RU117751U1 - DEVICE FOR FORMING A SIGNAL RELATED TO AN OPTIMUM OPTIMUM OPTIMUM DIAGRAM OF MOVEMENT OF THE EXECUTIVE AUTHORITY OF THE MECHANISM ELASTICALLY CONNECTED WITH THE ELECTRIC MOTOR, WHILE SHEET IS SHORT - Google Patents

Abstract

A device for generating a signal corresponding to the optimal speed diagram of the movement of the actuator of the mechanism elastically connected to the electric motor, with the limitations of the second and fourth derivatives of the speed, containing the first setpoint, the output of which is connected to the first input of the first summing unit, the output of the first summing unit is connected to the 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 first integral block, the output of which is connected to the input of the second integral block, the output of the second integral block is connected to the input of the third integral block, the output of the third integral block is connected to the input the fourth integral block, the output of the fourth integral block is connected to the input of the fifth integral block, the second summing block, the output of which is connected to the input of the second proportional block, the output of the second proportional block is connected to the input of the second block, limiting the value of its input signal, the first block of the product, the second block of the product, the third block of the product, the fourth block of the product, the fifth block of the product, the sixth block of the product, the third adder block, the fourth adder block, the fifth adder block, the sixth adder block, seventh adder block, eighth adder block, ninth adder block, tenth adder block, eleventh adder block, twelfth adder block, thirteenth adder block, fourteenth adder block, fifteenth adder block, six�

Description

The utility model relates to electrical engineering and can be used in industrial installations to generate a signal corresponding to the optimal speed diagram of the movement of the actuator of the mechanism elastically connected to the electric motor, with restrictions on the second and fourth derivatives of speed.

An analogue of the developed device is a device for generating a signal corresponding to a rational movement diagram of the actuator of the mechanism, elastically connected to the electric motor, with the restriction of the first, second and fourth derivatives of the velocity, consisting of twenty-one stages. / Pat. No. 45879.

The analogue generates a signal corresponding to a rational movement diagram of the actuator of the mechanism, elastically connected to the electric motor, with the restriction of the first, second and fourth derivatives of the velocity, consisting of twenty-one stages. The disadvantage of the analogue is the lack of the required number of variable parameters in the second and third circuits, as well as a change in the values of the feedback coefficients depending on a given displacement. This leads to a deterioration in the dynamic characteristics of the device, and in some cases, does not allow to achieve its stability. In addition, the analogue implements a diagram consisting of twenty-one stages, due to which the duration of the movement cycle of the executive body of the mechanism increases.

The prototype of the utility model is a device for generating a signal corresponding to a rational movement diagram of an actuator of a mechanism elastically connected to an electric motor, with the limitations of the second and fourth derivatives of the velocity consisting of nineteen stages. / Pat. No. 45877.

The prototype contains: a first master, the output of which is connected to the first input of the first summing block, the output of the first summing block is connected to the 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 the input signal is connected to the first input of the second summing block, the output of which is connected to the input of the second proportional block, the output of the second proportional block connected to the input of the second block, limiting the value of its input signal, the output of which is connected to the input of the first integral block, the output of the first integral block is connected to the input of the second integral block, the output of the second integral block is connected to the input of the third integral block and to the second input of the second summing block, the output of the third integral block is connected to the input of the fourth integral block, the output of the fourth integral block is connected to the input of the fifth integral block, the output of which connected to the second input of the first summing block, the third proportional block, the input of which is connected to the output of the first integral block, and the output of which is connected to the third input of the second summing block, the second master, the output of which is connected to the input of the block forming the absolute value of its input signal at the output , the output of the block forming the absolute value of its input signal at the output is connected to the input of the fourth proportional block, the output of the fourth proportional block is connected to the input of of the first proportional block, with the first and second inputs of the fifth block of the product and with the input of the first block forming an algebraic sum of the values of its input and reference signals, the third summing block, the first input of which is connected to the output of the fifth proportional block, the second input of which is connected to the output of the fifth block of the product, the output of the third summing block is connected to the input of the block, which generates the second root value of its input signal at the output, the output of the block forming the second root of its input signal is connected to the first inputs of the fourth and fifth summing blocks, the output of the first block forming an algebraic sum of the values of its input and reference signals at the output is connected to the second inputs of the fourth and fifth summing blocks, the output of the fourth summing block is connected to the input of the first block, forming the value of the root of the third degree of its input signal, the output of which is connected to the first input of the sixth summing block, the output of the fifth summing b the eye is connected to the input of the second block, which generates the third root value of its input signal, the output of which is connected to the second input of the sixth summing block, the output of the sixth summing block is connected to the input of the second block, which forms the algebraic sum of the values of its input and reference signals, the output of which is connected to the input of the third block, forming at the output an algebraic sum of the values of its input and reference signals, with the first and second inputs of the sixth block of the work, with the input of the seventh block of the work, as well as the inputs of the sixth, eighth, tenth, twelfth, fourteenth, sixteenth, eighteenth and twenty-first proportional blocks, the output of the sixth block of the work is connected to the second input of the seventh block of the work, with the inputs of the seventh, ninth, eleventh, thirteenth, fifteenth, seventeenth, nineteenth and twenty-second proportional blocks, the output of the seventh block of the product is connected to the input of the twentieth proportional block, the seventh summing block, the first input of which is connected to the output of the sixth proportional block, the second input of which is connected to the output of the seventh proportional block, the output of the seventh summing block is connected to the input of the fourth block, which forms the algebraic sum of the values of its input and reference signals, the eighth summing block, the first input of which is connected with the output of the eighth proportional block, the second input of which is connected to the output of the ninth proportional block, the output of the eighth summing block is connected to the input of the heel of the ith block, which forms the algebraic sum of the values of its input and reference signals, the ninth summing block, the first input of which is connected to the output of the tenth proportional block, the second input of which is connected to the output of the eleventh proportional block, the third input of which is connected to the output of the seventh block of the product, the output the ninth summing block is connected to the input of the sixth block, which forms at the output an algebraic sum of the values of its input and reference signals, the tenth summing block, first the input of which is connected to the output of the twelfth proportional block, the second input of which is connected to the output of the thirteenth proportional block, the output of the tenth summing block is connected to the input of the seventh block, which forms the algebraic sum of the values of its input and reference signals, the eleventh summing block, the first input of which is connected to the output of the fourteenth proportional block, the second input of which is connected to the output of the fifteenth proportional block, the output of the eleventh summing block and the twelfth summing block, the first input of which is connected to the output of the sixteenth proportional block, the second input of which is connected to the output of the seventeenth proportional block, the output of the twelfth summing block is connected to the input, is connected to the input of the eighth block, which forms the algebraic sum of the values of its input and reference signals the ninth block, forming at the output an algebraic sum of the values of its input and reference signals, the thirteenth summing block, the first input of which is connected to the output of the eighteenth proportional block, the second input of which is connected to the output of the nineteenth proportional block, the third input of which is connected to the output of the twentieth proportional block, the output of the thirteenth summing block is connected to the input of the tenth block, which forms the algebraic sum of the values of its input and reference signals, the fourteenth summing block the first input of which is connected to the output of the twenty-first proportional block, the second input of which is connected to the output of twenty-second about the proportional block, the output of the fourteenth summing block is connected to the input of the eleventh block, which forms the algebraic sum of the values of its input and reference signals, the outputs of the third, fourth, fifth, sixth, seventh, eighth, ninth, tenth and eleventh blocks that form the algebraic output the sum of the values of its input and reference signals are connected respectively to the inputs of the twenty-third, twenty-fourth, twenty-fifth, twenty-sixth, twenty-seventh, twenty-eighth oh, twenty-ninth, thirty and thirty-first proportional blocks, the output of the second master is connected to the input of the thirty-second proportional block, the twenty-first summing block, the first input of which is connected to the output of the thirty-second proportional block, the second input of which is connected to the output of the fifth integral block, output the twenty-first summing block is connected to the input of the first block, the output signal of which, when a positive (negative) signal is fed to its input, is equal to one (zero), and with the input the first block, the output signal of which, when a negative (positive) signal is supplied to its input, is equal to one (zero), the output of the first block, whose output signal, when a positive (negative) signal is fed to its input, is equal to unity (zero), is connected to the first input of the eighth block of the product, the second input of which is connected to the output of the second integral block, the output of the first block, the output signal of which, when a negative (positive) signal is fed to its input, is equal to one (zero), connected to the first input of the ninth a product lock, the second input of which is connected to the output of the second integral block, the output of the eighth block of the product is connected to the inputs of the second block, the output signal of which, when a positive (negative) signal is supplied to its input, is equal to one (zero), and the second block, the output signal of which the negative (positive) signal fed to its input is equal to one (zero), the output of the ninth block of the product is connected to the inputs of the third block, the output signal of which, when positive (negative) is supplied to its input drove equal to one (zero), and the third block, the output signal of which, when a negative (positive) signal is fed to its input, is equal to one (zero), the tenth block of the product, the first input of which is connected to the output of the twenty-fifth proportional block, the second input of which is connected to the output of the second block, the output signal of which, when a positive (negative) signal is supplied to its input, is equal to one (zero), the eleventh block of the product, the first input of which is connected to the output of the twenty-sixth proportional block, the second input of which is connected to the output of the second block, the output signal of which, when a negative (positive) signal is fed to its input, is equal to one (zero), the twelfth block of the product, the first input of which is connected to the output of the twenty-seventh proportional block, the second input of which is connected to the output of the third block, the output signal of which, when a positive (negative) signal is fed to its input, is equal to one (zero), the thirteenth block of the work, the first input of which is connected to the output of the twenty-eighth proportion a unit, the second input of which is connected to the output of the third unit, the output signal of which, when a negative (positive) signal is fed to its input, is equal to one (zero), the fourteenth block of the product, the first input of which is connected to the output of the twenty-ninth proportional block, the second input of which is connected with the output of the second block, the output signal of which, when a positive (negative) signal is supplied to its input, is equal to one (zero), the fifteenth block of the product, the first input of which is connected to the output of thirty th proportional block, the second input of which is connected to the output of the second block, the output signal of which, when a negative (positive) signal is fed to its input, is equal to one (zero), the sixteenth block of the product, the first input of which is connected to the output of the twenty-ninth proportional block, whose second input is connected to the output of the third block, the output signal of which, when a positive (negative) signal is fed to its input, is equal to one (zero), the seventeenth block of the product, the first input of which is connected to the output the house of the thirty-first proportional block, the second input of which is connected to the output of the third block, the output signal of which when a negative (positive) signal is fed to its input is equal to one (zero), the fifteenth summing block, the first input of which is connected to the output of the tenth block of the work, the second input which is connected to the output of the eleventh block of the work, the sixteenth summing block, the first input of which is connected to the output of the twelfth block of the work, the second input of which is connected to the output of thirteen the seventh block of the work, the seventeenth summing block, the first input of which is connected to the output of the fourteenth block of the work, the second input of which is connected to the output of the fifteenth block of the work, the eighteenth summing block, the first input of which is connected to the output of the sixteenth block of the work, the second input of which is connected to the output of the seventeenth block works, the nineteenth summing block, the first input of which is connected to the output of the fifteenth summing block, and the second input of which is connected to the output of the sixteen nth summing block, the twentieth summing block, the first input of which is connected to the output of the seventeenth summing block, and the second input of which is connected to the output of the eighteenth summing block, the first block of the product, the first input of which is connected to the output of the twentieth summing block, the second input of which is connected to the output of the first integral block, the output of which is connected to the third input of the first summing block, the second block of the product, the first input of which is connected to the output of the nineteenth summing block , the second input of which is connected to the output of the second integral block, and the output of which is connected to the fourth input of the first summing block, the third block of the product, the first input of which is connected to the output of the twenty-fourth proportional block, the second input of which is connected to the output of the third integral block, and the output of which connected to the fifth input of the first summing block, the fourth block of the product, the first input of which is connected to the output of the twenty-third proportional block, the second input of which is connected to the output of the fourth integral block, and the output of which is connected to the sixth input of the first summing block.

The disadvantage of the prototype is the lack of the required number of variable parameters in the second circuit, as well as a change in the values of the feedback coefficients depending on a given displacement. This does not allow to obtain high dynamic characteristics of the device.

When developing rational diagrams of movement of the executive body of the mechanism, elastically connected to the electric motor, an additional restriction was imposed - ensuring the overlap of the entire necessary range of regulation of the movement of the executive body of the mechanism. This requires additional steps of the movement diagram of the executive body of the mechanism.

In contrast to rational movement diagrams of the executive body of a mechanism elastically connected to an electric motor, each separately developed optimal speed diagram of a movement of an executive body of a mechanism elastically connected to an electric motor makes it possible to achieve ultimate performance without using additional steps.

The task is to develop a device for generating a signal corresponding to a speed-optimal diagram of the movement of the actuator of the mechanism, elastically connected to the electric motor, with the limitations of the second and fourth derivatives of speed (consisting of eleven stages).

The technical result of the utility model is to increase the speed and accuracy of movement of the executive body of the mechanism elastically connected to the electric motor, with the limitations of the second and fourth derivatives of speed.

The technical result is achieved by the fact that the device for generating a signal corresponding to an optimal speed diagram of the movement of the actuator of the mechanism, elastically connected to the electric motor, with restrictions of the second and fourth derivatives of speed, containing the first master, the output of which is connected to the first input of the first summing unit, the output of the first the summing block is connected to the input of the first proportional block, the output of the first proportional block is connected to the input of the first block, about delineating the value of its input signal, the first integral block, the output of which is connected to the input of the second integral block, the output of the second integral block is connected to the input of the third integral block, the output of the third integral block is connected to the input of the fourth integral block, the output of the fourth integral block is connected to the input of the fifth integral block, the second summing block, the output of which is connected to the input of the second proportional block, the output of the second proportional block is connected to the input of W of the first block, limiting the value of its input signal, the first block of the product, the second block of the product, the third block of the product, the fourth block of the product, the fifth block of the product, the sixth block of the product, the third summing block, the fourth summing block, the fifth summing block, the sixth summing block, the seventh summing block, eighth summing block, ninth summing block, tenth summing block, eleventh summing block, twelfth summing block, thirteenth summing block, fourteenth summing summing block, fifteenth summing block, sixteenth summing block, seventeenth summing block, eighteenth summing block, nineteenth summing block, twentieth summing block, twenty first summing block, third proportional block, fourth proportional block, fifth proportional block, sixth proportional block, seventh proportional block, eighth proportional block, ninth proportional block, tenth proportional block, eleventh proportional block, twelfth proportional th block, thirteenth proportional block, fourteenth proportional block, fifteenth proportional block, sixteenth proportional block, seventeenth proportional block, eighteenth proportional block, nineteenth proportional block, twentieth proportional block, twenty first proportional block, twenty second proportional block, twenty third proportional block, twenty-fourth proportional block, twenty-fifth proportional block, twenty-sixth proportional block, p the first block that generates the algebraic sum of the values of its input and reference signals at the output, the second block that generates the algebraic sum of the values of its input and reference signals at the output, the third block that generates the algebraic sum of the values of its input and reference signals at the output, the fourth block that generates the output is the algebraic sum of the values of its input and reference signals, the fifth block, which forms the algebraic sum of the values of its input and reference signals, the block, which forms the output a the salt value of its input signal, a block generating the root value of the second degree of its input signal at the output, the first block generating the root value of the third degree of its input signal at the output, the second block generating the third root value of its input signal at the output, the second master, the signal sign determination unit is characterized in that the output of the first master is connected to the first input of the second totalizing unit, with the first input of the third totalizing unit, with the first input of the fourth totalizing unit OK, with the first input of the fifth summing block and with the first input of the sixth summing block, the output of the second master is connected to the first input of the seventh summing block, with the first input of the eighth summing block, with the first input of the ninth summing block, with the first input of the tenth summing block and with the first the input of the eleventh summing block, the output of the third summing block is connected to the input of the third proportional block, the output of the fourth summing block is connected to the input of the fourth proportional block, output the fifth summing block is connected to the input of the fifth proportional block, the output of the sixth summing block is connected to the input of the sixth proportional block, the output of the seventh summing block is connected to the input of the seventh proportional block, the output of the eighth summing block is connected to the input of the eighth proportional block, the output of the ninth summing block is connected to the input of the ninth proportional block, the output of the tenth summing block is connected to the input of the tenth proportional block, the output of the eleventh summing of the first block is connected to the input of the eleventh proportional block, the third block is introduced that limits the value of its input signal, the input of which is connected to the output of the third proportional block, the fourth block is limited to the value of its input signal, the input of which is connected to the output of the fourth proportional block, the fifth block is introduced , limiting the value of its input signal, the input of which is connected to the output of the fifth proportional block, introduced the sixth block, limiting the value of its input a needle whose input is connected to the output of the sixth proportional block, the seventh block is entered, limiting the value of its input signal, the input of which is connected to the output of the seventh proportional block, the eighth block is limited to the value of its input signal, the input of which is connected to the output of the eighth proportional block the ninth block, limiting the value of its input signal, the input of which is connected to the output of the ninth proportional block, the tenth block limiting the value of its the input signal, the input of which is connected to the output of the tenth proportional block, the eleventh block is entered, limiting the value of its input signal, the input of which is connected to the output of the eleventh proportional block, the output of the first master is connected to the first input of the twelfth summing block, the output of the second master is connected to the second input of the twelfth of the summing block, the twelfth block is introduced, limiting the value of its input signal, the input of which is connected to the output of the twelfth summing block , the thirteenth block is introduced, limiting the value of its input signal, the input of which is connected to the output of the twelfth summing block, the output of the twelfth summing block is connected to the input of the block forming the absolute value of its input signal at the output, the output of the twelfth block limiting the value of its input signal is connected to the second input of the second summing block and with the second input of the eleventh summing block, the output of the thirteenth block, limiting the value of its input signal, is connected is connected with the second input of the third summing block and with the second input of the tenth summing block, the output of the block forming the absolute value of its input signal at the output is connected to the input of the twelfth proportional block, the output of the twelfth proportional block is connected to the first and second inputs of the first product block, the output of the first block of the product is connected to the input of the first block, forming at the output an algebraic sum of the values of its input and reference signals, the output of the first block, forming at the output the algebraic sum of the values of its input and reference signals, connected to the input of the block forming the root value of the second degree of its input signal at the output, the output of the block forming the root value of the second degree of its input signal at the output, is connected to the first input of the thirteenth summing block and to the first input of the fourteenth summing block, the output of the twelfth proportional block is connected to the second input of the thirteenth summing block and with the second input of the fourteenth summing block, the output of trin of the twentieth summing block is connected to the input of the first block, which generates the third root value of its input signal at the output, the output of which is connected to the first input of the fifteenth summing block, the output of the fourteenth summing block is connected to the input of the second block, which forms the third root value of its input signal at the output the output of which is connected to the second input of the fifteenth summing block, the output of the fifteenth summing block is connected to the input of the second block, forming at the output of the alge the sum of the values of its input and reference signals, the output of which is connected to the first and second inputs of the second block of the product, the output of the second block of the product is connected to the first input of the third block of the product, the output of the second block, which forms the algebraic sum of the values of its input and reference signals, is connected with the second input of the third block of the product, the output of the second block, forming at the output an algebraic sum of the values of its input and reference signals, is connected to the input of the thirteenth portion of the unit, with the input of the fifteenth proportional block and with the input of the seventeenth proportional block, the output of the second block of the product is connected to the input of the fourteenth proportional block, with the input of the sixteenth proportional block and with the input of the eighteenth proportional block, the output of the third block of the product is connected to the input of the nineteenth proportional block, output of the thirteenth proportional block is connected to the first input of the sixteenth summing block, the output of the fifteenth is proportional the block is connected to the first input of the seventeenth summing block, the output of the seventeenth proportional block is connected to the first input of the eighteenth summing block, the output of the fourteenth proportional block is connected to the second input of the sixteenth summing block, the output of the sixteenth proportional block is connected to the second input of the seventeenth summing block, the output of the eighteenth proportional block connected to the second input of the eighteenth summing block, the output of the nineteenth proportional block connected to the third input of the sixteenth summing block, with the third input of the seventeenth summing block and with the third input of the eighteenth summing block, the output of the sixteenth summing block is connected to the input of the third block, which generates an algebraic sum of the values of its input and reference signals, the output of the seventeenth summing block is connected to the input of the fourth block, forming at the output an algebraic sum of the values of its input and reference signals, the output of the eighteenth summing block is connected nen with the input of the fifth block, which generates the algebraic sum of the values of its input and reference signals, the output of the third block, which generates the algebraic sum of the values of its input and reference signals, is connected to the input of the twentieth proportional block, the output of the fourth block, which generates the algebraic sum the values of its input and reference signals, connected to the input of the twenty-first proportional block, the output of the fifth block, forming the algebraic sum of its values at the output the input and reference signals, connected to the input of the twenty-second proportional block, the output of the twentieth proportional block is connected to the first input of the fourth block of the product, the output of the twenty-first proportional block is connected to the first input of the fifth block of the product, the output of the twenty-second proportional block is connected to the first input of the sixth block of the product , the output of the twelfth summing block is connected to the input of the signal sign determination unit, the output of the signal sign determination unit is connected to the second input ohm of the fourth block of the product, with the second input of the fifth block of the product and with the second input of the sixth block of the product, the output of the fourth block of the product is connected to the second input of the fourth summing block and the second input of the ninth summing block, the output of the fifth block of the product is connected to the second input of the fifth summing block and with the second input of the eighth summing block, the output of the sixth block of the product is connected to the second input of the sixth summing block and with the second input of the seventh summing block, the output is of the nth integrated block is connected to the first input of the nineteenth summing block, the second input of which is connected to the output of the second master, the output of the nineteenth summing block is connected to the third input of the second summing block, with the third input of the third summing block, with the third input of the fourth summing block, with the third input of the fifth summing block, with the third input of the sixth summing block, with the third input of the seventh summing block, with the third input of the eighth summing block, with the third input of the ninth umming block, with the third input of the tenth summing block and with the third input of the eleventh summing block, the output of the first block limiting the value of its input signal is connected to the first input of the twentieth summing block, the output of the second block limiting the value of its input signal is connected to the second input of the twentieth summing block, the output of the third block, limiting the value of its input signal, is connected to the third input of the twentieth summing block, the output of the fourth block, limiting its value of its input signal is connected to the fourth input of the twentieth summing block, the output of the fifth block limiting the value of its input signal is connected to the fifth input of the twentieth summing block, the output of the sixth block limiting the value of its input signal is connected to the sixth input of the twentieth summing block, the output of the seventh block, limiting the value of its input signal, is connected to the seventh input of the twentieth summing block, the output of the eighth block, limiting the value of its input signal, connected to the eighth input of the twentieth summing block, the output of the ninth block limiting the value of its input signal, connected to the ninth input of the twentieth summing block, the output of the tenth block limiting the value of its input signal, connected to the tenth input of the twentieth summing block, the output of the eleventh block , limiting the value of its input signal, is connected to the eleventh input of the twentieth summing block, the output of the twentieth summing block is connected to the input of the first integral n block, the output of the first integral block is connected to the input of the twenty-third proportional block, the output of the second integral block is connected to the input of the twenty-fourth proportional block, the output of the third integral block is connected to the input of the twenty-fifth proportional block, the output of the fourth integral block is connected to the input of the twenty-sixth proportional block , the output of the twenty-third proportional block is connected to the first input of the twenty-first summing block, the output of the twenty-fourth the optional block is connected to the second input of the twenty-first summing block, the output of the twenty-fifth proportional block is connected to the third input of the twenty-first summing block, the output of the twenty-sixth proportional block is connected to the fourth input of the twenty-first summing block, the output of the nineteenth summing block is connected to the fifth input of the twenty-first summing block block, the output of the twenty-first summing block is connected to the second input of the first summing block.

It is proposed to divide the device functions into logical and damping ones: logical blocks form a diagram; additionally introduced damping blocks provide high quality transient processes in the device. This will allow us to implement the proposed device in conjunction with a system for automatically controlling the angle of rotation of the executive body of the mechanism, high accuracy and speed of testing a given movement pattern.

The technical result is achieved by performing the device single-circuit and the additional introduction of four variable parameters: the time constant of negative feedback with respect to the first derivative of the angle of rotation of the executive body of the mechanism; the time constant in the second degree of negative feedback on the second derivative of the angle of rotation of the executive body of the mechanism; the time constant in the third degree of negative feedback on the third derivative of the angle of rotation of the executive body of the mechanism; the time constant in the fourth degree of negative feedback on the fourth derivative of the angle of rotation of the executive body of the mechanism. In addition, in the proposed device there is no need to configure feedback coefficients.

The transfer function on the control channel of the claimed device is

,

Where .

The transfer function of the claimed device along the control channel is a reference, i.e. through the control channel, the system has the best dynamic characteristics. When the angle of rotation of the executive body of the mechanism changes, the time constants of the transfer function do not change, i.e. the dynamic characteristics of the claimed device remain unchanged.

The optimal speed diagram of the movement of the Executive body of the mechanism, elastically connected to the electric motor, with the restrictions of the second and fourth derivatives of speed, is formed as follows. In the first, fifth, seventh and eleventh stages, the fourth derivative of the angular velocity of the executive body of the mechanism is equal to the maximum allowable value ; in the second, fourth, eighth and tenth stages, the fourth derivative of the angular velocity of the executive body of the mechanism is equal to the maximum allowable value with a minus sign ; in the third, sixth and ninth stages, the fourth derivative of the angular velocity of the executive body of the mechanism is zero. The duration of the first, second, tenth and eleventh stages is t ₁ ; the duration of the third and ninth stages is equal to t ₂ ; the duration of the sixth stage is equal to t ₃ ; the duration of the fourth, fifth, seventh and eighth stages is t _{1 *} . At time t _{1, the} third derivative of the angular velocity of the actuator reaches the maximum value ; at time (2t ₁ + t ₂ + t ₃ + 3t _{1 *} ) the third derivative of the angular velocity of the actuator reaches the maximum value ; at time (2t ₁ + t ₂ + t _{1 *} ), the third derivative of the angular velocity of the actuator reaches the maximum value with a minus sign ; at time (3t ₁ + 2t ₂ + t ₃ + 4t _{1 *} ) the third derivative of the angular velocity of the actuator reaches the maximum value with a minus sign . In the third, sixth and ninth stages, the third derivative of the angular velocity of the executive body of the mechanism is zero. In the third and ninth stages, the second derivative of the angular velocity of the executive body of the mechanism is equal to the maximum allowable value ; at the sixth stage, the second derivative of the angular velocity of the executive body of the mechanism is equal to the maximum allowable value with a minus sign . At time (2t ₁ + t ₂ + t _{1 *} ), the first derivative of the angular velocity of the actuator reaches the maximum value ; at time (2t ₁ + t ₂ + t ₃ + 3t _{1 *} ), the first derivative of the angular velocity of the actuator reaches the maximum value with a minus sign . At time the angular velocity of the executive body of the mechanism reaches a maximum value of ω _max . The rotation angle (displacement) increases from the initial value of φ _nach to the final value of φ _con .

For this diagram, the following relations are true:

;

;

;

t ₃ = 2 · (t ₁₊ t ₂ );

T _C = 4t ₁ + 2t ₂ + t ₃ + 4t _{1 *} ;

;

;

;

.

where T _C - the duration of the cycle.

The optimal speed diagram of the movement of the executive body of the mechanism, elastically connected to the electric motor, under the restrictions of the second and fourth derivatives of speed, is valid when the following conditions are met:

;

.

If the first of the conditions is not fulfilled, then it is necessary to switch to the optimal speed diagram of the movement of the actuator of the mechanism elastically connected to the electric motor, with the limitations of the fourth and the minimum value of the second velocity derivatives.

If the second of the conditions is not fulfilled, then it is necessary to switch to the optimal speed diagram of the movement of the actuator of the mechanism, elastically connected to the electric motor, with the limitations of the first, second and fourth derivatives of speed.

Figure 1 presents the structural diagram of a device for generating a signal corresponding to the optimal speed diagram of the movement of the Executive body of the mechanism, elastically connected to the electric motor, with restrictions of the second and fourth derivatives of speed.

A device for generating a signal corresponding to an optimal speed diagram of the movement of the actuator of the mechanism elastically connected to the electric motor, with restrictions of the second and fourth derivatives of speed, contains a first master 1, the output of which is connected to the first input of the first summing block 2, the output of the first summing block 2 is connected with the input of the first proportional block 3, the output of the first proportional block 3 is connected to the input of the first block 4, limiting the value of its input about the signal, the output of the first block 4, limiting the value of its input signal, is connected to the first input of the twentieth summing block 5, the output of the twentieth summing block 5 is connected to the input of the first integral block 6, the output of the first integral block 6 is connected to the input of the second integral block 7, output the second integral block 7 is connected to the input of the third integral block 8, the output of the third integral block 8 is connected to the input of the fourth integral block 9, the output of the fourth integral block 9 is connected to the input of the integrated integrated unit 10, the output of the fifth integrated unit 10 is connected to the first input of the nineteenth summing unit 11, the second input of which is connected to the output of the second master 83, the output of the first master 1 is connected to the first input of the second totalizing unit 14, with the first input of the third totalizing unit 18, with the first input of the fourth summing block 26, with the first input of the fifth summing block 30 and with the first input of the sixth summing block 37, the output of the second master 83 is connected to the first input of the seventh summing block 44, with the first m the input of the eighth summing block 49, with the first input of the ninth summing block 56, with the first input of the tenth summing block 61 and with the first input of the eleventh summing block 68, the output of the first setter 1 is connected to the first input of the twelfth summing block 12, the output of the second setter 83 is connected to the second input of the twelfth summing block 12, the output of the twelfth summing block 12 is connected to the input of the twelfth block 13, limiting the value of its input signal, with the input of the thirteenth block 17, limiting the value the existence of its input signal, and with the input of block 21, forming the absolute value of its input signal at the output, the output of the twelfth block 13, limiting the value of its input signal, is connected to the second input of the second summing block 14 and to the second input of the eleventh summing block 68, the output of the thirteenth block 17, limiting the value of its input signal, is connected to the second input of the third summing block 18 and to the second input of the tenth summing block 61, the output of block 21, forming an absolute value at the output The value of its input signal is connected to the input of the twelfth proportional block 22, the output of the twelfth proportional block 22 is connected to the first and second inputs of the first block of the product 23, the output of the first block of the product 23 is connected to the input of the first block 24, which forms the algebraic sum of the values of its input and reference signals, the output of the first block 24, which generates an algebraic sum of the values of its input and reference signals, is connected to the input of block 25, which forms the root value of the second the degree of its input signal, the output of block 25, which forms the root value of the second degree of its input signal, is connected to the first input of the thirteenth summing block 33 and to the first input of the fourteenth summing block 40, the output of the twelfth proportional block 22 is connected to the second input of the thirteenth summing block 33 and with the second input of the fourteenth summing block 40, the output of the thirteenth summing block 33 is connected to the input of the first block 34, forming the value of the root of the third degree of its output the input signal, the output of which is connected to the first input of the fifteenth summing block 35, the output of the fourteenth summing block 40 is connected to the input of the second block 41, which generates the third root value of its input signal, the output of which is connected to the second input of the fifteenth summing block 35, the output of the fifteenth summing block 35 is connected to the input of the second block 36, forming at the output an algebraic sum of the values of its input and reference signals, the output of which is connected to the first and second inputs the second block of the product 42, the output of the second block of the product 42 is connected to the first input of the third block of the product 43, the output of the second block 36, which generates an algebraic sum of the values of its input and reference signals, is connected to the second input of the third block of the product 43, the output of the second block 36, forming the algebraic sum of the values of its input and reference signals at the output, it is connected to the input of the thirteenth proportional block 47, to the input of the fifteenth proportional block 59 and to the input of the seventeenth prop national block 71, the output of the second block of product 42 is connected to the input of the fourteenth proportional block 55, with the input of the sixteenth proportional block 67 and with the input of the eighteenth proportional block 79, the output of the third block of product 43 is connected to the input of the nineteenth proportional block 82, the output of the thirteenth proportional block 47 is connected with the first input of the sixteenth summing block 48, the output of the fifteenth proportional block 59 is connected to the first input of the seventeenth summing block 60, the output is the twelfth proportional block 71 is connected to the first input of the eighteenth summing block 72, the output of the fourteenth proportional block 55 is connected to the second input of the sixteenth summing block 48, the output of the sixteenth proportional block 67 is connected to the second input of the seventeenth summing block 60, the output of the eighteenth proportional block 79 is connected to the second input of the eighteenth summing block 72, the output of the nineteenth proportional block 82 is connected to the third input of the sixteenth summing block 48, with tr the input of the seventeenth summing block 60 and with the third input of the eighteenth summing block 72, the output of the sixteenth summing block 48 is connected to the input of the third block 52, which generates an algebraic sum of the values of its input and reference signals, the output of the seventeenth summing block 60 is connected to the input of the fourth block 64 forming the algebraic sum of the values of its input and reference signals at the output, the output of the eighteenth summing block 72 is connected to the input of the fifth block 75, forming at the output the hebraic sum of the values of its input and reference signals, the output of the third block 52, which generates an algebraic sum of the values of its input and reference signals, is connected to the input of the twentieth proportional block 53, the output of the fourth block 64, which generates an algebraic sum of the values of its input and reference signals , connected to the input of the twenty-first proportional block 65, the output of the fifth block 75, forming at the output an algebraic sum of the values of its input and reference signals, is connected to the input ohm of the twenty second proportional block 76, the output of the twentieth proportional block 53 is connected to the first input of the fourth block of the product 54, the output of the twenty first proportional block 65 is connected to the first input of the fifth block of the product 66, the output of the twenty second proportional block 76 is connected to the first input of the sixth block of the product 77 , the output of the twelfth summing block 12 is connected to the input of the signal sign determination unit 29, the output of the signal sign determination unit 29 is connected to the second input of the fourth 54, with the second input of the fifth block of product 66 and with the second input of the sixth block of product 77, the output of the fourth block of product 54 is connected to the second input of the fourth summing block 26 and with the second input of the ninth summing block 56, the output of the fifth block of product 66 is connected to the second input the fifth summing block 30 and with the second input of the eighth summing block 49, the output of the sixth block of product 77 is connected to the second input of the sixth summing block 37 and with the second input of the seventh summing block 44, the output of the second the block 14 is connected to the input of the second proportional block 15, the output of the third summing block 18 is connected to the input of the third proportional block 19, the output of the fourth summing block 26 is connected to the input of the fourth proportional block 27, the output of the fifth summing block 30 is connected to the input of the fifth proportional block 31, the output of the sixth summing block 37 is connected to the input of the sixth proportional block 38, the output of the seventh summing block 44 is connected to the input of the seventh proportional block 45, the output of the eighth sum unit 49 is connected to the input of the eighth proportional unit 50, the output of the ninth proportional unit 56 is connected to the input of the ninth proportional unit 57, the output of the tenth totalizing unit 61 is connected to the input of the tenth proportional unit 62, the output of the eleventh summing unit 68 is connected to the input of the eleventh proportional unit 69, the output of the second proportional block 15 is connected to the input of the second block 16, limiting the value of its input signal, the output of the third proportional block 19 is connected to the input of tre of the second block 20, limiting the value of its input signal, the output of the fourth proportional block 27 is connected to the input of the fourth block 28, limiting the value of its input signal, the output of the fifth proportional block 31 is connected to the input of the fifth block 32, limiting the value of its input signal, the output of the sixth proportional block 38 is connected to the input of the sixth block 39, limiting the value of its input signal, the output of the seventh proportional block 45 is connected to the input of the seventh block 46, limiting the value the value of its input signal, the output of the eighth proportional block 50 is connected to the input of the eighth block 51, limiting the value of its input signal, the output of the ninth proportional block 57 is connected to the input of the ninth block 58, limiting the value of its input signal, the output of the tenth proportional block 62 is connected to the input of the tenth block 63, limiting the value of its input signal, the output of the eleventh proportional block 69 is connected to the input of the eleventh block 70, limiting the value of its input of the second signal, the output of the second block 16, limiting the value of its input signal, is connected to the second input of the twentieth summing block 5, the output of the third block 20, limiting the value of its input signal, is connected to the third input of the twentieth summing block 5, the output of the fourth block 28, limiting the value its input signal is connected to the fourth input of the twentieth summing block 5, the output of the fifth block 32, limiting the value of its input signal, is connected to the fifth input of the twentieth summing block 5, the output of the sixth block 39, limiting the value of its input signal, is connected to the sixth input of the twentieth summing block 5, the output of the seventh block 46, limiting the value of its input signal, is connected to the seventh input of the twentieth summing block 5, the output of the eighth block 51, limiting the value of its input signal , connected to the eighth input of the twentieth summing block 5, the output of the ninth block 58, limiting the value of its input signal, is connected to the ninth input of the twentieth summing block 5, the output of ten th block 63, limiting the value of its input signal, is connected to the tenth input of the twentieth summing block 5, the output of the eleventh block 70, limiting the value of its input signal, is connected to the eleventh input of the twentieth summing block 5, the output of the first integral block 6 is connected to the input of the twenty-third proportional block 74, the output of the second integral block 7 is connected to the input of the twenty-fourth proportional block 78, the output of the third integral block 8 is connected to the input of the twenty-fifth proportional national block 80, the output of the fourth integral block 9 is connected to the input of the twenty-sixth proportional block 81, the output of the twenty-third proportional block 74 is connected to the first input of the twenty-first summing block 73, the output of the twenty-fourth proportional block 78 is connected to the second input of the twenty-first proportional block 73, the output of the twenty-fifth proportional block 80 is connected to the third input of the twenty-first summing block 73, the output of the twenty-sixth proportional block 81 is connected to the fourth input at the twenty-first totalizing unit 73, the output of the nineteenth totalizing unit 11 is connected to the fifth input of the twenty-first totalizing unit 73, the output of the twenty-first totalizing unit 73 is connected to the second input of the first totalizing unit 2.

A device for generating a signal corresponding to the optimal speed diagram of the movement of the Executive body of the mechanism, elastically connected to the electric motor, under the restrictions of the second and fourth derivatives of speed, works as follows. The first master 1 generates a signal equal to the final value of the angle of rotation of the Executive body of the mechanism φ _con . The second setter 83 generates a signal equal to the initial value of the angle of rotation of the Executive body of the mechanism φ _beg . The inputs from the first summing unit 2 are fed with a signal from the first setter 1, equal to the final value of the angle of rotation of the executive body of the mechanism φ _kon , and signals of negative feedbacks: by the angle of rotation of the executive body of the mechanism with a coefficient equal to unity; according to the frequency of rotation of the executive body of the mechanism with a time constant equal to 4τ (implements the twenty-sixth proportional block 81); according to the first derivative of the rotational speed of the executive body of the mechanism with a time constant in the second degree equal to 8τ ² (implements the twenty-fifth proportional block 80); according to the second derivative of the rotational speed of the executive body of the mechanism with a time constant in the third degree equal to 8τ ³ (implements the twenty-fourth proportional block 78); according to the third derivative of the rotational speed of the executive body of the mechanism with a time constant in the fourth degree equal to 4τ ⁴ (implements the twenty-third proportional block 74). The algebraic sum of the signals is input to the first proportional block 3. The first proportional block 3 amplifies the resulting signal. The first block 4, limiting the value of its input signal, limits the signal from the first proportional block 3 to the value . The inputs of the twelfth summing block 12 are fed signals: with a plus sign from the first setter 1, equal to the value of φ _con ; with a minus sign from the second setter 83, equal to the value of φ _beg . The twelfth block 13, limiting the value of its input signal, limits the signal coming from the twelfth summing block 12 to a value . The thirteenth block 17, limiting the value of its input signal, limits the signal from the twelfth summing block 12 to a value . The input of block 21, which forms the absolute value of its input signal at the output, receives a signal from the twelfth summing block 12, which is equal to the value of (φ _con -φ _beginning ). From the output of block 21, which forms the absolute value of its input signal at the output, a signal equal to | φ _con -φ _beg | is input to the twelfth proportional block 22. From the output of the twelfth proportional block 22, a signal equal to , arrives at the first and second inputs of the first block of the product 23. The output signal of the first block of the product 23, equal to , arrives at the input of the first block 24, forming at the output an algebraic sum of the values of its input and reference signals. The output signal of the first block 24, forming at the output an algebraic sum of the values of its input and reference signals, equal to , is fed to the input of block 25, which forms the root value of the second degree of its input signal at the output. The inputs to the inputs of the thirteenth summing block 33 are: signals with a plus sign from block 25, which generates the value of the root of the second degree of its input signal equal to ; plus sign from the twelfth proportional block 22 equal to . The inputs of the fourteenth summing block 40 give signals: with a minus sign from block 25, which generates the value of the root of the second degree of its input signal equal to ; plus sign from the twelfth proportional block 22 equal to . From the output of the thirteenth summing block 33, a signal equal to , arrives at the input of the first block 34, forming the output value of the root of the third degree of its input signal. From the output of the fourteenth summing block 40, a signal equal to , arrives at the input of the second block 41, forming the output value of the root of the third degree of its input signal. The inputs of the fifteenth summing block 35 are fed with signals: with a plus sign from the first block 34, which forms the value of the root of the third degree of its input signal equal to ; with a plus sign from the second block 41, forming the output value of the root of the third degree of its input signal, equal to . From the output of the fifteenth summing block 35, a signal equal to , arrives at the input of the second block 36, forming at the output an algebraic sum of the values of its input and reference signals. From the output of the second block 36, forming at the output an algebraic sum of the values of its input and reference signals, a signal equal to , is fed to the first and second inputs of the second block of the product 42, to the input of the thirteenth proportional block 47, to the input of the fifteenth proportional block 59 and to the input of the seventeenth proportional block 71. The signals are input to the inputs of the third block of product 43: with a plus sign 5 from the second block of the product 42 equal to ; with a plus sign from the second block 36, forming at the output an algebraic sum of the values of its input and reference signals, equal to the value of t ₂ . From the output of the second block of product 42, a signal equal to comes to the input of the fourteenth proportional block 55, to the input of the sixteenth proportional block 67 and to the input of the eighteenth proportional block 79. From the output of the third block of the product 43, a signal equal to , arrives at the input of the nineteenth proportional block 82. At the inputs of the sixteenth summing block 48, the following signals are sent: with a plus sign from the thirteenth proportional block 47, equal to ; plus sign from the fourteenth proportional block 55, equal to ; plus sign from the nineteenth proportional block 82, equal to . The inputs of the seventeenth summing block 60 signal: with a plus sign from the fifteenth proportional block 59, equal to ; plus sign from sixteenth proportional block 67 equal to ; plus sign from the nineteenth proportional block 82, equal to . The inputs of the eighteenth summing block 72 signals: with a plus sign from the seventeenth proportional block 71, equal to ; plus sign from the eighteenth proportional block 79, equal to ; plus sign from the nineteenth proportional block 82, equal to . From the output of the sixteenth summing block 48, a signal equal to , arrives at the input of the third block 52, forming at the output an algebraic sum of the values of its input and reference signals. From the output of the seventeenth summing block 60, a signal equal to , arrives at the input of the fourth block 64, forming at the output an algebraic sum of the values of its input and reference signals. From the output of the eighteenth summing block 72, a signal equal to , arrives at the input of the fifth block 75, forming at the output an algebraic sum of the values of its input and reference signals. The output signal of the third block 52, forming at the output an algebraic sum of the values of its input and reference signals, equal to , arrives at the input of the twentieth proportional block 53. The output signal of the fourth block 64, forming at the output an algebraic sum of the values of its input and reference signals, equal to , is fed to the input of the twenty-first proportional block 65. The output signal of the fifth block 75, which generates at the output an algebraic sum of the values of its input and reference signals, is equal to , is input to the twenty-second proportional block 76. The output signal of the twentieth proportional block 53 is equal to , arrives at the first input of the fourth block of the product 54. The output signal of the twenty-first proportional block 65, equal to , is fed to the first input of the fifth block of product 66. The output signal of the twenty-second proportional block 76 is equal to , arrives at the first input of the sixth block of the product 77. The signal from the output of the twelfth summing block 12, equal to the value of (φ _con -φ _beginning ), is received at the input of the sign sign determining unit 29. From the output of the unit for determining the sign of the signal 29, a signal equal to one arrives at the second input of the fourth block of the product 54, at the second input of the fifth block of the product 66 and at the second input of the sixth block of the product 77. Signals are sent to the inputs of the second summing block 14: plus sign from the first setter 1, equal to the value of φ _con with a minus sign from the twelfth block 13, limiting the value of its input signal equal to the value ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the second proportional block 15. The second proportional block 15 amplifies the resulting signal. The second block 16, limiting the value of its input signal, limits the signal from the second proportional block 15 to the value . The inputs to the inputs of the third summing block 18 are: signals with a plus sign from the first setter 1, equal to φ _kon with a minus sign from the thirteenth block 17, limiting the value of its input signal, equal to the value ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the third proportional block 19. The third proportional block 19 amplifies the resulting signal. The third block 20, limiting the value of its input signal, limits the signal from the third proportional block 19 to the value . The inputs of the fourth summing block 26 give signals: with a plus sign from the first setter 1, equal to the value of φ _con with a minus sign from the fourth block of the product 54, equal to the value ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the fourth proportional block 27. The fourth proportional block 27 amplifies the resulting signal. The fourth block 28, limiting the value of its input signal, limits the signal from the fourth proportional block 27 to a value . The inputs of the fifth summing block 30 are fed signals: with a plus sign from the first setter 1, equal to the value of φ _con ; with a minus sign from the fifth block of product 66, equal to ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the fifth proportional block 31. The fifth proportional block 31 amplifies the resulting signal. The fifth block 32, limiting the value of its input signal, limits the signal from the fifth proportional block 31 to the value . The inputs of the sixth summing block 37 signal: with a plus sign from the first setter 1, equal to the value of φ _con ; with a minus sign from the sixth block of product 77, equal to ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the sixth proportional block 38. The sixth proportional block 38 amplifies the resulting signal. The sixth block 39, limiting the value of its input signal, limits the signal from the sixth proportional block 38 to a value . The inputs of the seventh summing block 44 give signals: with a plus sign from the second setter 83, equal to the value of φ _beginning with a plus sign from the sixth block of the product 77, equal to the value ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the seventh proportional block 45. The seventh proportional block 45 amplifies the resulting signal. The seventh block 46, limiting the value of its input signal, limits the signal from the seventh proportional block 45 to the value . The inputs of the eighth summing block 49 are fed with signals: with a plus sign from the second setter 83, equal to the value of φ _beginning with a plus sign from the fifth block of the product 66, equal to the value ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the eighth proportional block 50. The eighth proportional block 50 amplifies the resulting signal. The eighth block 51, limiting the value of its input signal, limits the signal from the eighth proportional block 50 to a value . The inputs of the ninth summing block 56 give signals: with a plus sign from the second setter 83, equal to the value of φ _beginning with a plus sign from the fourth block of the product 54, equal to the value ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the ninth proportional block 57. The ninth proportional block 57 amplifies the resulting signal. The ninth block 58, limiting the value of its input signal, limits the signal from the ninth proportional block 57 to a value . The inputs of the tenth summing block 61 provide signals: with a plus sign in the second set point 83, equal to the value of φ _beginning with a plus sign thirteenth unit 17, limiting the value of its input signal is equal to the value ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the tenth proportional block 62. The tenth proportional block 62 amplifies the resulting signal. The tenth block 63, limiting the value of its input signal, limits the signal from the tenth proportional block 62 to a value . The inputs of the eleventh summing block 68 are fed signals: with a plus sign from the second setter 83, equal to the value of φ _beg ; with a plus sign from the twelfth block 13, limiting the value of its input signal equal to the value ; negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The algebraic sum of the signals is input to the eleventh proportional block 69. The eleventh proportional block 69 amplifies the resulting signal. The eleventh block 70, limiting the value of its input signal, limits the signal from the eleventh proportional block 69 to a value the inputs of the twentieth summing block 5 are fed with signals: with a plus sign from the first block 4, limiting the value of its input signal; with a minus sign from the second block 16, limiting the value of its input signal; with a plus sign from the third block 20, limiting the value of its input signal; with a minus sign from the fourth block 28, limiting the value of its input signal; with a plus sign from the fifth block 32, limiting the value of its input signal; with a minus sign from the sixth block 39, limiting the value of its input signal; with a plus sign from the seventh block 46, limiting the value of its input signal; with a minus sign from the eighth block 51, limiting the value of its input signal; with a plus sign from the ninth block 58, limiting the value of its input signal; with a minus sign from the tenth block 63, limiting the value of its input signal; with a plus sign from the eleventh block 70, limiting the value of its input signal. At the output of the twentieth summing block 5, the dependence of the fourth derivative of the rotational speed of the executive body of the mechanism on time is formed . The first integral unit 6 integrates the time dependence of the fourth derivative of the rotational speed of the actuator and forms the dependence of the third derivative of the rotational speed of the actuator of the mechanism on time . The second integral unit 7 integrates the dependence of the third derivative of the rotational speed of the actuator of the mechanism on time and forms the dependence of the second derivative of the frequency of rotation of the actuator of the mechanism on time . The third integral unit 8 integrates the dependence of the second derivative of the rotational speed of the actuator of the mechanism on time and forms the dependence of the first derivative of the frequency of rotation of the actuator of the mechanism on time . The fourth integral unit 9 integrates the dependence of the first derivative of the rotational speed of the actuator of the mechanism on time and forms the dependence of the rotational speed of the actuator of the mechanism on time ω ₂ (t). The fifth integral unit 10 integrates the time dependence of the rotational speed of the actuator. The inputs to the inputs of the nineteenth summing block 11 are: with a plus sign from the output of the fifth integral block 10 and with a plus sign from the second setter 83. At the output of the nineteenth summing block 11, the rotation angle of the actuator of the mechanism from time φ ₂ (t) is formed.

With an increase in the angle of rotation of the executive body of the mechanism, the condition φ _con > φ _beg . Moreover, in the time interval 0 <t <t _{1, the} angle of rotation of the executive body of the mechanism is less than the final value of the angle of rotation φ ₂ <φ _con , therefore, the output signal of the first block 4, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the tenth stage φ ₂ <φ ₂₁₀ , therefore, the output signal of the second block 16, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the ninth stage φ ₂ <φ ₂₉ , so the output signal of the third block 20, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the eighth stage φ ₂ <φ ₂₈ , therefore, the output signal of the fourth block 28, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the seventh stage φ ₂ <φ ₂₇ , therefore, the output signal of the fifth block 32, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the sixth stage φ ₂ <φ ₂₆ , therefore, the output signal of the sixth block 39, limiting the value of its input signal, is ; the rotation angle of the executive body of the mechanism is less than the value of the rotation angle at the end of the fifth stage φ ₂ <φ ₂₅ , therefore, the output signal of the seventh block 46, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the fourth stage φ ₂ <φ ₂₄ , therefore, the output signal of the eighth block 51, limiting the value of its input signal, is ; the rotation angle of the executive body of the mechanism is less than the rotation angle at the end of the third stage φ ₂ <φ ₂₃ , therefore, the output signal of the ninth block 58, limiting the value of its input signal, is ; the rotation angle of the executive body of the mechanism is less than the value of the rotation angle at the end of the second stage φ ₂ <φ ₂₂ , therefore, the output signal of the tenth block 63, limiting the value of its input signal, is ; the rotation angle of the executive body of the mechanism is less than the rotation angle at the end of the first stage φ ₂ <φ ₂₁ , therefore, the output signal of the eleventh block 70, limiting the value of its input signal, is ; the output signal of the twentieth summing block 5 is equal to . At time t = t ₁ φ ₂ = φ ₂₁ , therefore, the sum of the input signals of the eleventh summing block 68 changes its sign from plus to minus and a switching occurs in the eleventh block 70, which limits the value of its input signal. On the time interval t ₁ <t <2t _{1, the} output signal of the eleventh block 70, limiting the value of its input signal, is ; the output signal of the twentieth summing block 5 is equal to . At time t = 2t ₁ φ ₂ = φ ₂₂ , therefore, the sum of the input signals of the tenth summing block 61 changes its sign from plus to minus and switching occurs in the tenth block 63, limiting the value of its input signal. On the time interval 2t ₁ <t <(2t ₁ + t ₂ ) the output signal of the tenth block 63, limiting the value of its input signal, is ; the output signal of the twentieth summing block 5 is zero. At time t = (2t ₁ + t ₂ ) φ ₂ = φ ₂₃ , therefore, the sum of the input signals of the ninth summing block 56 changes its sign from plus to minus and switching occurs in the ninth block 58, limiting the value of its input signal. On the time interval (2t ₁ + t ₂ ) <t <(2t ₁ + t ₂ + t _{1 *} ) the output signal of the ninth block 58, which limits the value of its input signal, is ; the output signal of the twentieth summing block 5 is equal to . At the time t = (2t ₁ + t ₂ + t _{1 *} ) φ ₂ = φ ₂₄ , therefore, the sum of the input signals of the eighth summing block 49 changes its sign from plus to minus and switching occurs in the eighth block 51, limiting the value of its input signal . On the time interval (2t ₁ + t ₂ + t _{1 *} ) <t <(2t ₁ + t ₂ + 2t _{1 *} ) the output signal of the eighth block 51, limiting the value of its input signal, is ; the output signal of the twentieth summing block 5 is equal to . At time t = (2t ₁ + t ₂ + 2t _{1 *} ) φ ₂ = φ ₂₅ , therefore, the sum of the input signals of the seventh summing block 44 changes its sign from plus to minus and switching occurs in the seventh block 46, limiting the value of its input signal . On the time interval (2t ₁ + t ₂ + 2t _{1 *} ) <t <(2t ₁ + t ₂ + 2t _{1 *} + t ₃ ) the output signal of the seventh block 46, limiting the value of its input signal, is ; the output signal of the twentieth summing block 5 is zero. At time t = (2t ₁ + t ₂ + 2t _{1 *} + t ₃ ) φ ₂ = φ ₂₆ , therefore, the sum of the input signals of the sixth summing block 37 changes its sign from plus to minus and switching occurs in the sixth block 39, limiting the value its input signal. On the time interval (2t ₁ + t ₂ + 2t _{1 *} + t ₃ ) <t <(2t ₁ + t ₂ + 3t _{1 *} + t ₃ ) the output signal of the sixth block 39, limiting the value of its input signal, is ; the output signal of the twentieth summing block 5 is equal to . At time t = (2t ₁ + t ₂ + 3t _{1 *} + t ₃ ) φ ₂ = φ ₂₇ , therefore, the sum of the input signals of the fifth summing block 30 changes its sign from plus to minus and switching occurs in the fifth block 32, limiting the value its input signal. On the time interval (2t ₁ + t ₂ + 3t _{1 *} + t ₃ ) <t <(2t ₁ + t ₂ + 4t _{1 *} + t ₃ ) the output signal of the fifth block 32, limiting the value of its input signal, is ; the output signal of the thirty-third summing block 5 is equal to . At time t = (2t ₁ + t ₂ + 4t _{1 *} + t ₃ ) φ ₂ = φ ₂₈ , therefore, the sum of the input signals of the fourth summing block 26 changes its sign from plus to minus and switching occurs in the fourth block 28, limiting the value its input signal. On the time interval (2t ₁ + t ₂ + 4t _{1 *} + t ₃ ) <t <(2t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) the output signal of the fourth block 28, limiting the value of its input signal, is ; the output signal of the twentieth summing block 5 is zero. At time t = (2t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) φ ₂ = φ ₂₉ , therefore, the sum of the input signals of the third summing block 18 changes its sign from plus to minus and switching occurs in the third block 20, limiting the value its input signal. On the time interval (2t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) <t <(3t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) the output signal of the third block 20, limiting the value of its input signal, is ; the output signal of the twentieth summing block 5 is equal to . At the time t = (3t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) φ ₂ = φ ₂₁₀ , therefore, the sum of the input signals of the second summing block 14 changes its sign from plus to minus and switching occurs in the second block 16, limiting the value its input signal. On the time interval (3t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) <t <(4t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) the output signal of the second block 16, limiting the value of its input signal, is ; the output signal of the twentieth summing block 5 is equal to . At time t = (4t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) φ ₂ = φ _kon , therefore, the sum of the input signals of the first summing block 2 becomes equal to zero and switching occurs in the first block 4, limiting the value of its input signal. On the time interval (4t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) <t the output signal of the first block 4, limiting the value of its input signal, is zero; the output signal of the twentieth summing block 5 is zero. The presence of negative feedbacks on the frequency of rotation of the executive body of the mechanism and its first, second and third derivatives allows us to provide a transient process in the time interval (4t ₁ + 2t ₂ + 4t _{1 *} + t ₃ ) <t with high dynamic characteristics.

In the description, a variant is considered in which the angle of rotation of the executive body of the mechanism increases (φ _con > φ _nach ). The inventive device provides the formation of a signal corresponding to the optimal speed diagram of the movement of the Executive body of the mechanism, elastically connected to the electric motor, with restrictions of the second and fourth derivatives of speed, and with a decrease in the angle of rotation of the Executive body of the mechanism (φ _con <φ _beginning ).

The proposed device provides a high-quality signal generation corresponding to the optimal speed diagram of the movement of the Executive body of the mechanism, elastically connected to the electric motor, with limitations of the second and fourth derivatives of speed.

The accuracy of the signal generation corresponding to the optimal speed diagram of the movement of the actuator of the mechanism elastically connected to the electric motor, under the restrictions of the second and fourth derivatives of speed, is determined by the adjustment of linear blocks: proportional, summing and integral, as well as blocks limiting the value of its input signal.

A device based on a programmable controller that generates a signal corresponding to the optimal speed diagram of the movement of the executive body of a mechanism elastically connected to an electric motor is developed, implemented, and experimentally investigated under the restrictions of the second and fourth derivatives of speed.

Claims (1)

A device for generating a signal corresponding to an optimal speed diagram of the movement of the actuator of the mechanism elastically connected to the electric motor, with restrictions of the second and fourth derivatives of speed, comprising a first master, the output of which is connected to the first input of the first summing block, the output of the first summing block is connected to the 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 s Nal, the first integral block, the output of which is connected to the input of the second integral block, the output of the second integral block is connected to the input of the third integral block, the output of the third integral block is connected to the input of the fourth integral block, the output of the fourth integral block is connected to the input of the fifth integral block, the second summing block, the output of which is connected to the input of the second proportional block, the output of the second proportional block is connected to the input of the second block, limiting its value about the input signal, the first block of the work, the second block of the work, the third block of the work, the fourth block of the work, the fifth block of the work, the sixth block of the work, the third summing block, the fourth summing block, the fifth summing block, the sixth summing block, the seventh summing block, the eighth summing block, ninth summing block, tenth summing block, eleventh summing block, twelfth summing block, thirteenth summing block, fourteenth summing block, fifteenth summing block, shes thirteenth summing block, seventeenth summing block, eighteenth summing block, nineteenth summing block, twentieth summing block, twenty first summing block, third proportional block, fourth proportional block, fifth proportional block, sixth proportional block, seventh proportional block, eighth proportional block, ninth proportional block, tenth proportional block, eleventh proportional block, twelfth proportional block, thirteenth proportional block , fourteenth proportional block, fifteenth proportional block, sixteenth proportional block, seventeenth proportional block, eighteenth proportional block, nineteenth proportional block, twentieth proportional block, twenty first proportional block, twenty second proportional block, twenty third proportional block, twenty fourth proportional block, twenty fifth proportional block, twenty-sixth proportional block, first block forming an algebraic output the sum of the values of its input and reference signals, the second block, which generates the algebraic sum of the values of its input and reference signals, the third block, which generates the algebraic sum of the values of its input and reference signals, the fourth block, which generates the algebraic sum of the values of its input and reference signals, a fifth block generating an algebraic sum of the values of its input and reference signals at the output, a block forming the absolute value of its input signal at the output, a unit generating an output root value of the second degree of its input signal, a first unit generating an output root value of a third degree of its input signal, a second unit generating an output root value of a third degree of its input signal, a second master, a signal sign determination unit, the fact that the output of the first master is connected to the first input of the second totalizing unit, with the first input of the third totalizing unit, with the first input of the fourth totalizing unit, with the first input of the fifth totalizing block and with the first input of the sixth summing block, the output of the second master is connected to the first input of the seventh summing block, with the first input of the eighth summing block, with the first input of the ninth summing block, with the first input of the tenth summing block and with the first input of the eleventh summing block, the output of the third the summing block is connected to the input of the third proportional block, the output of the fourth summing block is connected to the input of the fourth proportional block, the output of the fifth summing block is connected to the input the house of the fifth proportional block, the output of the sixth summing block is connected to the input of the sixth proportional block, the output of the seventh summing block is connected to the input of the seventh proportional block, the output of the eighth summing block is connected to the input of the eighth proportional block, the output of the ninth summing block is connected to the input of the ninth proportional block, output the tenth summing block is connected to the input of the tenth proportional block, the output of the eleventh summing block is connected to the input of the eleventh of the proportional block, a third block is introduced that limits the value of its input signal, the input of which is connected to the output of the third proportional block, a fourth block is limited to the value of its input signal, the input of which is connected to the output of the fourth proportional block, a fifth block is introduced that limits the value of its input signal whose input is connected to the output of the fifth proportional block, the sixth block is introduced, limiting the value of its input signal, the input of which is connected to the output of the sixth proportional block, the seventh block is introduced, limiting the value of its input signal, the input of which is connected to the output of the seventh proportional block, the eighth block is limiting the value of its input signal, the input of which is connected to the output of the eighth proportional block, the ninth block is limiting the value of its input signal, the input of which is connected to the output of the ninth proportional block, the tenth block is introduced, limiting the value of its input signal, the input of which is connected with the output of the tenth proportional block, the eleventh block is introduced, limiting the value of its input signal, the input of which is connected to the output of the eleventh proportional block, the output of the first master is connected to the first input of the twelfth summing block, the output of the second master is connected to the second input of the twelfth summing block, the twelfth block is introduced , limiting the value of its input signal, the input of which is connected to the output of the twelfth summing block, introduced the thirteenth block, limiting the value of its input signal, the input of which is connected to the output of the twelfth summing block, the output of the twelfth summing block is connected to the input of the block forming the absolute value of its input signal at the output, the output of the twelfth block limiting the value of its input signal is connected to the second input of the second summing block, and with the second input of the eleventh summing block, the output of the thirteenth block limiting the value of its input signal is connected to the second input of the third summing block about the block and with the second input of the tenth summing block, the output of the block forming the absolute value of its input signal at the output is connected to the input of the twelfth proportional block, the output of the twelfth proportional block is connected to the first and second inputs of the first block of the work, the output of the first block of the work is connected to the input the first block forming the algebraic sum of the values of its input and reference signals at the output, the output of the first block forming the algebraic sum of the values of its input at the output one and a reference signal, connected to the input of the block forming the root value of the second degree of its input signal at the output, the output of the block forming the root value of the second degree of its input signal at the output, is connected to the first input of the thirteenth summing block and to the first input of the fourteenth summing block, the output of the twelfth proportional block is connected to the second input of the thirteenth summing block and to the second input of the fourteenth summing block, the output of the thirteenth summing block is connected to the ode of the first block, which generates the third root value of its input signal at the output, the output of which is connected to the first input of the fifteenth summing block, the output of the fourteenth summing block is connected to the input of the second block, which generates the third root value of its input signal, the output of which is connected to the second input of the fifteenth summing block, the output of the fifteenth summing block is connected to the input of the second block, forming at the output an algebraic sum of the values of its input o and the reference signals, the output of which is connected to the first and second inputs of the second block of the product, the output of the second block of the product is connected to the first input of the third block of the product, the output of the second block, which forms the algebraic sum of the values of its input and reference signals, is connected to the second input of the third block of the product, the output of the second block, forming at the output an algebraic sum of the values of its input and reference signals, is connected to the input of the thirteenth proportional block, with the input of fifteen th proportional block and with the input of the seventeenth proportional block, the output of the second block of the product is connected to the input of the fourteenth proportional block, with the input of the sixteenth proportional block and with the input of the eighteenth proportional block, the output of the third block of the product is connected to the input of the nineteenth proportional block, the output of the thirteenth proportional block is connected to the first input of the sixteenth summing block, the output of the fifteenth proportional block is connected to the first input of the eleventh summing block, the output of the seventeenth proportional block is connected to the first input of the eighteenth summing block, the output of the fourteenth proportional block is connected to the second input of the sixteenth summing block, the output of the sixteenth proportional block is connected to the second input of the seventeenth summing block, the output of the eighteenth proportional block is connected to the second input of the eighteenth summing block, the output of the nineteenth proportional block is connected to the third input of the sixteenth the summing block, with the third input of the seventeenth summing block and with the third input of the eighteenth summing block, the output of the sixteenth summing block is connected to the input of the third block, which generates an algebraic sum of the values of its input and reference signals, the output of the seventeenth summing block is connected to the input of the fourth block, forming at the output, the algebraic sum of the values of its input and reference signals, the output of the eighteenth summing block is connected to the input of the fifth block, forming and the output is the algebraic sum of the values of its input and reference signals, the output of the third block, which forms the algebraic sum of the values of its input and reference signals, is connected to the input of the twentieth proportional block, the output of the fourth block, which forms the algebraic sum of the values of its input and reference signals, connected to the input of the twenty-first proportional block, the output of the fifth block, forming at the output an algebraic sum of the values of its input and reference signals, is connected to by the twenty-second proportional block, the output of the twentieth proportional block is connected to the first input of the fourth block of the product, the output of the twenty-first proportional block is connected to the first input of the fifth block of the product, the output of the twenty-second proportional block is connected to the first input of the sixth block of the product, the output of the twelfth summing block is connected to the input of the signal sign determination unit, the output of the signal sign determination unit is connected to the second input of the fourth product block, with the second the input of the fifth block of the product and the second input of the sixth block of the product, the output of the fourth block of the product is connected to the second input of the fourth summing block and the second input of the ninth summing block, the output of the fifth block of the product is connected to the second input of the fifth summing block and the second input of the eighth summing block , the output of the sixth product block is connected to the second input of the sixth summing block and to the second input of the seventh summing block, the output of the fifth integral block is connected to the first the input of the nineteenth summing block, the second input of which is connected to the output of the second master, the output of the nineteenth summing block is connected to the third input of the second summing block, with the third input of the third summing block, with the third input of the fourth summing block, with the third input of the fifth summing block, with the third the input of the sixth summing block, with the third input of the seventh summing block, with the third input of the eighth summing block, with the third input of the ninth summing block, with the third input of ten of the summing block and with the third input of the eleventh summing block, the output of the first block limiting the value of its input signal is connected to the first input of the twentieth summing block, the output of the second block limiting the value of its input signal is connected to the second input of the twentieth summing block, the output of the third block , limiting the value of its input signal, is connected to the third input of the twentieth summing block, the output of the fourth block, limiting the value of its input signal, is dined with the fourth input of the twentieth summing block, the output of the fifth block limiting the value of its input signal is connected to the fifth input of the twentieth summing block, the output of the sixth block limiting the value of its input signal is connected to the sixth input of the twentieth summing block, the output of the seventh block limiting the value its input signal is connected to the seventh input of the twentieth summing block, the output of the eighth block, limiting the value of its input signal, is connected to the eighth input of two of the tenth summing block, the output of the ninth block limiting the value of its input signal is connected to the ninth input of the twentieth summing block, the output of the tenth block limiting the value of its input signal is connected to the tenth input of the twentieth summing block, the output of the eleventh block limiting the value of its input signal connected to the eleventh input of the twentieth summing block, the output of the twentieth summing block is connected to the input of the first integral block, the output of the first integral the block is connected to the input of the twenty-third proportional block, the output of the second integral block is connected to the input of the twenty-fourth proportional block, the output of the third integral block is connected to the input of the twenty-fifth proportional block, the output of the fourth integral block is connected to the input of the twenty-fifth proportional block, the output of the twenty-third proportional block connected to the first input of the twenty-first summing block, the output of the twenty-fourth proportional block is connected from the second the input of the twenty first summing block, the output of the twenty fifth proportional block is connected to the third input of the twenty first summing block, the output of the twenty sixth proportional block is connected to the fourth input of the twenty first summing block, the output of the nineteenth summing block is connected to the fifth input of the twenty first summing block, the output of the twenty first a summing block is connected to a second input of a first summing block.