RU1774454C - Device for adjustment of torque thyratron motor - Google Patents

Abstract

Usage: For tuning during the manufacture and operation of electrical machines operating as torque actuators for servo systems and stabilization systems. Essence: Along with sensors 9, 10, 7, 8, respectively, of the angle, moment, and current, a microprocessor system is introduced into the device on a read-only memory device 17 and digital-to-analog converters 12, 13. Tuning is performed with high performance. 3 ill.

Description

figl

The invention relates to electrical engineering, in particular to non-contact switching electric motors of direct current, i.e. to valve electric motors, and is intended for tuning during the manufacture and operation of electric machines operating as actuating torque motors for drives of precision tracking systems and stabilization systems.

The setting of the torque valve motor (MVD) consists in determining the optimal values of the phase currents of the windings of the core winding of the synchronous motor, creating at different angles of rotation of the rotor-inductor the required electromagnetic moment with minimal losses in the core winding.

A device for tuning an MVD comprising a synchronous electric machine with a two-phase core winding and an Inductor rotor, two converter amplifiers, and a rotor position sensor in the form of a sine-cosine rotary transformer that performs sine-cosine angle conversion and multiplication by an input signal proportional to the amplitude of the winding current system box. The device contains a rotational angle indicator of the rotor-inductor, sensors-. ki of the angle of the moment. The setting consists in turning the stator of the angle sensor of the switched on motor relative to the stator of the synchronous machine to the position of maximum torque 1.

A disadvantage of this device is the difficulty in automating the tuning process due to the mechanical nature of the tuning.

A known device for tuning the Ministry of Internal Affairs, comprising a sensor and an angle adjuster, a torque sensor, a differentiator, a sign analyzer, a pulse generator, a synchronous T-trigger, an integrator, a sine-cosine functional converter, two multipliers, two analog-to-digital converters, a pulse control device, a regulator current amplitudes, address setter, memory device (Copyright certificate Ms 1580496, class Н 02 Р 6/02, 1988).

Its disadvantage is the fixation of the amplitude of the core currents to obtain an unknown electromagnetic moment in advance.

Closest to the proposed invention in technical essence and the achieved result is a device for tuning the Ministry of Internal Affairs, made on

the base of a synchronous electric machine with a two-phase core winding and a rotor-inductor, containing two power amplifiers with outputs for connecting to

the first, second phases of the core winding through the inputs of the first, second current sensors, the outputs of which are connected to the inverting inputs of the first, second power amplifiers, a sensor and an angle adjuster, a sensor and a torque sensor, the first, second adders, the first, second integrators, a synchronous detector, sine-cosine functional converter, first, second Multipliers, reference voltage generator 5, semiconductor switch, control device, pulse counter and memory device with analog-to-digital converters . The rotor inductor is mechanically coupled to the sensor rotors

0 and an angle adjuster and a torque sensor, the output of which is connected to the input of the first adder, the second inverting input of which is connected to the output of the torque sensor, and the output is connected to the inputs of the first integrator and synchronous detector. Its reference voltage electrode is connected to the second input of the second adder and through a semiconductor key to the output of the reference voltage generator, and the output is connected to

0 to the input of the second integrator, the output of which is connected to the first input of the second adder, its output is connected to the input of the sine-cosine functional converter. Its outputs are connected to

5 inputs of multipliers, the second inputs of which are connected to the output of the first and the second amplifier, and the outputs are connected to the first inputs of the first and second power amplifiers, the first and third outputs of the control device are connected to the control electrode of the semiconductor key, the synchronization input of the storage device, and the inputs of the master moment and pulse counter, the output of which is connected to the 5th input of the storage device containing four analog-to-digital converters, the outputs of which are connected to the outputs of the angle sensor, sensors and the time, the first, second multipliers

0 3.

A disadvantage of the known device is the long tuning time in connection with the multi-stage adjustment at each angular position of the rotor-inductor.

5 An object of the invention is to reduce tuning time by continuously recording and processing moment information and. currents as a function of the angle of rotation.

The goal is achieved in that the device for setting the moment

a valve electric motor based on a two-phase synchronous machine with a core winding and a rotor inductor, containing an electric motor for driving a synchronous machine, an angle sensor and a torque sensor for mounting on the shaft of the synchronous machine, power amplifiers with outputs for connecting to the phases of the core winding, two analog-digital a converter, the inputs of which are connected respectively to the outputs of the angle and moment sensors, current sensors, each of which is connected to the output of the corresponding power amplifier and the output is connected to and to the inverting input of the same power amplifier, a digital unit for determining the maximum ratio of the moment to current is introduced, configured to implement the algorithm described in the description, the outputs of the mentioned analog-to-digital converters are connected to the inputs of the digital unit, and its outputs are connected to the control inputs of the amplifiers power.

Fig. 1 is a functional diagram of a device for adjusting a torque motor valve of the Ministry of Internal Affairs; figure 2 shows the cyclogram of the variation of the phase currents of the Ministry of Internal Affairs and data processing by the microprocessor system; Fig. 3 shows graphs of the phase currents of the Ministry of Internal Affairs at the first or third stages of tuning.

The device for adjusting the torque valve motor of FIG. 1, made on the basis of a synchronous electric machine 1 with phases 2, 3 of the core winding and rotor-inductor 4, has power amplifiers 5, 6, current sensors 7, 8, angle sensors 9, 10 , auxiliary electric motor 11, digital-to-analog converters 12, 13, analog-to-digital converters 14, 15, microprocessor 16, read-only memory (ROM) 17, random access memory (RAM) 18, controllers 19-25, line 26. Rotor inductor 4 mechanically linked to roto rum of the auxiliary motor 11, as well as with the rotors of the angle and moment sensors 9, the outputs of which are connected via analog-to-digital converters (ADC) 14, 15 and controllers 21, 22 to line 26. The microprocessor 16, ROM 17 and RAM 18 are connected through the controllers to the highway 26, which is connected through the controllers 19, 20 and digital-to-analog converters (DACs) 12, 13 to the inputs of the power amplifiers 5, 6. Their outputs are connected to phases 2, 3 of the core winding through the inputs of current sensors 7, 8, the outputs of which are connected to the second inverting inputs of power amplifiers 5, 6.

DAC 12, 13 and elements 16-26 form a digital unit for determining the maximum ratio of torque to current

The device operates as follows. The microprocessor 16 program is stored in the ROM. The initial values of the currents d, c. stored at the addresses Ad ((. M, AWP (a. M), respectively, depending on the value of the angle of rotation of the rotor a and the required electromagnetic moment M; minimum Oo, M0 and maximum "m, Mm values a, M; steps Yes, D The number of iterations of tuning lm, the increment of the current D |. Addresses of AO can be determined by the formulas:

Adp (a, M) + ryMi + "1:

WUA (a. M) Bb + py-M | + 01. where VDP, VVP - base addresses;

pi is the number of different values of a in digital form;

MI, a are the values of M, a, represented in arbitrary units of measure pm, n are integers.

For example 2, where n is the number of bits of the angle a,

D p - 2l: / 2p; Mt-M0 / (2P1-1) where m is an integer.

From the ROM, the initial values of the phase currents IA, IB corresponding to

values a0, Oo + Yes, a02 Yes a, „

and, M0 + DM, Mo + 2 DM, ... Mm and are written into RAM at the addresses AA ° (a, M), Av ° (a. M) according to paragraph 1.2 of the algorithm:

Algorithm

 1. Enter d from the ROM at the address AARP (a, M) and output to the RAM at the address Hell (a, M)

2. Entering IB from the ROM at the address of the WUA (a, M) and output to the RAM at the address Avi (a, M) (items .g are performed for a OQ, OQ + Yes, ... fim;, Mo + DMMm )

3.Input yo, at, D and from ROM and output and RAM

4. Input M0, Mm, DM from ROM and output to RAM

5.Lm input

6. Enter D (in the working register)

7.8.

9. 10. "oo

11. Enter IA from RAM at the address Ad ° (((, M)

12. If. then + Ai

13. Output IA on the DAC 12

14. Entering IB from RAM at Av ° ((X M)

15. If, then Ai

16. IB output to the DAC 13

17. Input a from ADC 14

18. If a & a, then go to 17

19.Input M from ADC 15

20. The output of M in RAM at the address AM (", K)

21.a a + a a

22. If a at, then go to 11

23.

24. If, then go to 10

25.a Oo

26.dA (M (a, 1) -M (a, 0)) / A I

27.ds (M (a, 21-M (aO)) / Al

28. + dB2

29.A (M-M (a, 0) + dAiA + dBiB) / g 30.1A A, dA

31. Conclusion IA, in RAM at the address Hell (a, M) 32.lBtedB

33. The output of IB in RAM at the address Av (a, M)

34, a + Yes

35. IF a (2T, GO TO 26

36.

37. If, then go to 9

38. AM

39. If Mt. then go to 8

40. End

Then, icons are entered from the ROM and RAM

"Oh," t, Yes, M0. Mt, Mo, Mm, AM. lmn al

(paragraphs 3-6). The moment M is assigned the initial value M0 (Claim 7). Part of the algorithm from clause 8 to clause 37 corresponds to tuning at a fixed value of the required electromagnetic moment. Such a setup has Im iterations (, 1, ..., lm-1). Each iteration corresponds to paragraphs 9-35,

Each iteration of tuning consists of four steps in which K is 0,1,2,3. The first three stages correspond to paragraphs 9-24, and the fourth stage corresponds to paragraphs 25-35 of the algorithm. During each of the first three stages, the rotor of the adjustable Ministry of Internal Affairs makes one revolution, and during the fourth stage - one or several revolutions.

In paragraphs 8-10, the initial values,, and Oo are assigned. The values of d and IB are entered into the working register of the microprocessor from RAM at the addresses Ad ° (a, M), Av (a M). If, then they do not vary (Fig. 3, a). If, then Al is added to the IA value (Figs. 3b). If, then A i is added to the IB value (Fig. 3c). The IA value is output to the DAC register 12, and the IB value is output to the DAC register 13.

Digital-to-analog converters 12, 13 convert the digital codes IA, IB into analog signals supplied to the inputs of power amplifiers 5, 6. They feed the sine 2 and cosine 3 phases of the core winding of the synchronous electric machine with currents A, using current sensors 7, 8. An electric machine develops a moment M, measured by a torque sensor 10. Its output signal is input

ADC 15, on the output register of which a digital code M.

The auxiliary motor 11 rotates the rotor-inductor 4 of the electric

machines 1 with a constant frequency (strict frequency constant is not required). The angle sensor 9 generates a signal a, which is input to the ADC 14, at the output register of which a digital code a is generated.

0 The microprocessor introduces about: from the output of the ADC 14 and compares it with a (paragraphs 17, 18). The survey continues until a coincides with the calculated value of a, when the digital code M.s of the output of the ADC 15 is entered into the working

5 register of the microprocessor 16 and is recorded in RAM at the address Am (a, K) (, 1.2) (claims 19, 20).

Further, the quantity a takes an increment of Yes (item 21 of the algorithm), the belonging of a to the interval Oo, т m (item 22) is checked and the reading of q, IB is repeated, if necessary, their variation, etc. (p. 11-22). When the value of a exceeds am, the variable K increases by one (paragraph 23 of the algorithm)

5 c if the next step begins. those. transition to item 10.

After three steps, at the addresses AM (a, 0), AM (a, 1), AM (a, 2), the values of the electromagnetic moment M

0 at angles a OQ, oh + Yes, ... at and, respectively, for non-welded currents IA, c for variation of current IA on Ai and variation of current IB on Ai (Fig. 3 a, b, c),

Now in the fourth step,

$ partial derivatives, ZM / d1v (paragraphs 26, 27 of the algorithm), the square g of the modulus of the gradient vector and the Langrazh factor I (paragraphs 28, 29), the corrected values of JA, IB are calculated and output to RAM at the addresses Ad

0 (a, M), Av ° (a, M) (paragraphs 30-33 of the algorithm). These operations are performed for a GO, GO +

+ A a at. .

The fourth stage can last for one or several revolutions of the electric motor, depending on the speed of the microprocessor.

For a fixed value of M, the first or fourth steps are performed lm times, after which the required electromagnetic moment M takes an increment AM (p. 38 of the algorithm) and tuning continues until the value is reached (p. 39 of the algorithm).

 Upon completion of the configuration, in RAM at the addresses AA ° (a, M), Av ° (a, M), the values of the optimal currents IA will be written, in the corresponding corners ло + Aa it and

moments M0, M0 + AMMm, which can be rewritten in a separate ROM, for

5

proposed to the test MVD for collaboration during operation. Formulas

ZM

IB

am

L

M-M + JA -EM / E1d + 1v-EM / b1v

(1)

(2)

(3M / 1d) 2 + (3M / SlB) 2

(claims 26-30, 32 of the algorithm) follow from the solution of the following problem.

At currents d, IB, a synchronous electric machine develops moment M. Partial derivatives 3M / E1d are known. EM / b c. currents taken by constants in a small neighborhood (1e, IB). Find new values of 1 °, 1 °, at which the electromagnetic moment has the required value M, and the power of electrical losses in the core winding is minimal. This task is expressed by the relations:

OA ° - | A) (1c ° -1c) M. (3)

M +

8iA

1A ° 2-HB ° 2 MIN

(4)

The function of Langrazh and the conditions of its stationarity are of the form:

(lA02 + iB02) x () + | M- (lB0-iB °)

3v. oh, 3m p

8 A

A L-iD °; Em-p E o-- in

whence equalities (1) follow. Substituting expression (1) into condition (3), we obtain

silt i / EM, 2 1 EM,,

M + (91d) A E17- A +

+ (| M.) ..

v3iB 3iB

whence equality (2) follows

Thus, thanks to the introduction of a digital unit for determining the maximum torque-to-current ratio in the form of a microprocessor system with ROM and digital-to-analog converters, a device for quickly setting up the Ministry of Internal Affairs was obtained.

Claims (1)

The claims A device for adjusting a torque valve motor made on the basis of a two-phase synchronous machine with a core winding and a rotor-inductor, comprising an electric motor for driving a synchronous machine, an angle sensor and a torque sensor for mounting on a shaft of a synchronous machine, power amplifiers with outputs 20 for connecting to the phases of the winding core, two analog-to-digital converters, the inputs of which are connected respectively to the outputs of the angle sensor and torque sensor of the current sensor, each of which is turned on The output of the corresponding power amplifier and the output is connected to the inverting input of the same power amplifier, characterized in that, in order to reduce the tuning time by continuously recording and processing the moment and current information as a function of the rotation angle (.from, a digital block for determining the maximum torque-to-current ratio, implemented with the possibility of realizing 35 of the algorithm indicated in the description, the outputs of the analog-to-digital converters uuf are connected to the inputs of the digital unit, and its outputs are connected to the control inputs of the power amplifiers. - - - tg, - gi gf it th. sf ft t to 3 g / t: g z z n sv fc t Ј) FIG. g. ig. 3