RU1833831C - Monitoring system - Google Patents

Abstract

The invention relates to automatic controllers in which the output signal is a discontinuous function of a deviation from a predetermined value, and can be used in automatic control systems for industrial applications. The aim is to increase the speed and dynamic accuracy of the system with various transfer functions of its continuous part. The following system includes a comparison unit 1, a correction device 2, two keys 3, 1.1, a pre-amplifier, a power amplifier 5, an actuator 6, an object of regulation 7, a speed meter 17, four storage sampling devices 8, 13, 15, 18, four controlled amplifiers 9, 14, 16, 19, adder 10, speed and acceleration meter 12, synchronization device 20, two pulse shapers 23, 22, threshold device 21, control pulse generator 24. 2 ill. fe

Description

The invention relates to the field of automatic controllers in which the output signal is a discontinuous function of the deviation of the set value, namely to tracking systems that have high demands on accuracy and speed, and can be used in automatic control systems for industrial applications.

The aim of the invention is to increase the speed and dynamic accuracy of the system with various transfer functions of its continuous part.

The introduction of new elements and connections into the following system makes it possible to realize transient processes in it without overshooting in a minimum time T nh at zero initial velocity conditions, where: h is the duration of one control step; .

n is the number of steps equal to the order of the differential equations describing the dynamics of the self-propelled guns and also to provide high dynamic accuracy due to the inclusion of a correction device for small error values. It is the introduction of a new

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the totality of the previously listed elements and links has improved the speed and accuracy of the tracking system with various transfer functions of its continuous part.

In FIG. 1 is a structural diagram of the following system.

In FIG. Figure 2 shows the stress diagrams of the 4th order tracking system and the type of its transient process.

The following system (Fig. 1) contains series-connected comparison unit 1, correction device 2, key 3, pre-amplifier 4, power amplifier 5, executive motor 6, control object 7, the output of which is connected to the first input of comparison unit 1. The output of the unit Comparison 1 is also connected through a series-connected UVX 8, a controlled amplifier 9, an adder 10, a key 11 to the input of a preliminary amplifier 4. The output of the control object 7 through a series-connected speed and acceleration meter 12, UVX 13. controlled amplifier 14 is connected to the second input of adder 1.0. The second output of the speed and acceleration meter 12 through series-connected UVX 15, the controlled amplifier 16 is connected to the third input of the adder 10. The input of the comparison unit 1 through the series-connected speed meter 17, UVX 18, the controlled amplifier 19 is connected to the fourth input of the adder 10. K the output of the comparison unit is connected to the synchronization device 20 and the threshold device 21. The output of the synchronization device 20 is connected to the input of the pulse shaper 22, the first output of which is connected to the control inputs of the I / O 8, 13, 15 and 1 8, the second output of the pulse former 22 is connected to the control inputs of the controlled amplifiers 9, 14, 16 and 19, and the third output of the block 22 is connected to the second input of the threshold device 21. The output of the threshold device 2.1 is connected to the pulse former 23, the first output of which is connected to the control input of the key 3, and the second to the control input of the key 11. The first and second outputs of the control pulse generator 24 are connected to the control inputs of the speed meter 17, and the third, fourth and fifth outputs of the control pulse generator are connected to the first second mu and third control input of the speed and acceleration meter 12.

. The following system operates as follows.

In the absence of a set of input actions at the input of the system, the error value 9 ()

(Fig. 2, b) at the output of block 1 is identically equal to zero and does not exceed the deadband of the threshold element in absolute value. The threshold element and the pulse shaper 23 connected in series with it generate such pulses; that the first key is closed, and the second is open. . Thus, the following system is closed through series-connected comparison unit, correction device, first switch, pre-amplifier, power amplifier, executive motor, control object and the first input of the comparison unit. The signal flow will not change if the system error does not exceed the deadband of threshold device 21. It is known that the inclusion of a correction device with the required characteristics

reduces the dynamic error of the tracking system.

When applying to the input of the ACS such a decisive action (Fig. 2, a), so that the system error signal in (t.) (Fig. 2, b) from the output

of the comparison unit exceeded the deadband of the threshold device 21, the latter generates pulses for the SI pulse shaper 23 (Fig. 2c), which in turn switches the keys.

The first key 3 opens, the second key 11

closes. Error signal at the same time

arrives at the input of the synchronization device. At the output of the latter is formed

SI synchronization pulse (Fig. 2, c), which is supplied to the input of the pulse former 22, from the first output of which short pulses with a period T are taken for the control inputs of the UVX 8, 13, 15, 18 and pulses for the control inputs of the controlled amplifiers 9, 14, 16, 19. The error of system 6 (t) is stored in UVZ 8 for a period T nh, where n is the order of the differential equation that describes the preamplifier, amplifier

power, an executive motor and an object of regulation, ah is the duration of one control pulse. Also, in the UVX 13, a signal proportional to the speed of the actuator shaft is stored

the engine for a period T nh, the signal proportional to the acceleration of the shaft of the actuator motor for the period T nh is stored in the UVX 15, and the signal proportional to

input impact speed. In different periods h, 2h, 3h, 4h, pulses of different polarity and amplitude are taken from the output of the controlled amplifier 9 (Ui of Fig. 2g), which are determined by the value and

the polarity of the ACS mismatch signal in (t.) (Fig. 2b), as well as the magnitude and sign of the transmission coefficients of the controlled amplifier 9 in each control interval. Similarly, pulses of different amplitude and polarity U2 (Fig. 2, h) are taken from the output of the controlled amplifier 14, which are determined by the magnitude and polarity of the value of the speed of the shaft of the actuating motor of the spark holes. (Fig. 2d), as well as the magnitude and sign of the transmission coefficients of the controlled amplifier in each control interval. From the output of the controlled amplifier 16, pulses of different amplitude and polarity 1) 3 are taken (Fig. 2, i), which are determined by the magnitude and polarity of the acceleration shaft of the accelerator output motor. (Fig. 2e), as well as the magnitude and sign of the transmission coefficients of the controlled amplifier 16 in each control interval. Pulses of different amplitude and polarity U4 (Fig. 2, k) are determined from the output of the controlled amplifier 19, which are determined by the magnitude and polarity of the input signal speed of the spark output. (Fig. 2e), as well as the magnitude and sign of the transmission coefficients of the controlled amplifier 23 in each regulation interval. In the adder, the signals from the outputs of the controlled amplifiers are added and, through the second switch, the generated signal is fed to the input of the preliminary amplifier, from the output of which the control voltage Uynp is removed (Fig. 2, l). After the triggering of the synchronization device and the pulse shaper 22 and the threshold device 21, the switching of the threshold device 21., the pulse shaper 23 and the keys 3, 11, is prohibited until the ACS completes the error under the influence of a signal taken from the output of the adder 10 during the time T nri. Under the influence of this control, the control object processes an ACS error in n intervals without overshooting. A transient view of the following system is shown in FIG. 2, m. After that, the circuit returns to its original state.

.

Thus, in the proposed system, due to the implementation of the control loop with a variable gain with a relatively large ACS error, an increase in speed is achieved and the implementation of the control circuit with the help of a correction device allows to reduce the dynamic error of the ACS at a relatively small value.

Claims (1)

The claims The following system, comprising an adder, a comparison unit, two keys, connected in series with a preamplifier, a power amplifier, an executive motor and an object of regulation, the output of which is connected to the first input of the comparison unit, the second input of which is the input of the system, a threshold device, the output of which through a pulse former it is connected to the control inputs of the keys, characterized in that, in order to increase speed and dynamic accuracy, a correction device is introduced into it, four devices sampling and storage devices, a synchronization device, a second pulse shaper, four controlled amplifiers, a speed meter, a speed and acceleration meter, a control pulse generator, the inputs of the correction device, the first sampling and storage device, a synchronization device and a threshold device connected to the output of the unit by comparison, the output of the correction device through the first key is connected to the input of the preamplifier, the output of the first sampling and storage device through unity first controllable amplifier, the adder and the second switch connected to the input of the preamplifier, the output control object through a series connected measuring the velocity and acceleration, the second sample and hold device, a second controllable amplifier connected to. the second input of the adder, the second output of the speed and acceleration meters through a series-connected third sampling and storage device, the third controlled amplifier connected to the third input of the adder, the second input of the comparison unit through a series-connected speed meter, fourth. sampling and storage device, the fourth controlled amplifier connected to the fourth input of the adder, while the output of the synchronization device is connected to the input of the second pulse shaper, the first input of which is connected to the control to the input inputs of the first, second, third and fourth sampling and storage devices, the second output of the second pulse driver to the control inputs of the first, second, third and fourth controlled amplifiers, and the third output of the second pulse driver to the second input of the threshold device, the first and the second outputs of the control pulse generator are connected to the first and second control inputs of the speed meter, and the third, fourth and fifth outputs of the control pulse generator are connected to the first, second and third it inputs controllably meter speed and acceleration. & LYCH.