RU2446552C2 - Device for automatic control of electromechanical system with viscoelastic kinematic link - Google Patents

Abstract

FIELD: electricity.

SUBSTANCE: device for automatic control of an electromechanical system with viscoelastic kinematic link comprises a thyristor converter, a current sensor, an intensity setter, a summator, an integrator, the first and second speed sensors, a summing amplifier, a non-linear and liner elements of a current cutoff circuit, an integral-differential link, three amplifiers. Besides, a proportional link is introduced in it, being connected to an inlet of the summator and having a transfer function

where K₅ is an integrator amplification ratio; τ₁ is a time constant of the integral-differential link.

EFFECT: reduced capacity of the integrator with technical realisation on digital elements.

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Description

The invention relates to the control section and can be used to control the parameters of complex electromechanical systems, for example, direct current electric drives connected to the object of control of viscoelastic kinematic bonds.

The well-known "Automated DC electric drive" (RF patent No. 2065660, IPC Н02 P 5/06, 1996), built on the principle of subordinate regulation. The device contains a controller and a speed sensor, the outputs of which are connected respectively to the summing and subtracting inputs of the speed controller, the output of which is connected to the summing input of the current controller, the output of which through the power amplifier is connected to the armature winding of the motor, in series with which the current sensor is connected, and in parallel with the voltage sensor, the output of which through the module selection unit is connected to the first input of the multiplication unit, the second input of which is connected to the output of the current sensor. To improve the quality of regulation in a wide range of loads and control actions, a unit for extracting the maximum modulus value is additionally introduced into the device, the first and second inputs of which are connected to the outputs of the multiplication unit and current sensor, respectively, and the output is connected to the subtracting input of the current regulator. If the load on the motor shaft is less than rated, the device performs its main functions. But if it is necessary to introduce restrictions on coordinates, for example, current, exceeding the specified parameter above the permissible value leads to failure of the electric motor. Therefore, the main disadvantage of the device is the inability to limit the current of the motor. In addition, the operability of the device is impaired when used to control an object connected to the electric motor by elastic couplings, for example, a shaft line with a variable moment of inertia having variable stiffness and kinematic errors.

The well-known "DC drive with variable parameters of the mechanical part" (RF patent No. 2070766, IPC Н02Р 5/06, 1996) with an elastic mechanical connection between the engine and the mechanism with a variable moment of inertia, containing a rotational speed controller, a second speed controller, elastic moment regulator, first speed controller, current controller, pulse generation system and thyristor power unit connected to an electric motor, current sensor, electric motor speed sensor and a mechanism, the first proportional-differentiating unit, the input of which is connected to the output of the current sensor, and the output with the third input of the current regulator, the first differentiating unit, the input of which is connected to the output of the motor speed sensor, and the output - with the second input of the current controller, the second - a differentiating unit, the input of which is connected to the output of the engine speed sensor, and the output - with the third input of the first speed controller, the third proportionally differentiating unit, the input of which o connected to the output of the speed sensor of the mechanism, and the output to the third input of the second speed controller, the fifth differentiating unit, the input of which is connected to the output of the speed sensor of the mechanism, and the output to the second input of the fourth differentiating unit, the second differentiating, fourth proportionally differentiating, and the inputs of the second differentiating and fourth proportionally differentiating blocks are connected to the first input of the fourth differentiating block, and the outputs of the second differentiating its fourth proportional-differentiating and fourth differentiating blocks are connected respectively to the second input of the first speed controller, to the third input of the elastic moment controller and to the second input of the second speed controller, the third differentiating unit, the output of which is connected to the second input of the elastic moment controller, different the fact that an elastic moment sensor and a sixth differentiating unit are introduced into it, the first and second inputs of the elastic moment sensor are connected to the outputs corresponding continuously speed sensor and the motor current sensor and an output - to an input of the second differentiator, the output of the sixth differentiator block is connected to a first input of the third differentiator, a second input coupled to an output of the motor speed sensor. When the load on the motor shaft does not exceed the rated value, the device performs the functions assigned to it, but does not have the ability of current limitation, which reduces its operational capabilities. In addition, the implementation requires a fairly complex sensor of elastic moment.

Closest to the proposed technical solution is a DC electric drive control system (article Tararykin S.V., Tyutikov V.V., Kopylova L.G. “Formation of transient processes of an electric drive by frequency correction of the current limiting circuit” // Vestnik IGEU, 2007, Issue .3) adopted as a prototype. It consists of a thyristor converter, through a current sensor connected to a DC motor, which is mechanically connected to the first speed sensor and through a viscoelastic transmission with an actuator, an intensity adjuster, the output of which is connected to the non-inverting input of the adder, the inverting input of the adder is connected to the electrical output of the second sensor speed mechanically connected to the shaft of the actuator, the output of the first adder through an integrator is connected to the first input of the summing or amplifier, the second input of the summing amplifier through the first amplifier is connected to the information output of the current sensor, the third input of the summing amplifier through the second amplifier is connected to the electrical output of the first speed sensor, the fourth input of the summing amplifier through the third amplifier is connected to the second speed sensor, the output of the summing amplifier is connected to the control the input of the thyristor converter, and the information output of the current sensor through a nonlinear element of the current cutoff circuit and a linear element of the circuit t the shunt cutoff is connected to the inverting input of the summing amplifier, while the linear element of the current cutoff circuit is represented by the serial connection of the PI and the ID links. Solving the tasks posed for it in the regimes of "large" deviations of coordinates, significantly increasing the efficiency of astatic systems, the control system has a drawback due to the fact that the technical implementation of integrators is quite complicated. This is due to the fact that during operation, the integrator accumulates a signal, which with the digital implementation of the device can lead to the need for them to memorize large amounts of information, and hence large bit depths. This statement can be confirmed by the results of computer simulation of an electromechanical system.

For definiteness, we accept the following values of the object parameters:

K _SP = 22 - transmission coefficient of the power converter;

T _SP = 0.008 s - time constant of the power converter;

R _a = 0.177 Ohm - active resistance of the anchor circuit of a DC motor;

T _a = 0.02 s is the time constant of the anchor chain of the engine;

C = 0.976 Vb - structural constant of a DC motor;

ω _n = 220 rad / s is the rated speed of the DC motor;

I _n = 30 A - rated current of a DC motor;

J ₁ = 0.11 kg · m ² - moment of inertia of the rotor of the DC motor;

k ₁ = 0.05 is the gain of the first amplifier;

k ₂ = 0.9 - gain of the second amplifier;

k ₃ = 78.4 - gain of the third amplifier;

k ₅ = 1504 - transfer coefficient of the integrator;

k _TO = 200 - transmission coefficient of the linear element of the circuit current cutoff;

τ ₁ = 0.007 s is the time constant of the PI link of the linear element of the current cutoff circuit;

τ ₂ = 0.01 s is the time constant of the ID of the link of the linear element of the current cutoff circuit;

J ₂ = 0.56 kg · m ² - moment of inertia of the actuator;

k ₄ = 38.3 is the gain of the fourth amplifier (in the prototype it is part of the mathematical model of viscoelastic transmission);

C ₁₂ = 14 N · m / rad - reduced coefficient of rigidity of the kinematic transmission;

b = 0.22 N · m is the coefficient of internal viscous friction of the kinematic transmission.

It should be noted that the values of the coefficients k ₁ , k ₂ , k ₃ , k ₄ , k ₅ and k _TO , as well as time constants, were obtained by synthesizing the controller parameters according to the methodology presented in the prototype source.

Let it be required to provide a rise time of the transition characteristic of the system in the linear zone of its operation not more than 0.2 s in the absence of overshooting of the actuator speed and in the absence of a static error of stabilization of its speed. An effective limitation of the electric motor current must be maintained at the level I _extra = 63 A (a twofold increase in comparison with the rated current value) in the modes of its overload.

The results of computer modeling of the considered technical solution are shown in figure 1. They are represented by transients of current I, shaft speed of the DC motor Ω ₁ , shaft speed of the actuator Ω ₂ , the signal at the output of the integrator U ₁ and the signal at the output of the PI link (U ₂ ) in the modes:

- start-up of the electromechanical system under study with a first-order intensity adjuster and a non-linear current limiting circuit at a speed equal to half the rated speed if there is a rated torque on the actuator shaft (from the origin to t = 5 s);

- a subsequent increase in the load moment to three times the nominal value (at time t = 5 s);

- further reducing the load (at t = 7 s) to a value of I _a = 0.1 · I _nom (low current mode).

An analysis of the results indicates that the system copes with the task of stabilizing the speed of rotation of the shaft of the actuator with various options for the impact on it of the moment of static resistance. However, in the time interval from t = 5 s to t = 8 s (load surge and decrease to I _a = 0.1 · I _nom ), a sharp increase in the signal at the output of the integrator U ₁ is observed in the system, which reaches experimentally in mathematical models of magnitude 1.6 × 10 ⁵ relative units. On the right side of the axis of the signal U ₁ from the output of the integrator are those bit values of a digital unit that performs the function of an integrator, which are necessary for the practical implementation of the device. Analysis of the signal U ₁ in Fig. 1 shows that the required integrator bit capacity during its digital implementation reaches 18. Such a behavior of the system when exiting the overload mode is explained by the fact that during the operation of the current cutoff circuit (time interval from t = 5 s to t = 7 c) the integrator in the main control loop manages to accumulate a significant signal due to the suppression of the current cutoff circuit at this time interval of the feedback voltage of the main speed control loop. In figure 1, this is clearly visible when analyzing the voltage U ₁ . That is, in the overload mode (current cutoff is on), a decrease in speed leads to a decrease in the feedback signal acting at the input of the integrator, and the longer the overload mode, the greater the value of the output signal the integrator accumulates. Thus, the integrator actively accumulates information during the period of the current cutoff circuit, when the main feedback of the main control loop becomes weak. It should be specially noted that such an increase in U1 is observed only with one cycle of surge and load shedding. If such a cycle follows the first, the signal at the output of the integrator increases even more, which exacerbates the problem of the technical implementation of the integrator. And the more often the current limiting circuit works, the larger the signal is accumulated by the integrator.

Therefore, the use of the technical solution proposed in the prototype requires special measures to prevent saturation of the integrator. Attempts to implement a prototype device with an integrator performed on an operational amplifier with output voltage limiting do not solve the problem, since the level of limitation must be related to the speed at which the actuator shaft accelerates. That is, during acceleration to full speed, the voltage limiting the signal at the output of the first integrator should be one, and during acceleration, for example, at half speed, the limitation should be adjusted. If the integrator is implemented on a digital principle, the phenomenon of signal accumulation at the integrator output requires storing a large amount of information, which greatly complicates the controller circuitry.

The technical result of the invention is to reduce the capacity of the integrator in the technical implementation of the device on digital elements.

,This result is achieved due to the fact that the device containing the thyristor converter, through a current sensor connected to a DC motor, which is mechanically connected to the first speed sensor and through a kinematic viscoelastic transmission with an actuator, on the shaft of which there is a second speed sensor, an intensity adjuster the output of which is connected to the non-inverting input of the adder, the first inverting input of the adder is connected to the electrical output of the second speed sensor, the output of the adder is Without an integrator connected to the first input of the summing amplifier, the second input of the summing amplifier through the first amplifier is connected to the information output of the current sensor, the third input of the summing amplifier through the second amplifier is connected to the electrical output of the first speed sensor, the fourth input of the summing amplifier through the third amplifier is connected to the output of the second sensor speed, information output of the current sensor through series-connected non-linear element, integral-differential link and linear element t is connected to the inverting input of the summing amplifier, the output of which is connected to the control input of the thyristor converter, additionally has a proportional link, the output of the linear element is connected to the input of the proportional link, and the output of the proportional link is connected to the second inverting input of the adder, and the proportional link has a gear ratio

,

where K ₅ is the gain of the integrator;

τ ₁ is the time constant of the integral-differential link.

Figure 2 shows a block diagram of a device for automatic control of an electromechanical system, figure 3 shows the results of computer simulation of the device, figure 4 shows the transfer characteristic of a nonlinear element of the circuit current cutoff.

, где S - комплексный оператор Лапласа) в виде напряжения U₁ подключен к первому входу суммирующего усилителя 11, второй вход суммирующего усилителя 11 через первый усилитель 12 (его коэффициент усиления - K₁) соединен с информационным выходом датчика тока 2, формирующим напряжение U_i, пропорциональное току якорной обмотки двигателя постоянного тока 3. При этом напряжение на выходе первого усилителя 12 обозначено на фиг.2 как U₂. Третий вход суммирующего усилителя 11 через второй усилитель 13, обладающий коэффициентом усиления К₂ (на фиг.2 - напряжение U₃), соединен с электрическим выходом первого датчика скорости 4 (на фиг.2 - напряжение U_Ω1). Четвертый вход суммирующего усилителя 11 (напряжение U₄) через третий усилитель 14 с коэффициентом усиления К₃ подключен к выходу второго датчика скорости 7 (на фиг.2 - напряжение U_Ω2). Выход суммирующего усилителя 11 подключен к управляющему входу тиристорного преобразователя 1 в виде напряжения U_У. Кроме этого информационный выход датчика тока 2 в виде напряжения U_i через нелинейный элемент 15 контура токовой отсечки (U_нэ) и интегрально-дифференциальное звено 16 с передаточной функцией

(на фиг.2 напряжение U₅), а также линейный элемент 17 с коэффициентом усиления К_то (на фиг.2 U₆) подключен к инвертирующему входу суммирующего усилителя 11. Передаточная характеристика нелинейного элемента 15 представлена на фиг.4 и иллюстрирует вид зависимости U_нэ от тока I (вид характеристики - «зона нечувствительности»). В свою очередь, пропорциональное звено 18, обладающее передаточным коэффициентом

и получающее информацию от линейного элемента 17 в виде напряжения U₆, подключено к второму инвертирующему входу сумматора 9. Напряжение на выходе пропорционального звена 18 обозначено на фиг.2 как U₇.For FIG. 2, the following notation is introduced: 1 - a thyristor converter, which, receiving a sinusoidal input voltage Uc from the network, generates an adjustable voltage U, which is supplied to the armature winding of a DC motor 3 of independent excitation through a current sensor 2. The DC motor 3 is mechanically connected to the first speed sensor 4 and through the kinematic viscoelastic gear 5 to the actuator 6. The actuator is equipped with a second speed sensor 7. The value of the rotational speed of the DC motor shaft 3 is indicated in FIG. 2 as Ω ₁ , measured first the speed sensor 4 and converted them into a voltage U _Ω1, proportional to the motor rotation speed DC 3. The magnitude of the actuator shaft 6, the rotation speed is designated in Figure 2 as Ω _2, measured torym speed sensor 7 and converted them into a voltage U _Ω2, proportional to the velocity of rotation of the actuator shaft 6. Ramp 8 running input drive voltage U _Ω3, generates the variation in time of voltage U _{Ω3 (t),} which determines the rate of its increase in start-up and regulation mode. The output of the intensity adjuster 8 is connected to the non-inverting input of the adder 9, the first inverting input of which is connected to the electrical output of the second speed sensor 7. Voltage U _{Ω2 is} supplied here. The output of the adder 9 (voltage ΔU) through the integrator 10 (having a transfer function

, where S is the Laplace complex operator) in the form of voltage U _{1 is} connected to the first input of the summing amplifier 11, the second input of the summing amplifier 11 through the first amplifier 12 (its gain is K ₁ ) is connected to the information output of the current sensor 2, forming the voltage U _i proportional to the current of the anchor winding of the DC motor 3. In this case, the voltage at the output of the first amplifier 12 is indicated in figure 2 as U ₂ . The third input of the summing amplifier 11 through the second amplifier 13, having a gain of K ₂ (in Fig.2 - voltage U ₃ ), is connected to the electrical output of the first speed sensor 4 (in Fig.2 - voltage U _Ω1 ). The fourth input of the summing amplifier 11 (voltage U ₄ ) through the third amplifier 14 with a gain of K _{3 is} connected to the output of the second speed sensor 7 (figure 2 - voltage U _Ω2 ). The output of the summing amplifier 11 is connected to the control input of the thyristor converter 1 in the form of a voltage U _U. In addition, the information output of the current sensor 2 in the form of voltage U _i through the nonlinear element 15 of the current cutoff circuit (U _ne ) and integral-differential link 16 with a transfer function

(in Fig. 2, voltage U ₅ ), as well as a linear element 17 with a gain of K, _then (in Fig. 2, U ₆ ) is connected to the inverting input of the summing amplifier 11. The transfer characteristic of the nonlinear element 15 is presented in Fig. 4 and illustrates the dependence U _ne from current I (type of characteristic - “dead band”). In turn, the proportional link 18, with a gear ratio

and receiving information from the linear element 17 in the form of a voltage U ₆ , connected to the second inverting input of the adder 9. The voltage at the output of the proportional link 18 is indicated in figure 2 as U ₇ .

, можно представить в виде параллельного соединения двух звеньев - безынерционного единичного коэффициента усиления и интегратора с передаточной функцией

. Воспользовавшись правилами эквивалентных структурных преобразований, можно перенести задержанную обратную связь по току, содержащую интегрирующий элемент

, со входа суммирующего усилителя 11, управляющего тиристорным преобразователем 1, на вход сумматора 9, подающего сигнал на вход интегратора 10, обладающего передаточной функцией

и обеспечивающего астатизм основного регулятора. При этом с учетом коэффициента усиления К₅ интегратора 10 основного контура необходимо скорректировать коэффициент усиления этой перенесенной параллельной ветви контура токовой отсечки, который следует разделить на K₅. Таким образом, получаем скорректированный коэффициент усиления перенесенной параллельной ветви контура токовой отсечки (передаточный коэффициент пропорционального звена 18) в виде

. Безынерционный единичный коэффициент усиления (вторая параллельная ветвь ПИ-звена контура токовой отсечки) ничего не меняет в структуре контура токовой отсечки, и напряжение U₆, как и ранее, приходит на инвертирующий вход суммирующего усилителя 11, управляющего тиристорным преобразователем 1.The purpose of the proportional link 18 is as follows. PI link in the current cutoff circuit of the prototype device having a transfer function

, can be represented as a parallel connection of two links - inertia-free unit gain and integrator with transfer function

. Using the rules of equivalent structural transformations, it is possible to transfer delayed current feedback containing an integrating element

, from the input of the summing amplifier 11, which controls the thyristor converter 1, to the input of the adder 9, which supplies a signal to the input of an integrator 10 having a transfer function

and providing astatism to the main regulator. In this case, taking into account the gain factor K _{5 of the} integrator 10 of the main circuit, it is necessary to adjust the gain factor of this transferred parallel branch of the current cutoff circuit, which should be divided by K ₅ . Thus, we obtain the adjusted gain of the transferred parallel branch of the current cutoff circuit (gear ratio of the proportional link 18) in the form

. The inertialess gain (the second parallel branch of the PI link of the current cutoff circuit) does not change anything in the structure of the current cutoff circuit, and the voltage U ₆ , as before, comes to the inverting input of the summing amplifier 11 controlling the thyristor converter 1.

This transformation allows you to combine in the proportional link 18 the integral parts of the main controller and the current limiting circuit controller. At the same time, the nature and quality of transients in the current and velocities of the first and second masses of the system under consideration are preserved, and they turn out to be similar to the control processes in the system without performing additional structural changes. However, now the signal at the input of the integrator 10 in the case of a decrease in the quantity U _Ω2 and an increase in the armature current of the DC motor 3 in excess of a predetermined value does not increase as in the prototype. This is because the emerging voltage U ₇ , arriving at the second inverting input of the adder 9 from the proportional link 18, reduces the value of ΔU. The integrator does not accumulate the signal at its output, the value of U ₁ at the output of the integrator is limited and is determined in shape by the signal from the second speed sensor 7 of the actuator 6.

A device for automatically controlling an electromechanical system with a viscoelastic kinematic coupling works as follows. At the initial moment of the start-up of the electric drive, the voltage U _Ω3 , the value of which determines the acceleration rate of the DC motor 3 and the actuator 6, is supplied to the rotation speed halfway from the nominal input to the intensity adjuster 8. The intensity adjuster 8 changes the voltage U _{Ω3 (t)} linearly at its output providing necessary stability predetermined transient start and limiting the magnitude of the motor armature winding current DC 3 in this case at 60 A. in this case, the rotation speed Ω ₁ move in! ator DC 3 and Ω ₂ actuator 6 begin to increase from zero, and the velocity sensors first 4 and second 7 at the initial moment produce at their outputs the voltage U _Ω1 = 0 and U _Ω2 = 0, which ensures the appearance ΔU _Ω voltage at the integrator input 10. Since the current I of the DC motor 3 at the initial time is zero, the voltage U _i taken from the information output of the current sensor 2 is also zero, the current cutoff circuit represented by a nonlinear element 15, an integral-differential link 16, and a linear element 1 7 does not take effect. Therefore, the integrator 10 begins to integrate the ΔU value from a zero value. The summing amplifier 11, the main function of which is to take into account the magnitude of all the feedbacks of the device, the voltage at the corresponding inputs of which come from the sensors with pre-selected coefficients (amplifiers from first to third are responsible for this), generates a voltage U _y , which, when applied to the control input thyristor converter 1, increases the voltage U supplied to the armature winding of the DC motor 3. That, in turn, accelerates and changes the rotation speed Ω ₁ . Due to the kinematic viscoelastic transmission 5, this change is transmitted to the actuator shaft 6. Due to the viscoelastic properties of the kinematic transmission 5, the speeds Ω ₁ and Ω ₂ may not be equal. At the stage of acceleration of the DC motor 3 and the actuator 6 (time interval from 0 to 5 s), a significant increase in the current I of the armature winding is observed in the device. In this case, the intensity adjuster 8 is adjusted so that during the start-up (interval from 0 to 2.5 s), the current I tends to a value of 60 A. If the specified value is exceeded, the current cut-off takes effect. As soon as the value of the armature current of the DC motor 3 exceeds 63 A, established by the characteristic of the nonlinear element 15 (Fig. 4), the nonlinear element 15 connected in series, the integral-differential link 16 and the linear element 17 begin to generate a current feedback signal U ₆ , which goes to the inverting input of the summing amplifier 11. Since the current feedback, like all feedbacks connected to the corresponding inputs of the summing amplifier 11 from the sensors, is negative, the indicated circuits in affect the thyristor converter 1 and the voltage of the armature circuit of the DC motor 3 so that they tend to stabilize the parameters measured by sensors 2, 4 and 7. For current I, this leads to the fact that in the time diagram of figure 3 there is a section of current stabilization (interval 0.3-2.5 s). The value of U ₇ formed at the output of the proportional link 18, determined by the value of U ₆ shown in figure 3 and the gear ratio of the proportional link 18, is negligible. Therefore, the influence of this feedback affects the acceleration intensity is negligible. The transients of the speeds Ω _{1 of} the DC motor 3 and Ω _{2 of the} actuator 6 practically do not differ from the transients of the prototype (figure 1).

Analysis of the timing diagram of the output voltage U _{1 of the} integrator 10 of figure 3 indicates that at the stage of acceleration of the engine, this voltage does not exceed 8.5 × 10 ³ relative units, as in the prototype.

In the future, when testing control and disturbing influences, the list and application procedure of which is the same as for the prototype device, all feedbacks come into operation, similar to the processes presented in the start-up mode. According to figure 3, which shows the time dependence of the current I, the shaft speed of the DC motor Ω ₁ , the shaft speed of the actuator Ω ₂ , the signal at the output of the integrator U ₁ and the signal at the output of the linear unit U ₆ , obtained as a result of computer simulation of the device in in the same modes as for the prototype device, no changes in the dynamics of the first three of these parameters occur. In other words, the quality indicators of transients for the actuator 6 and the DC motor 3 remain as high as in the original version. The analysis of the time diagram of the transient process for the signal U ₁ at the output of the integrator 10 indicates significant differences from the prototype, especially noticeable in the time interval of 5-8 s. At this stage, the load surge causes the current to exceed 63 A. By reducing the speed of rotation of the actuator, the value of U _Ω2 decreases. However, the intensity adjuster, which has completed the start-up process, maintains a constant voltage U _{Ω (t)} at the non-inverting input of the adder 9, which remains unchanged after the end of the start-up transition process. Therefore, the difference (U _{Ω3 (t)} -U _Ω2 ) begins to increase, as in the prototype, but in contrast to it, the voltage U ₇ , determined by the value of the signal U ₆ , appears on the second inverting input of the adder 9 from the output of the proportional link 18, which reduces the difference ΔU to the value (U _{Ω3 (t)} -U _Ω2 -U ₇ ). As shown in the timing diagram of Figure 3 after operation of the nonlinear element 15 that is configured by the amount of 63 A, due to the integral-differential unit 16 ₆ U value increases, and hence, increases proportionally and U _7. This leads to a decrease in ΔU, the value of U ₁ in the interval from 5 to 7 seconds is reduced, excessive accumulation of information at the output of the integrator 10 does not occur. When the load is dropped (interval 7-8 s), the speed of the actuator 6 starts to increase, U _Ω2 increases, but at the same time the value of U ₆ decreases, which means that U _{7 is} proportional to it. This is because the integral-differential link 16, practicing the value of the signal U _NE , reduces the voltage U ₅ at its output. The difference (U _{Ω3 (t)} -U _Ω2 -U ₇ ) begins to increase, the voltage U ₁ increases. Since at this stage the voltage U ₇ is still present at the second inverting input of the adder 9, the accumulated signal U ₁ at the output of the integrator 10 in this mode reaches only 8.5 * 10 ³ relative units. This is almost 20 times less than the value (1.6 × 10 ⁵ relative units) that was obtained when simulating the operation of the prototype device at a similar time interval. In this case, repeated sketches and subsequent load reductions do not lead to accumulation of the signal by the integrator 10.

Thus, it is possible to avoid prolonged integration of input information and, ultimately, overflow of memory elements on which the integrating part of the device is implemented. Such processes in no way affect the quality of the transient processes of the device in terms of adjustable parameters. If we compare the transients for the output signals of the integrators of the claimed device and the prototype, taking into account the fact that, as in the analysis of transients in the prototype, on the right side of the axis of the signals U ₁ from the output of the integrator in Fig. 3, the bit values of the digital unit performing the function integrator, we can conclude that in this embodiment, the capacity of the integrator is reduced to 14, which is 4 bits less than in the prototype.

Thus, the proposed technical solution allows to reduce the bit depth of integrators in the technical implementation of the device on digital elements.

Claims (1)

A device for controlling an electromechanical system with a viscoelastic kinematic coupling, comprising a thyristor converter, through a current sensor connected to a DC motor, which is mechanically connected to the first speed sensor and through a kinematic viscoelastic transmission with an actuator, on the shaft of which a second speed sensor, an intensity adjuster, the output of which is connected to the non-inverting input of the adder, the first inverting input of the adder is connected to the electrical output of the second speed sensor, the output of the adder through an integrator is connected to the first input of the summing amplifier, the second input of the summing amplifier through the first amplifier is connected to the information output of the current sensor, the third input of the summing amplifier through the second amplifier is connected to the electrical output of the first speed sensor, the fourth input of the summing amplifier through the third amplifier connected to the output of the second speed sensor, the information output of the current sensor through series-connected non-linear element, integral differential The differential link and the linear element is connected to the inverting input of the summing amplifier, the output of which is connected to the control input of the thyristor converter, characterized in that a proportional link is inserted into it, the output of the linear block is connected to the input of the proportional link, and the output of the proportional link is connected to the second inverting input of the adder moreover, the proportional link has a transfer function

,
where K ₅ is the gain of the integrator;
τ ₁ is the time constant of the integral-differential link.

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