RU2268480C1 - Tracking electro-hydraulic drive - Google Patents

Abstract

FIELD: engineering of systems for automated adjustment and control.

SUBSTANCE: tracking electro-hydraulic drive has set-point and receipt rotary transformer, setting and receiving velocity transducers, reverse pump for volumetric adjustment and hydro-engine, and receiving velocity transducer is connected through reducer to hydro-engine shaft, device additionally has pressure sensors, connected to output planes of pump, second adder and differentiation link, and receiving rotary transformer is kinematically connected to rotation axis of control subject.

EFFECT: increased precision of device.

4 dwg

Description

The invention relates to automatic control and regulation systems, specifically to tracking actuators guiding naval artillery weapons.

Similar servo-electrohydraulic actuators are known: p. 25, fig. 14-55, Follow-up Drives, edited by Doctor of Technical Sciences professors B.K. Chemodanov, Moscow, Energy, 1976, as well as products D-122, D-213 installed on ships. Their disadvantage is a significant error in tracking weapons for the target, which leads to a decrease in firing efficiency.

Also known tracking electro-hydraulic drive D-219-50, used for guidance of naval weapons, the closest in technical essence to the claimed invention and adopted as a prototype. Its device can be found in the technical description PB1.342.025 TO.

The power part of the drive (power amplifier) is built on the basis of a reversible volume control hydraulic pump with electro-hydraulic control and a hydraulic motor. The output of the hydraulic motor through a power gearbox is connected to the control object (armament) and through a measuring gearbox is connected to the rotor VT - receiving rotary transformer. The signal of the receiving VT is a mismatch signal (error) of the master and actuator shafts of the follower drive, through which the drive is controlled.

After conversion, the signal of the receiving VT is fed to the electronic amplifier, then to the adder, where it is summed up with the speed correction signals (signals of tachogenerators, whose rotors are connected to the drive and actuating axes of the drive), and then the total signal is fed to the electromechanical converter of the pump hydraulic booster. The hydraulic motor rotates the shaft of the control object until the drive error between the master and the receiving VT becomes minimal for a given drive structure.

The disadvantage of the prototype, as well as analogues, is a significant error of the object of regulation in relation to the angle setter, the reduction of which is limited by the oscillation of the drive and, as a result, the small gain of the system in angle.

The receiving VT through the measuring gear is connected to the output shaft of the hydraulic motor, this arrangement of the receiving VT increases the stability of the servo drive, but this does not take into account the error of the control object caused by backlash and deformation of the power transmission (gear), which reduces the accuracy of pointing the control object, which is a disadvantage of the prototype.

The invention is aimed at improving the accuracy of pointing weapons, both by reducing the oscillation of the drive and increasing the gain in the angle, and by reducing the tracking error of the drive due to the feedback coverage of the power transmission.

This is achieved by the fact that in a servo electrohydraulic drive containing a driving and receiving VT, tachogenerators, the rotors of which are connected to the driving and driving axes of the drive, are connected in series to the first adder, an amplifier, a reversible volume control pump with electrohydraulic control and a hydraulic motor connected through an gearbox to the object control, and the output of the tacho of the actuating axis is connected to the inverting input of the first adder, the output of the tacho of the master axis is connected to non the rt input of the first adder, and the output of the receiving VT is connected to the inverting input of the first adder, the first and second pressure sensors are connected to the output cavities of the pump, the second adder and the differentiation link, and the output of the first pressure sensor is connected to the non-inverting input of the second adder, the output of the second sensor pressure is connected to the inverting input of the second adder, the output of the second adder is connected to the input of the differentiation link, the output of the differentiation link is connected to the inverting input House first adder receiving the BT is connected with a rotation adjustment of the object and measures the angle of axis misalignment between the target position and the object of control.

Comparative analysis with the prototype shows that the inventive device is distinguished by the presence of new units: pressure sensors, a second adder, differentiation link and their connections with the rest of the system units, as well as the connection of the receiving VT with the regulation object.

A comparison of the proposed solutions with other technical solutions shows that the newly introduced blocks are known.

However, when they are introduced in this connection with the other elements of the servo drive, the above blocks allow to increase the accuracy of the guidance of armaments in comparison with the known analogues and prototype.

Figure 1 shows the functional diagram of the prototype.

Figure 2 shows the functional diagram of the inventive device.

Figure 3 shows a simplified structural diagram of the inventive device.

Figure 4 shows an embodiment of a differentiating link.

An example embodiment of the invention is given below.

The servo-electrohydraulic drive (Fig. 2) contains a master 1 and a receiver 2 VT, tachogenerators of a driver 3 and an actuator 4 axes, serially connected to the first adder 5, an amplifier 6, a reversible displacement pump with electro-hydraulic control 7 and a hydraulic motor 8 connected through a gearbox 9 s object of regulation 10, as well as a hydraulic motor 8, kinematically connected with the tachogenerator 4, and the output of the tachogenerator of the actuating axis 4 is connected to the inverting input of the adder 5, the output of the tachogenerator of the driving axis 3 with is single with the non-inverting input of the first adder 5, and the output of the receiving BT 2 is connected to the inverting input of the first adder 5. In addition, the actuator contains a first 11 and a second 12 pressure sensors connected to the output cavities of the pump 7, the second adder 13 and the differentiation link 14, and the output of the first pressure sensor 11 is connected to the non-inverting input of the second adder 13, the output of the second pressure sensor 12 is connected to the inverting input of the second adder 13, the output of the adder 13 is connected to the input of the differentiation link 14, the output of the link differentiation 14 is connected to the inverting input of the first adder 5, the receiving VT 2 (rotor) is kinematically connected with the axis of rotation of the control object 10 and measures the mismatch between the given angular position and the position of the control object 10.

The device operates as follows.

When pointing an object, a special low-power drive unfolds the master device (axis), with which the rotor of the driver VT 1 is kinematically connected, while a voltage appears on the rotor of the driver and, accordingly, the receiver VT 2. On the stator of the receiving VT 2 voltage occurs, proportional to the angle of mismatch between the master and the Executive axis, which is the control for the drive.

In addition to the signal of the receiving VT 2, the first adder 5 receives a negative feedback signal from the tachogenerator 4 according to the speed of the actuator shaft (hydraulic motor) and a compensation signal of the speed of the driver from the tachogenerator 3. The tachogenerator 3 is kinematically connected with the rotor of the driver VT 1.

The signal from the adder 5 is fed to an electronic amplifier 6 and then to a pump 7, which is a hydraulic power amplifier. The cradle of the pump is turned to a certain angle to create the necessary flow rate of the working fluid, which enters the hydraulic motor 8, while the hydraulic motor 8 creates a torque and drives the control object 10 through the gear 9 to the position where the angle of rotation of the control object coincides with the angle of rotation of the master axis . In this case, the residual and current voltages of the receiving VT 2 in the statics and dynamics are kept to a minimum.

To reduce the error, an additional correction was applied according to the signals of the pressure sensors 11 and 12, the signals of which are in antiphase fed to the second adder 13 and then to the input of the differentiating link 14. From the output of the differentiating link 14, the signal goes to the inverting input of the first adder 5, creating a negative difference coupling pressure of the outlet cavities of the pump. Differentiation of the signals of the pressure sensors is carried out by setting the differentiating link 14 in order to weaken the oscillatory properties of the drive and increase the stiffness of the drive (gain) at low operating frequencies with momentary disturbances.

Figure 3 shows a simplified structural diagram of the inventive device (from which the complexity and high order of the tracking drive are visible). From the analysis of the circuit, the feasibility of introducing the proposed additional pressure feedback is traced both to improve the frequency characteristics of the pump 7 (figure 2), and to increase the stability of the drive when transferring the receiving VT 2 to the axis of rotation of the control object, since taking into account intersecting relationships in time and speed is covered by the power reducer.

Figure 4 shows the differentiating link.

Thus, in the claimed technical solution, an increase in the accuracy of tracking weapons is provided by changing the installation location of the receiving BT 2 and introducing additional correction according to the signals of pressure sensors 11, 12 (Fig. 2) in the output cavities of the pump 7 (Fig. 2), which allows not only ensure the stability of the drive when changing the installation location of the BT 2 receiving, but also reduce the error value of the drive itself.

The claimed technical solution is tested by prototypes, which showed an increase in accuracy (reduction in error) tracking by about 30% and an increase in the firing efficiency of weapons.

Literature

1. Fundamentals of designing tracking systems / Ed. N.A. Lokoty - M .: Mechanical Engineering, 1978, - 322 p.

2. Design and calculation of automated drives / Ed. V.I.Smirnova, V.I. Razintseva - M.: Mechanical Engineering, 1990, 350 p.

3. Tracking drives. In 2 kn. / Ed. B.K. Chemodanova - M .: Energy, 1976.

4. Handbook of automation / Ed. V.E.Nize, I.V. Antika - M .: Energoatomizdat, 1983, - 504 p.

5. Technical cybernetics. In 3 kn. / Ed. V.V.Solodovnikova - Moscow: Engineering, 1967.

Claims (1)

A servo-electrohydraulic drive, containing driving and receiving rotating transformers, tacho-generators of the driving and executive axes, serially connected to the first adder, amplifier, reversible volume control pump with electro-hydraulic control and a hydraulic motor connected through the gearbox to the control object, the output of the tacho-generator of the executive axis connected to the inverting input of the first adder, the output of the tachogenerator of the master axis is connected to the non-inverting input of the first adder a, and the output of the receiving rotary transformer is connected to the inverting input of the first adder, characterized in that the first and second pressure sensors connected to the output cavities of the pump, the second adder and the differentiation link are introduced into it, and the output of the first pressure sensor is connected to the non-inverting input of the second adder , the output of the second pressure sensor is connected to the inverting input of the second adder, the output of the second adder is connected to the input of the differentiation link, the output of the differentiation link with an inverting input of the first adder, the receiving rotary transformer is kinematically connected with the axis of rotation of the control object.

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