RU100315U1 - DEVICE FOR FORMING A SIGNAL CORRESPONDING TO THE OPTIMUM OPTIMAL DIAGRAM FOR LARGE MOVEMENTS OF THE EXECUTIVE ELECTRIC DRIVE WITH INEROUS VALDEAL CONVERTER - Google Patents

Abstract

 A device for generating a signal corresponding to a diagram that is optimal in speed for large displacements of an actuator actuator with an inertial converter and an ideal shaft shaft, comprising a switch, the output of which is connected to the first input of the first proportional block, the output of the first proportional block is connected to the input of the first block limiting the value of its input signal, the output of the first block limiting the value of its input signal is connected to the first input of the second of an optional block, the output of the second proportional block is connected to the input of the second block that limits the value of its input signal, the output of the second block that limits the value of its input signal is connected to the first input of the third proportional block, the output of the third proportional block is connected to the input of the third block that limits the value of its input signal, the output of the first integral block is connected to the input of the second integral block, with the second input of the third proportional block, with the input m of the fourth proportional block and with the input of the fifth proportional block, the output of the second integral block is connected to the input of the third integral block, with the second input of the second proportional block and with the input of the sixth proportional block, the output of the third integral block is connected to the second input of the first proportional block, the output of the fourth proportional block is connected to the third input of the second proportional block, the output of the sixth proportional block is connected to the third input of the first proportional

Description

The utility model relates to electrical engineering and can be used in industrial installations to generate a signal that corresponds to a diagram that is optimal in speed for large movements of the actuator with an inertial converter and an ideal shaft shaft.

An analogue of the developed device is a device for generating optimal speed diagrams for average movements of electric drives with inertialess converters and ideal shaft circuits / Pat. for utility model No. 32938, IPC 7 Н02Р 7/80. A device for generating movement diagrams of an electric drive with a limitation of the first and second derivatives of speed / Yu.P. Dobrobaba, V.A. Murlin, G.A. Koshkin, S.V. Dobrobaba, M.V. Martynenko // from 09.27.2003, bull. No. 27 /.

The analogue implements diagrams for average movements of electric drives with inertialess converters and ideal shaft circuits.

Closest to the claimed device for generating a signal corresponding to an optimal speed diagram for large movements of the actuator of an electric drive with an inertial converter is a device for generating optimal speed diagrams for large movements of electric drives with inertialess converters and ideal shaft circuits / Pat. for utility model No. 32651, IPC 7 Н02Р 7/80. A device for generating movement diagrams of an electric drive with speed limitation and its first and second derivative of speed / Yu.P. Dobrobaba, V.A. Murlin, G.A. Koshkin, S.V. Dobrobaba, S.V. Nesterov // from 27.09 .2003, bull. No. 26 /, which is taken as a prototype.

The prototype contains: a master, the output of which is connected to the first input of the first proportional block, the output of the first proportional block is connected to the input of the first block, limiting the value of its input signal, the output of the first block, limiting the value of its input signal, is connected to the first input of the second proportional block, output the second proportional block is connected to the input of the second block, limiting the value of its input signal, the output of the second block, limiting the value of its input drove, connected to the first input of the third proportional block, the output of the third proportional block is connected to the input of the third block, limiting the value of its input signal, the output of the third block, limiting the value of its input signal, is connected to the input of the first integral block, the output of the first integral block is connected to the input the second integral block, with the second input of the third proportional block, with the input of the fourth proportional block and with the input of the fifth proportional block, WTO output of the second integral block is connected to the input of the third integral block, to the second input of the second proportional block and to the input of the sixth proportional block, the output of the fourth proportional block is connected to the third input of the second proportional block, the output of the third integral block is connected to the second input of the first proportional block, the output of the sixth proportional block is connected to the third input of the first proportional block, the output of the fifth proportional block is connected to the fourth input of the first prop rtsionalnogo block.

The prototype implements a signal corresponding to a diagram that is optimal in speed for large movements of actuators of electric drives with inertialess converters and ideal shaft circuits, therefore its use does not allow to achieve high accuracy of positioning of electric drives with inertial converters and ideal shaft circuits.

To achieve high positioning accuracy when working out a diagram that is optimal in terms of speed for large movements of an actuator with an inertial converter and an ideal shaft drive (consisting of fifteen steps), it is necessary that the actuator moves in accordance with the law of motion, taking into account the inertia of the converter.

The task is to develop a device that generates a signal that corresponds to a diagram that is optimal in speed for large displacements of the actuator's actuating body with an inertial converter and an ideal shaft drive and which, together with the automatic drive position control system, achieves high positioning accuracy of actuators.

The technical result of the utility model is the formation of a signal corresponding to a diagram that is optimal in speed for large displacements of the actuator's actuating body with an inertial converter and an ideal shaft drive and which, together with the automatic position control system of the electric drive, allows to achieve high positioning accuracy of the actuators.

The technical result is achieved in a device for generating a speed-optimal diagram for large movements of electric drives with inertial converters and ideal shaft circuits by the fact that the connection between the output of the third block limiting the value of its input signal and the input of the first integral block is derived from the known device; the seventh proportional block, the input of which is connected to the output of the third block limiting the value of its input signal, the output of the seventh proportional block is connected to the input of the fourth block limiting the value of its input signal, the output of the fourth block limiting the value of its input signal is connected to the known device the input of the fourth integral block, the output of the fourth integral block is connected to the input of the first integral block, with the second input of the seventh proportionally of the eighth block, with the input of the eighth proportional block, with the input of the ninth proportional block and with the input of the tenth proportional block, the output of the tenth proportional block is connected to the fifth input of the first proportional block, the output of the ninth proportional block is connected to the fourth input of the second proportional block, the output of the eighth proportional block is connected with the third input of the third proportional block.

The optimal speed diagram for large movements of electric drives with inertial converters and ideal shaft shafts consists of fifteen steps, while the third derivative of the speed of the electric drive changes stepwise. In the first, seventh, eleventh and thirteenth stages, the third derivative of the speed of the electric drive is equal to the maximum value in the third, fifth, ninth and fifteenth stages, the third derivative of the speed of the electric drive is equal to the maximum value with a minus sign in the second, fourth, sixth, eighth, tenth, twelfth and fourteenth stages, the third derivative of the electric drive speed is zero. The duration of the first, third, fifth, seventh, ninth, eleventh, thirteenth and fifteenth stages is t ₁ ; the duration of the second, sixth, tenth and fourteenth stages is equal to t ₂ ; the duration of the fourth and twelfth stages is t ₃ , the duration of the eighth stage is t ₄ . In the second and fifteenth stages, the second derivative of the speed of the electric drive is equal to the maximum allowable value at the sixth and tenth stages, the second derivative of the speed of the electric drive is equal to the maximum allowable value with a minus sign in the fourth, eighth and twelfth stages, the second derivative of the speed of the electric drive is zero. In the fourth stage, the first derivative of the speed of the electric drive is equal to the maximum allowable value at the twelfth stage, the first derivative of the speed of the electric drive is equal to the maximum allowable value with a minus sign in the eighth step, the first derivative of the speed of the electric drive is zero. At the eighth stage, the speed of the electric drive reaches the maximum allowable value ω _don . The rotation angle (displacement) increases from the initial value of φ _nach to the final value of φ _con . Relations are true for the diagram / Dobrobaba Yu.P., Barandych Vic. Yu. Development of speed-optimal motion diagrams of electric drives with inertial converters and ideal shaft circuits // Izv. Universities. Food Technology, 2009, No. 5-6, S., 110-112 /:

The condition for the existence of an optimal diagram for average displacements of electric drives with inertial converters and ideal shaft shafts

Where

Figure 1 presents a structural diagram of a device for forming an optimal speed diagram for average displacements of electric drives with inertial converters and ideal shaft circuits.

A device for generating a signal corresponding to a speed-optimal diagram for large movements of an actuator actuator with an inertial converter and an ideal shaft shaft contains a first master 1, the output of which is connected to the first input of the first proportional block 2, the output of the first proportional block 2 is connected to the input of the first block 3, limiting the value of its input signal, the output of the first block 3, limiting the value of its input signal, is connected to the first input the second proportional block 4, the output of the second proportional block 4 is connected to the input of the second block 5, limiting the value of its input signal, the output of the second block 5, limiting the value of its input signal, is connected to the first input of the third proportional block 6, the output of the third proportional block 6, is connected with the first input of the third block 7, limiting the value of its input signal, the output of the third block 7, limiting the value of its input signal, is connected to the first input of the seventh proportion of the ionic block 8, the output of the seventh proportional block 8 is connected to the input of the fourth block 9, limiting the value of its input signal, the output of the fourth block 9, limiting the value of its input signal, is connected to the input of the fourth integral block 10, the output of the fourth integral block 10 is connected to the input of the first integral block 11, with the second input of the seventh proportional block 8, with the input of the eighth proportional block 14, with the input of the ninth proportional block 15 and with the input of the tenth proportionally of the first block 17, the output of the first integral block 11 is connected to the input of the second integral block 12, with the second input of the third proportional block 6, with the input of the fourth proportional block 16 and with the input of the fifth proportional block 18, the output of the eighth proportional block 14 is connected to the third input of the third proportional block 6, the output of the second integral block 12 is connected to the input of the third integral block 13, with the second input of the second proportional block 4 and with the input of the sixth proportional block 19, the output of the fourth about the proportional block 16 is connected to the third input of the second proportional block 4, the output of the ninth proportional block 15 is connected to the fourth input of the second proportional block 4, the output of the third integral block 13 is connected to the second input of the first proportional block 2, the output of the sixth proportional block 19 is connected to the third input the first proportional block 2, the output of the fifth proportional block 19 is connected to the fourth input of the first proportional block 2, the output of the tenth proportional block 17 is connected n to a fifth input of the first proportional block 2.

A device for generating a signal corresponding to the optimal speed diagram for large displacements of the actuator with an inertial converter and an ideal shaft shaft works as follows. The input of the first proportional block 2 is fed with a signal from the setter 1, equal to the final value of the angle of rotation of the electric drive φ _kon , and negative feedback signals: by the angle of rotation of the electric drive φ with a unit coefficient, by the speed of the electric drive ω with a coefficient (implements the sixth proportional block 6), with respect to the first derivative of the electric drive speed ω ⁽¹⁾ with the coefficient (implements the fifth proportional block 18), with respect to the second derivative of the electric drive speed ω ⁽²⁾ with the coefficient (implements the tenth proportional block 17). The first proportional block 2 summarizes the signals received at its inputs, and amplifies the resulting signal. The first block 3, limiting the value of its input signal, limits the signal from the output of the first proportional block 2 to the value ± ω _don . The input of the second proportional block 4 is fed with a signal from the first block 3, limiting the value of its input signal equal to ± ω _don , a negative feedback signal with respect to the drive speed with a unit coefficient, a negative feedback signal with respect to the first derivative of the drive speed ω ⁽¹⁾ with a coefficient (implements the fourth proportional block 16) and a negative feedback signal with respect to the second derivative of the velocity with a coefficient (implements the ninth proportional block 15). The second proportional block 4 summarizes the signals received at its inputs, and amplifies the resulting signal. The second block 5, limiting the value of its input signal, limits the signal from the output of the second proportional block 4 to the value . The input of the third proportional block 6 is fed a signal from the second block 5, limiting the value of its input signal equal to and negative feedback signals: with respect to the first derivative of the electric drive speed ω ⁽¹⁾ with a unit coefficient and with respect to the second derivative of the electric drive speed with a coefficient (implements the eighth proportional block 14) The third proportional block 6 summarizes the signals received at its inputs and amplifies the resulting signal. The third block 7, limiting the value of its input signal, limits the signal from the output of the third proportional block 6 to the value . The input of the seventh proportional block 8 is fed a signal from the third block 7, limiting the value of its input signal equal to and a negative feedback signal with respect to the second derivative of the velocity with a unit coefficient. The fourth block 9, limiting the value of its input signal, limits the signal coming from the output of the seventh proportional block 8 to quantities. The output of the fourth block 9, limiting the value of its input signal, forms the dependence of the third derivative of the rotational speed of the electric drive on time t. The fourth integral unit 10 integrates the signal coming from the output of the fourth restriction unit 9, and at the output of the fourth integral unit 10, the second derivative of the electric drive speed depends on time t. The output signal of the fourth integral block 10 is input to the first integral block and to the input of the eighth proportional block 14. The first integral block 11 integrates the signal from the output of the fourth integral block 10. At the output of the first integral block 11, a dependence of the first derivative of the electric drive speed ω is formed ^{(1 )} on time t. The output signal of the first integral block 11 is fed to the input of the second integral block 12 and to the second input of the third proportional block 6.

When applying a set point signal 1 equal to the final value of the angle of rotation φ _con actuator, a first input of a first proportional block 2 in time interval ₁ 0≤t≤t output of the first restriction block 3 is equal to ω _don, the output signal of the second block 5 is limited , the output of the third block of restriction 7 is and the output of the fourth block of restriction 9 is . At time t = t _{1, the} sum of the input signals of the seventh proportional block 8 is zero, therefore, switching occurs in the fourth block of restriction 9. At the time interval t ₁ ≤t≤t ₁ + t _{2, the} output signal of the first block of restriction 3 is ω _don , the output the signal of the second block of restriction 5 is equal to , the output of the third block of restriction 7 is and the output of the fourth block of restriction 9 is zero. At time t = t ₁ + t _{2, the} sum of the input signals of the third proportional block 6 changes its value from plus to minus, therefore, switching occurs in the third block of restriction 7 and in the fourth block of restriction 9. On the time interval t ₁ + t ₂ ≤t <(2t ₁ + t ₂ ) the output signal of the first block of restriction 3 is equal to ω _don , the output signal of the second block of restriction 5 is equal to , the output of the third block of restriction 7 is , and the output of the fourth block of restriction 9 is . At time t = 2t ₁ + t _{2, the} sum of the input signals of the third proportional block 6 is zero, therefore, switching occurs in the third block of restriction 7 and in the fourth block of restriction 9. On the time interval (2t ₁ + t ₂ ) ≤t≤ (2t ₁ + t ₂ + t ₃ ) the output signal of the first block of restriction 3 is equal to ω _don , the output signal of the second block of restriction 5 is equal to the output of the third block of restriction 7 is zero and the output of the fourth block of restriction 9 is zero. At time t = 2t ₁ + t ₂ + t _{3, the} sum of the input signals of the second proportional block 4 changes its sign from plus to minus, so switching occurs in the second block of restriction 5, in the third block of restriction 7 and in the fourth block of restriction 9. On time interval (2t ₁ + t ₂ + t ₃ ) ≤t≤ (3t ₁ + t ₂ + t ₃ ) the output signal of the first block of restriction 3 is equal to ω _don , the output signal of the second block of restriction 5 is equal to the output signal of the third block of restriction 7 is equal to and the output of the fourth block of restriction 9 is At time t = 3t ₁ + t ₂ + t _{3, the} sum of the input signals of the seventh proportional block 8 is zero, therefore, switching occurs in the fourth block of restriction 9. On the time interval (3t ₁ + t ₂ + t ₃ ) ≤t≤ (3t ₁ + 2t ₂ + t ₃ ) the output signal of the first block of restriction 3 is equal to ω _don , the output signal of the second block of restriction 5 is equal to the output signal of the third block of restriction 7 is equal to and the output of the fourth block of restriction 9 is zero. At time t = 3t ₁ + 2t ₂ + t _{3, the} sum of the input signals of the second proportional block 4 changes its sign from minus to plus, so switching occurs in the second block of restriction 5, in the third block of restriction 7 and in the fourth block of restriction 9. On time interval (3t ₁ + 2t ₂ + t ₃ ) ≤t≤ (4t ₁ + 2t ₂ + t ₃ ) the output signal of the first block of restriction 3 is equal to ω _don , the output signal of the second block of restriction 5 is equal to the output signal of the third block of restriction 7 is equal to and the output of the fourth block of restriction 9 is At time t = 4t ₁ + 2t ₂ + t _{3, the} sum of the input signals of the second proportional block 4 is zero, therefore, switching occurs in the second block of restriction 5, in the third block of restriction 7 and in the fourth block of restriction 9. On the time interval (4t ₁ + 2t ₂ + t ₃ ) ≤t≤ (4t ₁ + 2t ₂ + t ₃ + t ₄ ) the output signal of the first restriction block 3 is equal to ω _don , the output signal of the second restriction block 5 is zero, the output signal of the third restriction block 7 is zero and the output of the fourth block of restriction 9 is zero. At time t = 4t ₁ + 2t ₂ + t ₃ + t _{4, the} sum of the input signals of the first proportional block 2 changes its sign from plus to minus, therefore, switching occurs in the first block of restriction 3, in the second block of restriction 5, in the third block of restriction 7 and in the fourth block of restriction 9. On the time interval (4t ₁ + 2t ₂ + t ₃ + t ₄ ) ≤t≤ (4t ₁ + 2t ₂ + t ₃ + t ₄ ) the output signal of the first block of restriction 3 is -ω _don , the output signal of the second block of restriction 5 is equal to zero, the output signal of the third block of restriction 7 is equal to and the output of the fourth block of restriction 9 is At time t = 5t ₁ + 2t ₂ + t ₃ + t _{4, the} sum of the input signals of the seventh proportional block 8 is zero, therefore, switching occurs in the fourth block of restriction 9. On the time interval (5t ₁ + 2t ₂ + t ₃ + t ₄ ) ≤t≤ (5t ₁ + 3t ₂ + t ₃ + t ₄ ) the output signal of the first block of restriction 3 is -ω _don , the output signal of the second block of restriction 5 is equal to the output signal of the third block of restriction 7 is equal to and the output of the fourth block of restriction 9 is zero. At time t = 5t ₁ + 3t ₂ + t ₃ + t _{4, the} sum of the input signals of the second proportional block 4 changes its sign from minus to plus, therefore, switching occurs in the second block of restriction 5, in the third block of restriction 7 and in the fourth block of restriction 9. On the time interval (5t ₁ + 3t ₂ + t ₃ + t ₄ ) ≤t ≤ (6t ₁ + 3t ₂ + t ₃ + t ₄ ) the output signal of the first restriction block 3 is -ω _don , the output signal of the second restriction block 5 is equal the output signal of the third block of restriction 7 is equal to and the output of the fourth block of restriction 9 is At time t = 6t ₁ + 3t ₂ + t ₃ + t _{4, the} sum of the input signals of the third proportional block 6 is zero, therefore, switching occurs in the third block of restriction 7 and in the fourth block of restriction 9. On the time interval (6t ₁ + 3t ₂ + t ₃ + t ₄ ) ≤t≤ (6t ₁ + 3t ₂ + 2t ₃ + t ₄ ) the output signal of the first block of restriction 3 is -ω _don , the output signal of the second block of restriction 5 is equal the output of the third block of restriction 7 is zero and the output of the fourth block of restriction 9 is zero. At time t = 6t ₁ + 3t ₂ + 2t ₃ + t _{4, the} sum of the input signals of the first proportional block 2 changes its sign from minus to plus, therefore, switching occurs in the first block of restriction 3, in the second block of restriction 5, in the third block of restriction 7 and in the fourth block of restriction 9. On the time interval (6t ₁ + 3t ₂ + 2t ₃ + t ₄ ) ≤t≤ (7t ₁ + 3t ₂ + 2t ₃ + t ₄ ) the output signal of the first block of restriction 3 is equal to ω _don , the output signal of the second block of restriction 5 is equal to the output signal of the third block of restriction 7 is equal to and the output of the fourth block of restriction 9 is At time t = 7t ₁ + 3t ₂ + 2t ₃ + t _{4 of the} input signals of the seventh proportional block 8 is zero, therefore, switching occurs in the fourth block of restriction 9. On the time interval (7t ₁ + 3t ₂ + 2t ₃ + t ₄ ) ≤t≤ (7t ₁ + 4t ₂ + 2t ₃ + t ₄ ) the output signal of the first block of restriction 3 is equal to ω _don , the output signal of the second block of restriction 5 is equal to the output signal of the third block of restriction 7 is equal to and the output of the fourth block of restriction 9 is zero. At time t = 7t ₁ + 4t ₂ + 2t ₃ + t _{4, the} sum of the input signals of the first proportional block 2 changes its sign from plus to minus, therefore, switching occurs in the first block of restriction 3, in the second block of restriction 5, in the third block of restriction 7 and in the fourth block of restriction 9. On the time interval (7t ₁ + 4t ₂ + 2t ₃ + t ₄ ) ≤t≤ (8t ₁ + 4t ₂ + 2t ₃ + t ₄ ) the output signal of the first block of restriction 3 is -ω _don , the output signal of the second block of restriction 5 is equal to the output signal of the third block of restriction 7 is equal to and the output of the fourth block of restriction 9 is At time t = 8t ₁ + 4t ₂ + 2t ₃ + t _{4, the} sum of the input signals of the first proportional block 2 is zero, therefore, switching occurs in the first block of restriction 3, in the second block of restriction 5, in the third block of restriction 7 and in the fourth block limit 9. After the end of the cycle of movement of the electric drive (8t ₁ + 4t ₂ + 2t ₃ + t ₄ ) ≤t, the output signal of the first block of restriction 3 is zero, the output signal of the second block of restriction 5 is zero, the output signal of the third block of restriction 7 is zero, the output signal of the fourth block of restriction 9 is equal to well th.

The issue of generating a signal corresponding to an optimal speed diagram for large displacements of the actuator with an inertial converter and an ideal shaft shaft under the condition φ _con > φ _beg .

The proposed device allows you to generate a signal corresponding to the optimal speed diagram for large displacements of the actuator of the electric drive with an inertial converter and an ideal shaft line when the condition φ _con > φ _beg .

The proposed device provides the formation of the optimal diagram for large displacements of the electric drive with an inertial converter, an ideal shaft shaft and a moment of resistance of various types.

The accuracy of generating a signal corresponding to a diagram that is optimal in speed for large displacements of the actuator with an inertial converter and an ideal shaft line is determined by the adjustment of linear blocks: proportional and integral, as well as blocks that limit the value of its input signal.

An intensity adjuster based on a programmable controller has been developed, implemented and experimentally investigated, which generates a signal that corresponds to a diagram that is optimal in speed for large displacements of the actuator actuator with an inertial converter and an ideal shaft shaft, which together with the automatic position control system of the actuator achieves high accuracy of positioning of actuators .

Claims (1)

A device for generating a signal corresponding to a diagram that is optimal in speed for large displacements of an actuator actuator with an inertial converter and an ideal shaft shaft, comprising a switch, the output of which is connected to the first input of the first proportional block, the output of the first proportional block is connected to the input of the first block limiting the value of its input signal, the output of the first block limiting the value of its input signal is connected to the first input of the second of the optional block, the output of the second proportional block is connected to the input of the second block that limits the value of its input signal, the output of the second block that limits the value of its input signal is connected to the first input of the third proportional block, the output of the third proportional block is connected to the input of the third block that limits the value of its input signal, the output of the first integral block is connected to the input of the second integral block, with the second input of the third proportional block, with the input m of the fourth proportional block and with the input of the fifth proportional block, the output of the second integral block is connected to the input of the third integral block, with the second input of the second proportional block and with the input of the sixth proportional block, the output of the third integral block is connected to the second input of the first proportional block, the output of the fourth proportional block is connected to the third input of the second proportional block, the output of the sixth proportional block is connected to the third input of the first proportional of the fifth block, the output of the fifth proportional block is connected to the fourth input of the first proportional block, characterized in that a seventh proportional block is introduced into the device, the input of which is connected to the output of the third block, limiting the value of its input signal, the output of the seventh proportional block is connected to the input of the fourth block, limiting the value of its input signal, the output of the fourth block, limiting the value of its input signal, is connected to the input of the fourth integral block, the output q of the fourth integral block is connected to the input of the first integral block, with the second input of the seventh proportional block, with the input of the eighth proportional block, with the input of the ninth proportional block and with the input of the tenth proportional block, the output of the tenth proportional block is connected to the fifth input of the first proportional block, the output of the ninth the proportional block is connected to the fourth input of the second proportional block, the output of the eighth proportional block is connected to the third input of the third ortsionalnogo block.