of the digital computer are applied to the assigned manual control circuit SWCKT.

The in the F i g. The exemplary embodiment shown in FIG. 6 of the electrical control device is comparable to the exemplary embodiment according to FIG. 2 : however, in the exemplary embodiment according to F1 g. f> / between the output of the control amplifier 0 4, and the base of the transistor Tr ₁ , a series circuit, consisting of a diode D, and a limiting circuit LC. switched In the collector section of the transistor ^ Tr ₁ , there is no current transformer, but a measuring device ME for the at the Las! lying AiKg-ing voltage E ". The limiting circuit /. (Consists of two transistors Tr ₁ and 7r "as well as a control resistor R _1. Which is provided with two loops B ₁ and B _11. The transistor Ir _{1 is} controlled when the output voltage ι · ,, of the control- ■ verstärkcrs O.4 becomes smaller than the SS through the grinder, set lower limit voltage <· ,. whereas the transistor Ir is controlled ₁₁ when the output voltage ι · ,, the Regelverstarkv-is OI ₁ 6s becomes greater than that by the grinder B _n cm set upper (: ren / sp; .nn: ing E _n The sizes / sp.innunuen are derived by means of the Rcuclwidetsi.nulcs R from a voltage E at the control resistor. The dependence of the output voltage _{across load L 1} E ₁ , from the output voltage ι · ,, of the control amplifier OA _{1 is shown in} Fig. 7. Fig. 7 shows that the output voltage E ₁ , linear in the range between the lower limit voltage e and the upper limit voltage changes V _11. Takes the output voltage voltage e _O \ Verle below the lower limit stress c, or above the upper limit stress c _n an. the external voltage E ₁₁ no longer changes and remains constant.

The limiting circuit LC therefore makes it possible to _{keep the output voltage E 1} always in a predetermined constant range / u, even if the output voltage _{t (l of} the control amplifier 0.4 should lie outside this range. tnnung of the capacitor C \ to be held, the capacitor Γ tends _λ, to reduce its l.adespannung due to scattering losses slow, so that this arrangement for the long-term operation at Führuings-. in particular, manual control is not suitable, however, if the limit circuit LC is interposed, a predetermined constant output voltage is generated at least when the output voltage of the control amplifier drops below the predetermined value c · due to leakage losses in the wide capacitor second specified output voltage abi'ci'eben So is _{t ensures that the output voltage E n} never falls below the lower limit value in any case during longer control or manual operation.

If you choose the upper limit voltage c " and the lower limit voltage e, essentially the same values and change these together in the same direction, the output voltage E ₁ , u!". Ι "Lu;.; L ₁₁ cr.tr. prrrhT «^». If for the upper and lower limit stress e _n and c, essentially gi ¹ - ¹ -; ^ ν = '^! ·: giv.iihli · νο ^Γ -'ί »*". «<■> arises in the F 1 g. 8 of the limiting circuit LC: with a simultaneous change in the upper and lower limit voltages (·., And c, in the direction of the arrow α or the arrow b , the output voltage E _{11 is} also changed in the direction of the arrow c or d . In the electrical control device according to FIG. 6, the output voltage E _{11 can} also be changed in the manner of Hanc by bringing the two sliders ß and B ₁ into the same position and observing the display of the measuring device ME adjusted together

9 and 10 show electrical control devices which are comparable to that shown in FIG. 1, but have a different structure of the limiting sound EC ". The limiting sound LC shown in FIG. · Three transistors 7r, 7c ·. And 7ι ·, and the Rege resistance R ₁ with the two sliders ß "and E on Limit voltage ι ·, locks the "Irai sistor / r ,. whereby the base voltage of the Trans siois h- increases and the transistor 7r, duichgesiei eri If on the other hand the \ usi. \ mt: ssp, innii ii:,

of the control amplifier 0.4, is greater than the upper limit voltage e " set by the slider B _n. the transistor Ti _{3 is turned on} . In this way, the output voltage £ 1 across load L _{n is kept} in a certain range determined by the upper and lower limit voltages e _n and e .

The limiting circuit LC shown in FIG. M) also has the return resistor R ₁ with the two wipers B ₁₁ and B ₁ . Deswcitcren are a first comparison circuit Co _n for comparing the output voltage / "with that by the Schici

10

rule the output of the Regelvcrstiirkers O.-I ₁ uiii the outputs of the Vcrglcichsschaltungen Co ₁ urn Cn, diodes D _n and D are turned on in the position shown in Fig. Il forward, thus derci switching state by the output signals de comparison scarf lungs Cn ,, and Cn is controlled If the AT; sgangsspannung t · ,, the Regeherstar · kers OA ₁ is smaller than the lower Grenzspannuiu C ,. controls the comparison circuit Cn, the diode I) ₁

ίο through. On the other hand, when the output voltage e of the regulator 0/1 becomes greater than the upper limit voltage e “. controls the comparison circuit

fer B _n set voltage c " and a second Co ₁ , the diode D ₁₁ through. In this way, the

Comparison circuit Co _L for comparing the output voltage of the voltage c provided by the wiper B _{1 dugeMciiten.} Furthermore, between output voltages are maintained in a range determined by the upper and lower limit voltages e " and e, respectively.

For this purpose 4 sheets of drawings

Claims (9)

Patent claims: 1. Kleklrische control device for optional « Command or automatic mode with an input network containing a first capacitor plant, to which the control deviation signa! proportional signal is supplied and with a feedback network having RegeKerstärker. a second capacitor in the feedback network is connected between its output and input during automatic operation. furthermore with an automatic control switch through which the output of the input network is connected to the input of the control amplifier during automatic operation and this connection is canceled during control operation and the output of the input network is switched to a common reference potential for the input network and control amplifier is. where in lead mode a control circuit can be applied to the input of the control amplifier via a resistor. characterized in that the lead-automatic changeover switch consists of a single changeover contact which connects the pole (5, ι optionally with the Regeherstarker (0.4 [I assigned pole (S ₄ )) nder the reference potential assigned to the input network (1.1.) PolUS \, | connects, and that the second capacitor H " _w ) remains connected between the output and input of the RegeKerstarkers (0.4,) even during the filling operation. 2. Control device according to claim 1, characterized in that the resistor (/ ·) of the Control circuit (.V / C "1 a digital command signal is feedable. 3. Control device nich claim 1 or 2. characterized in that the U'tnschaltkontakt of the switch 1.S ₁ ) and a switch [DS) for the reference signal can be operated synchronously. Via which the end of the resistor (r) not connected to the input of the control amplifier \ CA ₁ ) can be connected to a digital computer. that the switch (DS) is closed in command mode. 4. Control device according to one of claims 1 to 3, characterized in that between the output of the control amplifier (Ο.Ί,) and the not mi! the input of the RegeKerstarker (0.4,1 connected terminal of the second capacitor (C _u ) a limiting circuit [LC) is connected. which at least when the output voltage of the RegeKerstarkers drops as a result of leakage losses in the second capacitor (C _w | below a given value U ',) me generates a given constant output voltage and that the limiting circuit II C) when the output voltage of the control amplifier increases above a given value ( e ,,) emits a predetermined second output voltage. 5. Control device according to one of claims 1 to 4, characterized in that between the output of the control amplifier (0-4,) and the reference potential -the base-Emitler path of a transistor [Tr ₀ ) and not connected to the input of the Regd amplifier [OA ₁ ) connected terminal of the second capacitor [C _x ,) is connected to the emitter of the transistor [Tr ₀ ) . 6. Control device according to one of claims 1 to 5, characterized in that in the emitter path of the transistor I Tr ₁₁ 1 there is a Para'leKallung a resistor IR ₁₁ I and the load to be controlled lieut. 7. Control device according to claim 6, characterized. that the resistor connected in parallel with the load IL ₁₁ ) consists of a series connection of two resistors iR, ". R ₁₁₂ ) _{and the terminal de, second capacitor (C w} ) not connected to the input of the regulator 10 4,1 is connected to the connection point of these two resistors. S. Control device according to one of the claims! to 7. characterized in that between the Einsiang of the RegeKerstarkers 10.4,1 and the reference potential an anti-parallel connection .; two diodes (D _1. D ₂ ) lies. 9. Control device according to claim! characterized by this. that between the output of the Resiel amplifier and the reference potential there is a series circuit of Lasi 1L ₀ ) and a resistor (R ₁ , 1 and the connection point of load and resistor with the terminal of the second capacitor not connected to the input of the control amplifier (0 4,) (C \, | is connected.