RU158490U1 - DEVICE FOR FORMING A SIGNAL RELATED TO THE ENERGY-SAVING DIAGRAM OF MOVING THE EXECUTIVE AUTOMATIC BODY OF A DIRECT-CURRENT CURRENT-RESISTANT RESISTANCE - Google Patents

Abstract

A device for generating a signal corresponding to an energy-saving diagram of the movement of the actuator of a DC electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum values of the current of the motor armature circuit, containing a first step signal generator, the output of which is connected to the first input of the first block of the algebraic adder, the output of the first block of the algebraic adder is connected to the input of the first integral block, the output of the first integral the first block of the algebraic adder, the output of the second block of the algebraic adder is connected to the input of the second integral block, the third integral block, the output of which is connected to the first input of the third block of the algebraic adder, the second step generator, the output of which is connected to the second input of the first block of the algebraic adder, the third step signal generator, the output of which is connected to the second input of the second block of the algebraic adder, the fourth a step signal generator, the output of which is connected to the second input of the third block of the algebraic adder, a fifth step signal generator, the output of which is connected to the third input of the second block of the algebraic adder, characterized in that a sixth step signal generator is introduced into the device, the output of which is connected to the first input of the fourth block of the algebraic adder, the output of the fourth block of the algebraic adder is connected to the input of the first proportional block, the output of the first proportional block

Description

The utility model relates to electrical engineering and can be used in industrial installations to generate a signal corresponding to an energy-saving diagram of the movement of the actuator of a direct current electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum current values of the armature circuit of the electric motor.

Closest to the claimed device for generating a signal corresponding to an energy-saving diagram of the movement of the actuator of a direct current electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum values of the current of the armature circuit of the electric motor, is a device for generating a signal corresponding to the optimal minimum electric energy consumption of the actuator body of a direct current electric drive with a constant moment resistance volume with restrictions on the maximum and minimum values of the current of the armature circuit of the electric motor. / Lutsenko A.Yu. The development of devices that form optimal diagrams for minimum energy consumption for small movements of executive bodies of electric drives // Scientific works of KubGTU, 2015, No. 2. Link to the Internet resource: http://ntk.kubstu.ru/file/329, which is taken as a prototype.

The prototype contains: a first step signal generator whose output is connected to the first input of the first block of the algebraic adder, the output of the first block of the algebraic adder is connected to the input of the first integral block, the output of the first integral block is connected to the first input of the second block of the algebraic adder, the output of the second block of the algebraic adder is connected with 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 first input of the third block of the algebraic adder, the second step signal generator, the output of which is connected to the second input of the first block of the algebraic adder, the third step signal generator, the output of which is connected to the second input of the second block of the algebraic adder, the fourth step signal generator, the output of which is connected with the second input of the third block of the algebraic adder, the fifth step generator, the output of which is connected to the third input of the second block a adder algebraically.

The prototype generates a signal corresponding to the optimal minimum flow diagram of the actuator for moving the direct current electric drive with a constant moment of resistance, with restrictions on the maximum and minimum values of the current of the motor armature circuit.

The device works in conjunction with a system for automatically regulating the position of the executive body of the electric drive.

The prototype is designed for systems that do not take into account the moment of resistance, depending on the speed. The use of the prototype in systems containing a moment of resistance, depending on the speed, will lead to unauthorized movement.

When developing a mathematical model of the power part of a positional DC electric drive with a speed-dependent moment of resistance, the following assumptions are made: the armature reaction is not taken into account; the moment on the motor shaft is equal to the electromagnetic moment; hysteresis in the magnetic circuit of the machine is not taken into account; the influence of the inductance of the motor armature circuit is not taken into account. Thus, a direct current electric drive is described by a system of differential equations of the second order.

The objective is to develop a device for generating a signal corresponding to an energy-saving diagram of the movement of the executive body of a direct current electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum current values of the armature circuit of the electric motor.

The technical result of the utility model is to increase the accuracy of generating a signal corresponding to an energy-saving diagram of the movement of the actuator of a direct current electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum values of the current of the armature circuit of the electric motor due to the introduction of additional units that correct the influence of the moment of resistance, depending on the speed.

The technical result is achieved by the fact that the device for generating a signal corresponding to an energy-saving diagram of the movement of the actuator of a direct current electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum current values of the motor armature circuit contains a first step signal generator, the output of which is connected to the first input of the first block algebraic adder, the output of the first block of the algebraic adder is connected to the input of the first and integral block, the output of the first integral block is connected to the first input of the second block of the algebraic adder, the output of the second block of the algebraic adder is connected to the input of the second integral block, the third integral block, the output of which is connected to the first input of the third block of the algebraic adder, the second step signal generator, the output of which connected to the second input of the first block of the algebraic adder, the third step generator, the output of which is connected to the second input of the second block algebraic adder, a fourth step signal generator, the output of which is connected to the second input of the third block of the algebraic adder, a fifth step signal generator, the output of which is connected to the third input of the second block of the algebraic adder, an additional sixth step signal generator, the output of which is connected to the first input of the fourth block algebraic adder, the output of the fourth block of the algebraic adder is connected to the input of the first proportional block, the output of the first a portion block is connected to the first input of the fifth block of the algebraic adder, the output of the fifth block of the algebraic adder is connected to the input of the second proportional block, the output of the second proportional block is connected to the input of the fourth integral block, the output of the fourth integral block is connected to the first input of the sixth block of the algebraic adder, the seventh step generator signal, the output of which is connected to the second input of the fourth block of the algebraic adder, the eighth step generator Ala, the output of which is connected to the second input of the fifth block of the algebraic adder, the output of the second integral block is connected to the second input of the sixth block of the algebraic adder, the first output of the sixth block of the algebraic adder is connected to the input of the third integral block, the second output of the sixth block of the algebraic adder is connected to the input of the third proportional unit, the ninth step signal generator, the output of which is connected to the third input of the fourth block of the algebraic adder, the tenth generator p step signal, the output of which is connected to the fourth input of the fourth block of the algebraic adder, the output of the third proportional block is connected to the third input of the fifth block of the algebraic adder.

до величины I_доп, при этом первая производная угловой скорости исполнительного органа электропривода скачком увеличивается от нуля до величины максимального значения первой производной угловой скорости исполнительного органа электропривода

. На первом этапе в интервале времени 0≤t≤t₁ ток поддерживается постоянным и равен допустимому значению I_доп, первая производная угловой скорости уменьшается от величины

до величины

, угловая скорость исполнительного органа электропривода увеличивается от нуля до

. На втором этапе в интервале времени t₁≤t≤(t₁+t₂) поддерживается постоянное минимальное значение второй производной угловой скорости исполнительного органа электропривода

, первая производная угловой скорости исполнительного органа электропривода линейно снижается от величины

до величины минимального значения первой производной угловой скорости исполнительного органа электропривода

, угловая скорость исполнительного органа электропривода увеличивается от величины ω₁ до величины максимального значения угловой скорости ω_max. В момент времени, когда первая производная угловой скорости исполнительного органа электропривода равна нулю, угловая скорость исполнительного органа электропривода достигает максимального значения ω_max. Затем первая производная угловой скорости исполнительного органа электропривода имеет отрицательное значение, поэтому угловая скорость исполнительного органа снижается от величины ω_max до величины

. Ток якорной цепи меняется от допустимого значения тока якорной цепи I_доп до величины допустимого значения тока якорной цепи со знаком «минус» -I_доп. На третьем этапе в интервале времени (t₁+t₂)≤t≤(t₁+t₂+t₃)=T_ц ток якорной цепи поддерживается постоянным и равен допустимому значению со знаком «минус» -I_доп, первая производная угловой скорости исполнительного органа электропривода увеличивается от величины

до величины

, угловая скорость исполнительного органа электропривода снижается от величины ω₂ до нуля. В момент времени t=t₁+t₂+t₃ первая производная угловой скорости исполнительного органа электропривода меняется скачком от величины

до нуля, угловая скорость электропривода равна нулю, ток якорной цепи меняется скачком от величины -I_доп до величины

. На всем интервале времени 0≤t≤t₁+t₂+t₃=T_ц угол поворота исполнительного органа электропривода увеличивается. В момент времени t=t₁+t₂+t₃ электропривода достигает конечного значения φ_кон.An energy-saving diagram of the movement of the executive body of a DC electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum values of the current of the motor armature circuit is formed as follows, // Dobrobaba Yu.P., Lutsenko A.Yu. Development of energy-saving diagrams for small displacements of the executive body of a direct current electric drive with a moment of resistance depending on speed // Political Mathematical Network Scientific Journal of Kuban State Agrarian University (Scientific journal KubGAU) [Electronic resource]. - Krasnodar: KubSAU, 2014. - No. 10 (104). - IDA [article ID]: 1041410119. - Access mode: http: //ei.http: //kubagro.ru/2014/10/pdf/119.pdf/. At time t = 0, the current of the anchor circuit abruptly changes from

to the value of I _add , while the first derivative of the angular velocity of the actuator of the actuator jumps from zero to the maximum value of the first derivative of the angular velocity of the actuator of the actuator

. At the first stage, in the time interval 0≤t≤t _{1, the} current is kept constant and equal to the permissible value of I _add , the first derivative of the angular velocity decreases from the value

up to

, the angular velocity of the executive body of the electric drive increases from zero to

. At the second stage, in the time interval t ₁ ≤t≤ (t ₁ + t ₂ ) a constant minimum value of the second derivative of the angular velocity derivative of the actuator

, the first derivative of the angular velocity of the actuator of the actuator linearly decreases from

to the minimum value of the first derivative of the angular velocity of the actuator

, the angular velocity of the Executive body of the electric drive increases from the value of ω ₁ to the value of the maximum value of the angular velocity ω _max . At the time when the first derivative of the angular velocity of the actuator's actuator is zero, the angular velocity of the actuator's actuator reaches the maximum value ω _max . Then, the first derivative of the angular velocity of the actuator's actuator has a negative value, therefore, the angular velocity of the actuator decreases from ω _max to

. The current of the anchor chain varies from the permissible value of the current of the anchor chain I _add to the value of the permissible value of the current of the anchor chain with a minus sign -I _add . The third stage in the time interval (t ₁ + t ₂₎ ≤t≤ (t ₁ + t ₂ + t ₃₎ = T _p armature circuit current is maintained constant and equal to the allowable value from the "minus» -I _additional first derivative corner speed of the executive body of the electric drive increases from

up to

, the angular velocity of the executive body of the electric drive decreases from ω ₂ to zero. At time t = t ₁ + t ₂ + t _{3, the} first derivative of the angular velocity of the actuator actuator changes abruptly from

to zero, the angular speed of the electric drive is equal to zero, the current of the anchor circuit changes abruptly from -I _extra to

. Throughout the entire time interval 0≤t≤t ₁ + t ₂ + t ₃ = T _{C the} angle of rotation of the actuator of the electric drive increases. At time t = t ₁ + t ₂ + t _{3 the} electric drive reaches the final value φ _con .

For an energy-saving chart, the following ratios are true:

where M _co - constant in magnitude of the moment of resistance of the electric drive, Nm;

C _m - the coefficient of proportionality between the current and the electromagnetic moment of the electric motor, B · s;

φ _beg is the initial value of the angle of rotation of the actuator of the electric drive, rad;

J is the moment of inertia of the electric drive, kg · m ² ;

;K _with - the coefficient of proportionality between the speed and the moment of resistance of the electric drive,

;

T _c - the duration of the displacement cycle, s;

t ₁ - the duration of the first stage, s;

t ₂ - the duration of the second stage, s;

t ₃ - the duration of the third stage, s.

In FIG. 1 shows a block diagram of a device for generating a signal corresponding to an energy-saving diagram of the movement of the actuator of a direct current electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum values of the current of the armature circuit of the electric motor.

A device for generating a signal corresponding to an energy-saving diagram of the movement of the actuator of a DC electric drive with a speed-dependent moment of resistance, with restrictions on the maximum and minimum values of the current of the motor armature circuit, comprises a first step signal generator 1, the output of which is connected to the first input of the first block of the algebraic adder 2, output the first block of the algebraic adder 2 is connected to the input of the first integral block 3, the output of the first inter the integral block 3 is connected to the first input of the second block of the algebraic adder 4, the output of the second block of the algebraic adder 4 is connected to the input of the second integral block 5, the third integral block 6, the output of which is connected to the first input of the third block of the algebraic adder 7, the second generator of the step signal 8, the output of which is connected to the second input of the first block of the algebraic adder 2, the third generator of a step signal 9, the output of which is connected to the second input of the second block of the algebraic adder 4, the fourth step generator 10, the output of which is connected to the second input of the third block of the algebraic adder 7, the fifth step generator 11, the output of which is connected to the third input of the second block of the algebraic adder 4, the sixth step signal generator 12, the output of which is connected to the first input of the fourth block algebraic adder 13, the output of the fourth block of the algebraic adder 13 is connected to the input of the first proportional block 14, the output of the first proportional block 14 is connected to the first the input of the fifth block of the algebraic adder 15, the output of the fifth block of the algebraic adder 15 is connected to the input of the second proportional block 16, the output of the second proportional block 16 is connected to the input of the fourth integral block 17, the output of the fourth integral block 17 is connected to the first input of the sixth block of the algebraic adder 18, the seventh step signal generator 19, the output of which is connected to the second input of the fourth block of the algebraic adder 13, the eighth step signal generator 20, the output of which connected to the second input of the fifth block of the algebraic adder 15, the output of the second integral block 5 is connected to the second input of the sixth block of the algebraic adder 18, the first output of the sixth block of the algebraic adder 18 is connected to the input of the third integral block 6, the second output of the sixth block of the algebraic adder 18 is connected to the input the third proportional block 21, the ninth step signal generator 22, the output of which is connected to the third input of the fourth block of the algebraic adder 13, the tenth step generator chatogo signal 23, whose output is connected to a fourth input of the fourth block of the algebraic adder 13, the output of the third proportional block 21 is connected to the third input of the fifth unit of the algebraic adder 15.

; седьмой генератор ступенчатого сигнала 19 подает на второй вход четвертого блока алгебраического сумматора 13 сигнал, соответствующий допустимому значению тока якорной цепи электродвигателя со знаком «минус» -I_доп. В момент времени t=(t₁+t₂): второй генератор ступенчатого сигнала 8 подает на второй вход первого блока алгебраического сумматора 2 сигнал, соответствующий минимальному значению второй производной угловой скорости исполнительного органа электропривода со знаком «минус»

; девятый генератор ступенчатого сигнала 22 подает на третий вход четвертого блока алгебраического сумматора 13 сигнал, соответствующий допустимому значению тока якорной цепи электродвигателя со знаком «минус» -I_доп. В момент времени t=Т_ц=(t₁+t₂+t₃) десятый генератор ступенчатого сигнала 23 подает на четвертый вход четвертого блока алгебраического сумматора 13 сигнал, соответствующий допустимому значению тока якорной цепи электродвигателя I_доп. На интервале времени 0≤t≤t₁ выходной сигнал четвертого блока алгебраического сумматора 13 равен допустимому значению тока якорной цепи электродвигателя I_доп; на интервале времени (t₁+t₂)≤t≤(t₁+t₂-t₃) выходной сигнал с четвертого блока алгебраического сумматора 13 равен допустимому значению тока якорной цепи электродвигателя со знаком «минус» -I_доп. Выходной сигнал с четвертого блока алгебраического сумматора 13 поступает на первый пропорциональный блок 14. Первый пропорциональный блок 14 умножает свой входной сигнал на коэффициент C_м, на интервале времени 0≤t≤t₁ выходной сигнал первого пропорционального блока 14 равен C_мI_доп; на интервале времени (t₁+t₂)≤t≤(t₁+t₂+t₃) выходной сигнал первого пропорционального блока 14 равен -(C_мI_доп). Выходной сигнал с первого пропорционального блока 14 поступает на первый вход пятого блока алгебраического сумматора 15. Восьмой генератор ступенчатого сигнала 20 подает на второй вход пятого блока алгебраического сумматора 15 сигнал, соответствующий величине постоянного момента сопротивления электропривода со знаком «минус», -M_со. На третий вход пятого блока алгебраического сумматора 15 подается сигнал с третьего пропорционального блока 21 со знаком «минус» -K_сω. На интервале времени 0≤t≤t₁ выходной сигнал пятого блока алгебраического сумматора 15 равен (C_мI_доп-M_со-K_сω); на интервале времени (t₁+t₂)≤t≤(t₁+t₂+t₃) выходной сигнал пятого блока алгебраического сумматора 15 равен -(C_мI_доп-M_со-K_сω). Второй пропорциональный блок 16 умножает свой входной сигнал на величину

, поступающий с пятого блока алгебраического сумматора 15. Выходной сигнал второго пропорционального блока 16 на интервале времени 0≤t≤t₁ равен

; выходной сигнал второго пропорционального блока 16 на интервале времени (t₁+t₂)≤t≤(t₁+t₂+t₃) равен

. Четвертый интегральный блок 17 интегрирует сигнал, поступающий со второго пропорционального блока 16; выходной сигнал четвертого интегрального блока 17 соответствует угловой скорости исполнительного органа электропривода со; на первый вход шестого блока алгебраического сумматора 18 поступает сигнал с четвертого интегрального блока 17. В интервале времени t₁≤t≤(t₁+t₂): на выходе первого блока алгебраического сумматора 2 формируется сигнал, соответствующий минимальному значению второй производной угловой скорости исполнительного органа электропривода

; первый интегральный блок 3 интегрирует сигнал, поступающий с первого блока алгебраического сумматора 2; выходной сигнал с первого интегрального блока 3 соответствует первой производной угловой скорости исполнительного органа электропривода ω⁽¹⁾; выходной сигнал с первого интегрального блока 3 подается на первый вход второго блока алгебраического сумматора 4. В момент времени t=t₁ третий генератор ступенчатого сигнала 9 подает на второй вход второго блока алгебраического сумматора 4 сигнал, соответствующий значению первой производной угловой скорости исполнительного органа электропривода

. В момент времени t=t₁+t₂+t₃ пятый генератор ступенчатого сигнала подает на второй блок алгебраического сумматора сигнал, соответствующий значению первой производной угловой скорости исполнительного органа электропривода

. На интервале времени t₁≤t≤(t₁+t₂) первая производная угловой скорости исполнительного органа электропривода линейно снижается от величины

до величины

; второй интегральный блок 5 интегрирует сигнал, поступающий со второго блока алгебраического сумматора 4; выходной сигнал второго интегрального блока 5 соответствует величине угловой скорости исполнительного органа электропривода ω; на второй вход шестого блока алгебраического сумматора 18 подается сигнал со второго интегрального блока 5. На интервале времени 0≤t≤T_ц=(t₁+t₂+t₃) на выходе шестого блока алгебраического сумматора 18 формируется сигнал, соответствующий угловой скорости исполнительного органа электропривода ω; на вход третьего пропорционального блока 21 подается сигнал со второго выхода шестого блока алгебраического сумматора 18, третий пропорциональный блок 21 умножает входной сигнал, поступающий со второго выхода шестого блока алгебраического сумматора 18, на коэффициент K_с; выходной сигнал третьего пропорционального блока 21 равен K_сω; третий интегральный блок 6 интегрирует сигнал, поступающий с первого выхода шестого блока алгебраического сумматора 18; выходной сигнал с третьего интегрального блока 6 подается на первый вход третьего блока алгебраического сумматора 7. В момент времени t=0 четвертый генератор ступенчатого сигнала 10 подает на второй вход третьего блока алгебраического сумматора 7 сигнал, соответствующий начальному значению угла поворота исполнительного органа электропривода φ_нач; на выходе третьего блока алгебраического сумматора 7 формируется сигнал, соответствующий углу поворота исполнительного органа электропривода φ. В момент времени t=(t₁+t₂+t₃) угол поворота исполнительного органа электропривода достигает конечного значения φ_кон.A device for generating a signal corresponding to an energy-saving diagram of the movement of the actuator of a direct current electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum values of the current of the armature circuit of the electric motor, operates as follows. At time t = 0, the sixth step signal generator 12 supplies the first input of the fourth block of the algebraic adder 13 with a signal corresponding to the permissible value of the current of the armature circuit of the electric motor I _add . At time t = t _{1, the} first step signal generator 1 supplies the first input of the first block of the algebraic adder 2 with a signal corresponding to the minimum value of the second derivative of the angular velocity of the actuator actuator

; the seventh step signal generator 19 supplies the second input of the fourth block of the algebraic adder 13 a signal corresponding to the permissible value of the current of the armature circuit of the electric motor with a minus sign -I _add . At time t = (t ₁ + t ₂₎ a second step signal generator 8 delivers to the second input of the first block 2 algebraic adder signal corresponding to the minimum value of the second derivative of the angular velocity of the electric actuator body with the sign "minus"

; the ninth step signal generator 22 supplies the third input of the fourth block of the algebraic adder 13 a signal corresponding to the permissible value of the current of the armature circuit of the electric motor with a minus sign -I _add . At time t = T _c = (t ₁ + t ₂ + t ₃ ) the tenth step signal generator 23 supplies the fourth input of the fourth block of the algebraic adder 13 a signal corresponding to the permissible value of the current of the armature circuit of the electric motor I _add . On the time interval 0≤t≤t _{1 the} output signal of the fourth block of the algebraic adder 13 is equal to the permissible value of the current of the armature circuit of the electric motor I _add ; on the time interval (t ₁ + t ₂ ) ≤t≤ (t ₁ + t ₂ -t ₃ ) the output signal from the fourth block of the algebraic adder 13 is equal to the permissible value of the current of the armature circuit of the electric motor with a minus sign -I _add . The output signal from the fourth block of the algebraic adder 13 is supplied to the first proportional block 14. The first proportional block 14 multiplies its input signal by a factor C _m , in the time interval 0≤t≤t _{1, the} output signal of the first proportional block 14 is C _m I _extra ; on the time interval (t ₁ + t ₂ ) ≤t≤ (t ₁ + t ₂ + t ₃ ) the output signal of the first proportional block 14 is - (C _m I _extra ). The output signal from the first proportional block 14 is supplied to a first input of the fifth unit of the algebraic adder 15. The eighth step of the signal generator 20 delivers to the second input of the fifth unit of the algebraic adder 15, a signal corresponding to the constant torque electric resistance with "minus», -M _w. The third input of the fifth block of the algebraic adder 15 receives a signal from the third proportional block 21 with a minus sign -K _with ω. On the time interval 0≤t≤t _{1 the} output signal of the fifth block of the algebraic adder 15 is equal to (C _m I _add -M _so -K _with ω); over a time interval (t ₁ + t ₂₎ ≤t≤ (t ₁ + t ₂ + t ₃₎ of the output signal of the fifth unit of the algebraic adder 15 is - (C _m I _dop -M _from -K _to ω). The second proportional block 16 multiplies its input signal by

coming from the fifth block of the algebraic adder 15. The output signal of the second proportional block 16 on the time interval 0≤t≤t ₁ is

; the output signal of the second proportional block 16 on the time interval (t ₁ + t ₂ ) ≤t≤ (t ₁ + t ₂ + t ₃ ) is equal to

. The fourth integral block 17 integrates the signal from the second proportional block 16; the output signal of the fourth integral block 17 corresponds to the angular velocity of the actuator of the electric drive co; the first input of the sixth block of the algebraic adder 18 receives a signal from the fourth integral block 17. In the time interval t ₁ ≤t≤ (t ₁ + t ₂ ): at the output of the first block of the algebraic adder 2, a signal is generated that corresponds to the minimum value of the second derivative of the executive angular velocity electric drive

; the first integral block 3 integrates the signal coming from the first block of the algebraic adder 2; the output signal from the first integral unit 3 corresponds to the first derivative of the angular velocity of the actuator actuator ω ⁽¹⁾ ; the output signal from the first integral block 3 is fed to the first input of the second block of the algebraic adder 4. At time t = t _{1, the} third step signal generator 9 supplies the second input of the second block of the algebraic adder 4 a signal corresponding to the value of the first derivative of the angular velocity of the actuator

. At time t = t ₁ + t ₂ + t _{3, the} fifth step signal generator supplies a signal to the second block of the algebraic adder corresponding to the value of the first derivative of the angular velocity of the actuator

. On the time interval t ₁ ≤t≤ (t ₁ + t ₂ ) the first derivative of the angular velocity of the actuator of the electric drive linearly decreases from

up to

; the second integral block 5 integrates the signal from the second block of the algebraic adder 4; the output signal of the second integral unit 5 corresponds to the magnitude of the angular velocity of the actuator actuator ω; the second input of the sixth block of the algebraic adder 18 receives a signal from the second integral block 5. On the time interval 0≤t≤T _c = (t ₁ + t ₂ + t ₃ ) at the output of the sixth block of the algebraic adder 18, a signal is generated corresponding to the angular velocity of the actuator electric drive body ω; the input of the third proportional block 21 receives a signal from the second output of the sixth block of the algebraic adder 18, the third proportional block 21 multiplies the input signal coming from the second output of the sixth block of the algebraic adder 18 by a factor K _s ; output signal proportional to the third block 21 _with K equal to ω; the third integral unit 6 integrates the signal from the first output of the sixth block of the algebraic adder 18; the output signal from the third integral block 6 is fed to the first input of the third block of the algebraic adder 7. At time t = 0, the fourth step signal generator 10 supplies the second input of the third block of the algebraic adder 7 with a signal corresponding to the initial value of the angle of rotation of the actuator actuator φ _beg ; at the output of the third block of the algebraic adder 7, a signal is generated corresponding to the angle of rotation of the actuator φ. At time t = (t ₁ + t ₂ + t ₃ ), the angle of rotation of the actuator's actuator reaches the final value φ _con .

The proposed device provides a high-quality signal generation corresponding to the energy-saving diagram of the movement of the Executive body of the DC electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum values of the current of the armature circuit of the electric motor.

The accuracy of generating a signal corresponding to the energy-saving diagram of the movement of the actuator of a direct current electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum values of the current of the armature circuit of the electric motor does not depend on the task for moving.

A device based on a programmable controller has been developed, implemented, and experimentally investigated to generate a signal corresponding to an energy-saving diagram of the movement of the executive body of a DC electric drive with a speed-dependent resistance moment with restrictions on the maximum and minimum values of the current of the motor armature circuit.

Claims (1)

A device for generating a signal corresponding to an energy-saving diagram of the movement of the actuator of a DC electric drive with a speed-dependent moment of resistance with restrictions on the maximum and minimum values of the current of the motor armature circuit, containing a first step signal generator, the output of which is connected to the first input of the first block of the algebraic adder, the output of the first block of the algebraic adder is connected to the input of the first integral block, the output of the first integral the first block of the algebraic adder, the output of the second block of the algebraic adder is connected to the input of the second integral block, the third integral block, the output of which is connected to the first input of the third block of the algebraic adder, the second step generator, the output of which is connected to the second input of the first block of the algebraic adder, the third step signal generator, the output of which is connected to the second input of the second block of the algebraic adder, the fourth a step signal generator, the output of which is connected to the second input of the third block of the algebraic adder, a fifth step signal generator, the output of which is connected to the third input of the second block of the algebraic adder, characterized in that a sixth step signal generator is introduced into the device, the output of which is connected to the first input of the fourth block of the algebraic adder, the output of the fourth block of the algebraic adder is connected to the input of the first proportional block, the output of the first proportional block and connected to the first input of the fifth block of the algebraic adder, the output of the fifth block of the algebraic adder is connected to the input of the second proportional block, the output of the second proportional block is connected to the input of the fourth integral block, the output of the fourth integral block is connected to the first input of the sixth block of the algebraic adder, the seventh step signal generator the output of which is connected to the second input of the fourth block of the algebraic adder, the eighth step signal generator, the output of which connected to the second input of the fifth block of the algebraic adder, the output of the second integral block is connected to the second input of the sixth block of the algebraic adder, the first output of the sixth block of the algebraic adder is connected to the input of the third integral block, the second output of the sixth block of the algebraic adder is connected to the input of the third proportional block, the ninth generator a step signal, the output of which is connected to the third input of the fourth block of the algebraic adder, the tenth step signal generator la, the output of which is connected to the fourth input of the fourth block of the algebraic adder, the output of the third proportional block is connected to the third input of the fifth block of the algebraic adder.

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