RU2496679C1 - Method to generate control signal for steering gas-hydraulic drive and device to this end - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to rocketry, particularly, to generation of control signal for steering gas-hydraulic drives. Proposed method consists in generation of sine signal, definition of modulus of the signal of difference between preset and current pressures, definition of difference signal integral modulus, summation of difference signal with difference signal integral modulus to multiply obtained signal by sine signal to be summed with control signal. Proposed device comprises three adders, three amplifiers, two multipliers, logical unit, sine signal source and integrator. Current pressure transducer output is connected via first adder, first multiplier, first amplifier, second adder, second amplifier and third adder, all being connected in series, with actuator electric input. Sine signal source output is connected via third amplifier with second multiplier second input. Control device output is connected with third adder second input. Pressure setter output is connected with first adder second input and, via logical unit, with first multiplier second input. Current pressure transducer output is connected with first adder second input. First multiplier output is connected via integrator with second adder second input.

EFFECT: higher quality and stability of transient processes at drive output.

2 cl, 1 dwg

Description

The invention relates to actuators of control systems, namely, gas-hydraulic drives, to devices and methods for correcting control of drives.

A known method of generating a control signal for gas-hydraulic steering gear, which consists in generating a pressure setpoint signal, measuring the current pressure value, and generating a control signal [1].

A device for implementing a method for generating a control signal for a gas-hydraulic steering drive is known, comprising a pressure adjuster, a control device and a gas-hydraulic pressure source, the output of which is connected to the input of the current pressure sensor and the hydraulic input of the steering machine [1].

The use of a solid fuel gas generator (TG) [1] as a primary source of gas energy for gas-hydraulic steering gear (HGR) [1] is due to a number of advantages over other types of energy sources, the main of which are:

1) in maintaining a stable energy potential over a long period of operation (20 ... 25 years) as part of the head product,

2) in high values of the energy-mass indicator in relation to a wide range of output power (up to 10 kW) with a continuous operation time of up to 2 ... 3 min in comparison with other primary energy sources - ampoule batteries, air pressure accumulators, liquid pressure accumulators ,

3) in the absence of the need for routine maintenance during operation.

Nevertheless, a significant drawback of TG should include a fairly wide range of pressure changes (up to 20 ... 25%) associated with its operating conditions in the limited temperature range of the environment, as well as with technological factors affecting the quality of solid fuel charges, arising in the process of manufacturing TG. First of all, technological factors include variable density over the charge arch, presence of air inclusions in the charge body, incomplete adhesion of the armor composition with the side surface of the charge, which increase the charge surface during operation. These factors can lead to an increase in gas intake, pressure in the combustion chamber and unauthorized exceeding the upper limit of the allowable pressure range regulated by the gas valve during TG operation. Exceeding the upper limit of the permissible pressure value, increasing the quality factor of the drive, reduces the stability margin in phase and degrades the quality of transients during the development of the control signal.

In addition to technological factors, an increase in gas intake during the operation of the TG can be associated with a change in the characteristics of the gas energy consumer. For example, this happens when the nozzle cross section of the turbopump assembly decreases due to slagging due to insufficient purification of the powder gases from solid particles or gaps in the gas valve of the powder pressure accumulator or gaps in the piston group of the rotary cylinder block of the axial piston motor pump unit.

As a result of the instability of the current pressure P _t TG occurs deterioration transients at the output gazogidravlicheskogo actuator, which is a significant disadvantage of the known technical solutions.

In order to eliminate the indicated drawback of the known technical solution — improving the quality and stability of transients at the output of the gas-hydraulic drive — the proposed method is characterized in that they generate a sinusoidal signal, determine the difference signal module of the preset pressure value and the current pressure value, determine the integral of the difference signal module, summarize the module the difference signal and the integral of the difference signal module and the received signal are multiplied by a sinusoidal signal and summed with the control signal and the device for its implementation is characterized in that it contains three adders, three amplifiers, two multiplication units, a logic unit, a sinusoidal signal source and an integrator, the output of the current pressure sensor through a series-connected first adder, the first multiplication unit, the first amplifier, and the second adder , the second amplifier, the second multiplication unit and the third adder is connected to the electric input of the steering machine, and the output of the sine signal source through the third amplifier is connected to the second input of the second unit multiplying the output of the control device is connected to the second input of the third adder, the output of the pressure adjuster is connected to the second input of the first adder and through the logic unit to the second input of the first multiplication unit, the output of the current pressure sensor is connected to the second input of the first adder, the output of the first multiplication unit, through the integrator connected to the second input of the second adder.

The method and device that implements it are illustrated in the drawing, where the following notation is accepted:

1 - pressure adjuster,

2 - current pressure sensor,

3 - the first adder

4 - logical block,

5 - the first block of multiplication,

6 - integrator,

7 - the first amplifier

8 - second adder,

9 - second amplifier

10 - source of a sinusoidal signal,

11 is the third amplifier,

12 - the second block of multiplication,

13 - control device

14 - the third adder

15 - steering car

16 is a gas-hydraulic pressure source,

17 - gas-hydraulic steering gear.

The method of correction of the control signal of the gas-hydraulic steering gear and the device for its implementation will be considered together.

The structure of the steering gear shown in the drawing, operates as follows.

.The current pressure sensor 2 of the gas-hydraulic pressure source measures the current pressure P _t in the combustion chamber TT, which is compared in the first adder 3 with the signal P _s from the output of pressure setter 1. The signals P _t and P _s are also fed to the inputs of logic block 4, which outputs the output is a zero signal at P _t <P _s or a signal equal to unity at P _t > P _s (standard block of the Relational Operator Simulink environment in MATLAB). Thus, the pressure regulator 1, the current pressure sensor 2, the first adder 3 and the logic unit 4 together with the first multiplication unit 5 form the output of the difference module signal $$\epsilon =\left|P_t-R_s\right|$$

.

соответственно (к₀, к₁=const>0). На выходе второго сумматора получается сумма сигналов $${к}_0\cdot \epsilon +{к}_1\cdot {\displaystyle \underset{0}{\overset{t}{\int }}\cdot \epsilon \cdot dt}$$

, которая после усиления вторым усилителем 8 поступает на один из входов второго блока умножения 12, на другой вход которого усиленный третьим усилителем 11 синусоидальный сигнал с выхода источника синусоидального сигнала 10. В третьем сумматоре 14 суммируются сигнал коррекции с выхода второго блока умножения 12 и сигнал управления u(t) с выхода устройства управления 13. Скорректированный сигнал управления 13 с выхода третьего сумматора 14 поступает на электрический вход рулевой машины 15, которая совместно с газогидравлическим источником давления 16 и составляет газогидравлический рулевой привод 17.Then, using the first amplifier 7 and integrator 6, a correspondingly scaled value of the difference to ₀ · ε and the integral signal are formed $${\mathrm{to}}_{\mathrm{one}}\cdot {\displaystyle \underset{0}{\overset{t}{\int }}\cdot \epsilon \cdot dt}$$

respectively (k ₀ , k ₁ = const> 0). The output of the second adder is the sum of the signals $${\mathrm{to}}_0\cdot \epsilon +{\mathrm{to}}_{\mathrm{one}}\cdot {\displaystyle \underset{0}{\overset{t}{\int }}\cdot \epsilon \cdot dt}$$

which, after amplification by the second amplifier 8, is fed to one of the inputs of the second multiplication unit 12, to the other input of which is a sinusoidal signal amplified by the third amplifier 11 from the output of the source of the sinusoidal signal 10. In the third adder 14, the correction signal from the output of the second multiplication unit 12 and the control signal are summed u (t) from the output of the control device 13. The adjusted control signal 13 from the output of the third adder 14 is fed to the electrical input of the steering machine 15, which, together with the gas-hydraulic source, is pressured I'm 16 and is gas-hydraulic steering gear 17.

, а сигнал $${к}_0\cdot \epsilon +{к}_1\cdot {\displaystyle \underset{0}{\overset{t}{\int }}\cdot \epsilon \cdot dt}$$

обеспечивает стремление ε к нулю, т.е. к условию P_т=P_з. При этом, чем больше отклонение P_т от P_з, тем больше амплитуда синусоидального сигнала коррекции u(t) 13.When the current pressure P _t deviates from the given P _s , a difference signal is generated $$\epsilon =\left|P_t-R_s\right|$$

, and the signal $${\mathrm{to}}_0\cdot \epsilon +{\mathrm{to}}_{\mathrm{one}}\cdot {\displaystyle \underset{0}{\overset{t}{\int }}\cdot \epsilon \cdot dt}$$

provides the tendency of ε to zero, i.e. to the condition P _t = P _s . Moreover, the greater the deviation of P _t from P _s , the greater the amplitude of the sinusoidal correction signal u (t) 13.

As a result of an increase in the flow rate of the consumed working fluid due to an increase in the amplitude of the correction signal, an increase in the mass flow rate of gas from the TG combustion chamber will occur, which will reduce the gas pressure (liquid for the HGID displacement tank) to a level not exceeding the pressure limit limited by the stationary level P _s . It should be noted that the output pressure of the gas-hydraulic source is the input pressure of the energy channel of the actuator - the steering machine 15.

The technical result obtained by using the invention is to improve and stabilize the quality of transients at the output of the gas-hydraulic steering gear.

The inventive step of the proposed technical solution is confirmed by the distinctive parts of the claims on the method of correction of the control signal of the gas-hydraulic steering drive according to claim 1 and the implementation device according to claim 2.

Literature:

1. Grebenkin V.I., Lalabekov V.I., Mukhamedov B.C., Shmachkov E.A. Creation of control drives with solid fuel power sources for solid fuel guided ballistic missiles. Proceedings of MIT, Scientific and Technical Collection, Volume 8, part. 1, M., 2006, p. 48 ... 59 (prototype).

Claims (2)

1. The method of generating a control signal for the gas-hydraulic steering gear, which consists in generating a pressure setpoint signal, measuring the current pressure value, generating a control signal, characterized in that a sinusoidal signal is generated, determining a signal difference signal set pressure difference and the current pressure value, determine the integral of the difference signal module, sum the difference signal module and the integral of the difference signal module and the resulting signal is multiplied by a sinusoidal signal and the sums rut with a control signal. 2. A device for implementing a method for generating a control signal for a gas-hydraulic steering drive according to claim 1, comprising a pressure adjuster, a control device and a gas-hydraulic pressure source, the output of which is connected to the input of the current pressure sensor and the hydraulic input of the steering machine, characterized in that it contains three adders , three amplifiers, two multiplication blocks, a logic block, a sinusoidal signal source and an integrator, the output of the current pressure sensor through a series-connected first adder, p the first multiplication unit, the first amplifier, the second adder, the second amplifier, the second multiplier unit and the third adder are connected to the electric input of the steering machine, and the output of the sine signal source through the third amplifier is connected to the second input of the second multiplication unit, the output of the control device is connected to the second input of the third the adder, the output of the pressure adjuster is connected to the second input of the first adder and through the logic block with the second input of the first multiplication unit, the output of the current pressure sensor is connected to the second the input of the first adder, the output of the first block of multiplication, through an integrator connected to the second input of the second adder.