RU2733078C1 - Electromagnet actuation timing method and device for implementation thereof - Google Patents

Abstract

FIELD: electrical engineering.

SUBSTANCE: invention relates to electrical engineering, can be used for control of electromagnets (EM) of valves and switching devices and is used mainly when solving problem of simultaneous control of several switching devices or valves, when it is important to ensure their synchronous operation. Method is based on regulation of EM actuation time due to automatic change and stabilization of voltage supplied to EM winding during cycle of actuation. Trigger time value is measured in each EM actuation cycle, at the end of which the deviation of the obtained actuation time from the specified value is determined, and before the beginning of the next cycle, the new constant on the cycle is changed value of voltage supplied to the EM winding at its subsequent connection, providing variation of duration of time interval required to achieve current value of winding, at exceeding of which movement of armature begins. Variation of the voltage value supplied to the EM winding at its activation before each new actuation cycle is performed automatically until the electromagnet actuation time reaches the specified value with the required accuracy. Value of voltage supplied to EM winding at its inclusion in each next operation cycle is changed by adding to its current increment value, value of which is determined by multiplying the deviation value of the obtained actuation time from a given value by a coefficient characterizing the effect of voltage variation on the value of the actuation time, which is automatically re-set before each actuation cycle by dividing the voltage increment applied to the winding at the previous actuation cycle by the value of the obtained increment of the actuation time. In order to implement the disclosed method, an electrical schematic diagram of its possible design is proposed.

EFFECT: technical result consists in expansion of functional capabilities and improvement of efficiency.

7 cl, 7 dwg

Description

The proposed invention relates to electrical engineering and can be used to control drive electromagnets (EM) of valves and switching devices. This technical solution can be used mainly when solving the problem of simultaneous control of several switching devices or valves, when it is important to ensure their synchronous operation.

Known methods for regulating the response time of the EM, described in [1] on p. 142-144 or in [2] on p. 232-233. These solutions provide for the installation of additional elements (inductors, capacitors or resistances) to reduce the rate of rise of the current in the EM winding when turned on. Such solutions significantly increase the dimensions of the device, since it requires the installation of elements designed for operating currents of EM. In addition, such regulation requires replacement of previously installed elements and does not allow for automatic regulation of the response time. Usually, the regulation of the EM response time does not allow changing this time both in the direction of increasing and decreasing, but comes down either to slowing down the response or to forcing.

To delay the response time of the EM, the hydraulic deceleration described in [3] is also used. Such a technical solution should be incorporated in the manufacture of EM and requires the presence in the structure of a sealed tube filled with a viscous liquid with a movable core placed in it. This design solution cannot be used for EMs operating in difficult operating conditions. In addition, it does not allow for adjusting the response time drift during operation.

A more flexible solution is the way to regulate the response time due to the electrical control of the parameters of electronic elements. For example, the device described in [4] makes it possible to reduce the response time of an electromagnet due to the use of an increased supply voltage for the EM and pulse stabilization of the voltage on its coil during the actuation process. This solution is free from the disadvantages described above, but it does not allow regulating the EM response time, which changes when destabilizing factors are applied to it during operation (change in temperature, opposing force, working stroke).

For the prototype of the alleged invention adopted a method of adjusting the response time, implemented in [5]. This method involves measuring the supply voltage and bypassing the EM winding connected to the power source with an additional key through a series-connected resistor. This solution makes it possible to regulate the response time of the EM within a wide range, but at the same time, in each cycle of the EM operation, additional energy is expended, significantly exceeding the actually necessary for its operation.

The objectives of the proposed invention are to expand the functionality of the method and improve energy efficiency.

The proposed technical solution is based on regulation of the EM response time by automatically changing the voltage applied to the EM winding during the actuation cycle. It is known [1, 2] that the response time of the EM (the time interval from the moment the voltage is applied to the winding until the armature reaches its extreme position corresponding to the EM operation) is the sum of the start-up time and the time of the armature movement. The time of movement of the armature is determined by the resultant of the forces acting on it during the movement and by the mass of the moving parts. And the starting time (the time interval from the moment the voltage is applied to the winding until the start of the armature movement) is a function of the parameters of the electric and magnetic circuits of the EM and is determined by the ratio

where T _e = L _em / R _em is the electromagnetic constant of the EM winding;

L _em and R _em - respectively the inductance and resistance of the EM winding;

U _tr = I _tr R _em - starting voltage;

I _tr - starting current (value of the current in the EM winding, at which the armature begins to move);

U _em = I _em R _em is the voltage value that is supplied to the EM winding when it is turned on;

I _em - the steady-state value of the current in the EM winding, after its operation.

The above ratio shows that the start-off time directly depends on the voltage applied to the EM winding, which means that it can be regulated by changing the supplied voltage. Accordingly, by adjusting the starting time, you can simultaneously adjust the response time.

To solve the problem of the proposed invention, the response time is measured in each electromagnet response cycle, after which the deviation of the obtained response time from the set value is determined, and before the start of the next cycle, a new constant on the cycle voltage value supplied to the electromagnet winding is changed and stabilized upon its subsequent switching on ... Thus, a change in the duration of the time interval required for the winding current to reach the value above which the armature begins to move is provided. Moreover, the change in the value of the voltage applied to the winding of the electromagnet when it is turned on, before each new actuation cycle is carried out automatically until the actuation time of the electromagnet reaches the specified value with the required accuracy.

The value of the voltage applied to the winding of the electromagnet when it is turned on in each subsequent operation cycle is changed by adding to its current value an increment, the value of which is determined by multiplying the deviation of the obtained response time from the set value by a coefficient characterizing the effect of voltage change on the response time. The initial value of the coefficient characterizing the effect of voltage changes on the response time is determined experimentally or by computer simulation before starting work. To increase the noise immunity of the method, the value of the coefficient characterizing the effect of voltage changes on the response time is automatically redefined before the start of each operation cycle by dividing the voltage increment supplied to the winding during the previous operation cycle by the value of the resulting response time increment.

To implement the proposed method for controlling the response time of an EM, a device has been developed, the prototype of which is a control device for a DC voltage electromagnet according to patent RU 2636052 C1 [6]. In the prototype device, the supply voltage is measured by applying to the analog input 15 (see Fig. 4 [6]) of the microcontroller 9 voltage from the resistive divider R11 - R12, which is proportional to the supply voltage. The method of regulating the voltage on the EM winding used in this device uses a step-down voltage stabilizer circuit, which does not allow setting the voltage on the EM winding that exceeds the supply voltage. In addition, the measured supply voltage does not take into account the losses on the key, which reduces the accuracy of this method. To solve the problem of the invention, a voltage converter, a power filter, an interface converter and an electromagnet actuation sensor associated with its armature are additionally introduced into the device. Moreover, the positive and negative terminals of the voltage converter are connected to the corresponding power terminals, its control input is connected to the analog output of the microcontroller. The output of the voltage converter is connected to the positive terminals of the controlled key and the power filter, the negative terminal of which is connected to the second power terminal. The output of the actuation sensor is connected to the analog input of the comparator of the microcontroller, the data input of which is connected to the data output of the interface converter, whose data input is connected to the data output of the microcontroller. Bidirectional outputs of the interface converter and a discrete input of the microcontroller are external signal inputs for controlling the electromagnet. As a microcontroller, a PIC16F1778-I / SO microcircuit is used, in which pin 3 is an analog output, pins 8 and 19 are a negative power pin, pin 11 is a discrete output, pin 13 is an analog input of a comparator, pin 14 is an input of an analog-to-digital converter, pin 15 is a discrete input, pin 16 is a data input, pin 18 is a data output, and pin 20 is a positive power supply.

The essence of the proposed technical solution is illustrated by drawings.

FIG. 1. Experimental and calculated dependences of the EM response time on the voltage supplied to its winding.

FIG. 2. Graphic illustration of the proposed technical solution.

FIG. 3. Possible block diagram of the operation algorithm of the device that implements the proposed method.

FIG. 4. Functional diagram of a device for regulating the response time of an electromagnet.

FIG. 5. Block diagram of the core and configuration of the internal modules of the microcontroller.

FIG. 6. Electrical schematic diagram of a possible design of a device for regulating the response time of an electromagnet.

FIG. 7. Results of computer simulation of electromagnet actuation under different conditions.

The proposed method for regulating the EM response time is based on measuring the EM response time according to the signal of the actuation sensor, which controls the movement of the EM rod, and the voltage on its winding and subsequent voltage correction on the EM winding to change the EM response time until the required control accuracy is achieved.

FIG. 1 shows the experimental (the experimentally removed points shown by the circles are connected by a broken line) and the calculated dependences of the EM response time on the voltage supplied to its winding. The calculated dependencies were obtained by the method of computer simulation for the nominal (solid line), the minimum possible under permissible operating conditions (dash-dotted line) and the maximum possible (dashed line) values of the winding resistance and the nominal values of all other parameters of the electric and magnetic circuits of the EM. The curves obtained (see Fig. 1) show that qualitatively the dependence of the response time on the voltage applied to the winding resembles an inverse proportional one, i.e. with an increase in the applied voltage to the winding, the response time of the EM decreases, and, accordingly, with a decrease in the applied voltage, it increases. It can also be seen from the given graphs that the considered dependence is influenced, for example, by the value of the EM winding resistance. In addition, this dependence will also be influenced by the specific values of the parameters of the electric and magnetic circuits and the magnitude of the load acting on the EM rod. Therefore, the exact form of the dependence of the EM response time on the voltage supplied to its winding is not known in advance in real conditions of its operation, although the qualitative nature of this dependence according to the data known to the authors does not change. The proposed method for regulating the response time of the EM allows taking into account all the factors described.

The process of automatic regulation of the response time is carried out as follows. FIG. 2 shows a graphic illustration explaining it. To implement a certain k-th cycle of EM operation, a voltage U _em (k) is applied to its winding, which, as a result of operation, makes it possible to obtain the value of the operation time t _operation (k). This situation corresponds to point A ₀ on the coordinate plane t _srab (U _em ) (see the graph in Fig. 2). Since we know the set value of the response time t trip _set and the current value of the coefficient k _in (k), which characterizes the effect of voltage changes on the response time, it is possible to calculate the new required voltage value that will be supplied to the EM winding in the next operation cycle:

where Δt _srab (k) = t _{srab ass} -t _srab (k).

In the first actuation cycle, as the values U _em (k), k _in (k) and t _act (k), either the factory settings or the value obtained in the information packet via a serial channel are used: U _em (k) = U _{em nom} - nominal calculated voltage value, when applied to the winding under ideal operating conditions of EM with nominal values of all parameters, the calculated response time t _trip (k) = t _{trip is achieved} ; k _in (k) = k _{in calculation} - the nominal calculated value of the coefficient obtained for nominal conditions, for example, experimentally or by computer simulation.

When implementing the next (k + 1) th actuation cycle, voltage U _em (k + 1) is applied to the EM winding. The value of the response time t _cpab (k + l), which will be obtained in this cycle, will differ from t _{cpab back} due to the nonlinearity of the t _cpab (U _em ) dependence and the difference in operating conditions and parameters of the EM and control circuits from the nominal ones. Thus, we obtain after switching on the coordinate plane _cpab t (U _EM) point A ₂ and point A is not the predicted _one. The results obtained for the current frame, operation can be automatically adjusted _to the value of the coefficient k in accordance with the relationship:

and according to the formula (2), the voltage value that will be supplied to the EM winding in the next cycle is calculated. The change in the values of the winding voltage and the coefficient k _in for the next operation cycle is performed until the response time obtained in the current cycle satisfies the required accuracy of its regulation, i.e. until the inequality becomes true:

where δt _cpab is the required accuracy of the response time regulation.

FIG. 3 shows a block diagram of an exemplary algorithm, the implementation of which during the operation of a device that implements the proposed method, will provide a solution to the problem of the invention.

A functional diagram of a device that implements the proposed method for controlling the response time of an EM is shown in Fig. 4. The device contains the first 1 and second 2 power terminals connected respectively to the positive and negative terminals of the constant voltage source, two terminals 3 and 4 for connecting the electromagnet winding 5, voltage divider 6, diode 7, controlled switch 8, voltage stabilizer 9 and microcontroller 10. Moreover, the anode of the diode, the negative terminals of the voltage divider, the voltage stabilizer and the controlled key are connected to the second power terminal. The cathode of the diode and the positive terminal of the controlled key are connected to the positive terminal 3 of the electromagnet 5. The input of the voltage stabilizer is connected to the first power terminal, and its output is connected to the positive terminal of the microcontroller's power supply. The control input of the controlled key is connected to the discrete output DO of the microcontroller 10, the input AInl of the analog-to-digital converter is connected to the output of the voltage divider 6. The negative terminal 4 of the electromagnet 5 and the negative power output of the microcontroller 10 are connected to the second power terminal 2. The device also contains a voltage converter 11 , a power filter 12, an interface converter 13 and an actuation sensor 14 of an electromagnet 5, connected to its armature. Moreover, the positive and negative terminals of the voltage converter are connected to the corresponding power terminals, its control input with the analog output of the microcontroller, and the output with the positive terminals of the controlled key and the power filter. The negative terminal of the power filter 12 is connected to the second power terminal. The output of the actuation sensor 14 is connected to the analog input AIn2 of the comparator of the microcontroller 10, the data input of which is connected to the data output of the interface converter 13, whose data input is connected to the data output Si of the microcontroller 10. Bidirectional outputs of the interface converter 13 and the digital input DI of the microcontroller 10 are external signal inputs to control the electromagnet 5.

Voltage regulation on the EM winding is provided by a voltage converter. In order to expand the permissible range of supply voltages, it is proposed to use a DC / DC converter built according to the topology with an asymmetrically loaded primary inductance (Single-Ended Primary-Inductor Converter - SEPIC) [7]. Such a converter is capable of operating at an input voltage both above and below the stabilized output voltage. The proposed solution will allow more efficient use of the current source in the case of using a storage battery as a primary source of electricity. The diagram of such a converter is shown in Fig. 5 in article [7] on p. 127. Correction of the output voltage of the converter to regulate the response time of the EM is performed by summing at the input FB of the LM3478 microcircuit (see Fig. 5 in article [7]) the feedback voltage coming from the divider formed by resistors R1 and R2, and the voltage from the analog output ( AO) microcontroller (MK) 10 (see diagram of Fig. 4) connected to the control input of the voltage converter 11 (midpoint of its voltage divider R1 and R2).

A power filter is connected to the output of the converter, designed to reduce the influence of transients when the EM is turned on. Unlike the prototype of the device, the output voltage of the converter is constantly applied to the controllable key, and the voltage is applied to the EM according to the signal from the digital output (DO) of the microcontroller (see the diagram of Fig. 4) by the command arriving either at the digital input DI MK, or via serial interface (Si) via interface converter. After receiving the signal to turn on the EM, the countdown of the time of its operation begins. Into the EUSART (Enhanced Universal Synchronous Asynchronous Receiver Transmitter) microcontroller module with RS485 / RS422 transceiver as interface converter. When the command to turn on the EM is received, the stabilized voltage through the controlled key is fed to the electromagnet winding and through the voltage divider to the analog input of the microcontroller (AInl), where it is measured. Monitoring the voltage after the controlled key allows you to take into account the voltage loss on it, caused by its heating. After the voltage is applied to the EM winding, after a certain time, it is triggered, which is fixed by the trigger sensor. An optoelectronic sensor, for example EE-SPX301 [8] manufactured by OMRON CORPORATION, can be used as such a sensor. When a signal is received from the actuation sensor, the EM actuation time expires. The microcontroller, controlled key and actuation sensor are powered by a voltage stabilizer with an output voltage of +5 volts.

The device is controlled by a PIC16F1778 microcontroller Microchip Technology Inc. [nine]. The block diagram of the core and the configuration of the internal modules of the microcontroller (MC) is shown in Fig. five.

The input AInl (pin 14 of the MK) is supplied with a voltage proportional to the voltage on the EM winding, which is fed to the input of a 10-bit analog-to-digital converter ADC, the output code of which Cui is proportional to the input voltage. Measurements are carried out in the time interval from the moment the voltage is applied to the EM winding (by the Start signal) to the moment the EM is triggered (the appearance of the Stop signal at the output of the CMP5 comparator when a signal is received from the output of the actuation sensor). The Start signal is generated either when a discrete signal arrives at the DI input (pin 15 MK), or by a command received via the EUSART serial interface (pins 15, 16 MK). The Stop signal is formed at the output of the CMP5 comparator as a result of comparing the signal from the output of the EM actuation sensor coming to the input Ain2 (pin 13 of the MC) with the voltage coming from the output of the DAC2 digital-to-analog converter. This allows the use of actuation sensors with both discrete and analog outputs. To increase noise immunity, the comparator operation mode with hysteresis is selected. The time interval corresponding to the EM response time is measured by the TMR timer. The Cti result obtained by the timer is compared with the Cui setpoint entered into the MCU. The residual value is used to calculate the correction Cdi to the voltage on the EM winding. As a result, an output signal is generated at the analog output of the microcontroller (pin 3 of the MC), which determines the voltage value that will be applied to the EM winding in the next actuation cycle. The obtained result of the correction to the voltage is loaded into the digital-to-analog converter DAC1 and through the buffer amplifier Op Amp is fed to the analog output of the microcontroller AO (pin 3 of the MC), from which it is fed through the normalizing resistor to the input FB of the voltage converter, changing the voltage value that will be applied to the EM winding in the next operation cycle.

To ensure control accuracy over a wide temperature range, the same voltage V _{ref1 is} used as a reference for digital-to-analog and analog-to-digital converters, which makes the resulting voltage correction invariant with respect to the value of the reference voltage.

An example of a schematic diagram of a possible design of a device for controlling the response time of an electromagnet is shown in Fig. 6. The diagram uses the following designations:

Pr.N - voltage converter;

FP - power filter;

СН - voltage stabilizer;

Int.- interface converter;

MK - microcontroller;

DN - voltage divider;

DS - actuation sensor.

The performance of the proposed technical solution is confirmed by the results of computer simulation, which are shown in Fig. 7 for different operating conditions of EM. All the graphs shown in this figure show the transient processes of modeling one operation cycle, and the command to turn on the EM comes at the same time moment t = 0.005 s. The operation of an EM with a disk armature is simulated, which in the de-energized state is under the action of a spring at a distance of 0.47 mm from the core. When triggered, the armature is pressed against the core.

FIG. 7, a shows the transient process of the EM for the nominal values of the parameters. Here U _em (k) = U _{em nom} = 28 V. As a result of simulation, after EM triggering, we obtain t _srab (k) = 6.11 ms. Let us assume that the set value of the operate time will be t _{tripping set} = 5.5 ms, and the nominal calculated value of the coefficient k _{in calc} = -4.88 V / ms. Then, in order to get the EM response time approaching the specified one in the next cycle, it is necessary to change the voltage value supplied to the winding using the relation (2):

U _em (k + 1) = U _em (k) + k _in (k) Δt _cpa6 (k) = 28 + (- 4.88) ⋅ (5.5-6.11) = 30.98 V.

When this voltage is applied to the EM winding in the next actuation cycle, we obtain the transient process shown in Fig. 7, b. In this case, as can be seen from the graph, we got t _srab (k + 1) = 5.52 ms. We will assume that the response time control accuracy δt = 0.01 ms is specified. Then inequality (4) is not fulfilled, and on the next operation cycle, it is required to change the value of the voltage supplied to the winding again. However, as a result of the previous cycle, we received data that allow us to adjust the value of the coefficient k _in . Using formula (3), we get:

k _in (k + 1) = (U _em (k + 1) -U _em (k)) / (t _cpa6 (k + 1) -t _cpa6 (k)) = (30.98-28) / (5.52-6.11 ) = - 5.05 V / ms. Then, in accordance with relation (2) with an accuracy of 0.01 V, we obtain:

U _em (k + 2) = 30.98 + (- 5.05) ⋅ (5.5-5.52) = 31.08 V.

If this voltage is applied to the EM winding in the next operation cycle, then the transient process shown in Fig. 7, c. In this case, the response time t _cpa (k + 2) = 5.495 ms will be obtained, at which inequality (4) is satisfied. This means that in the next operation cycle, it is not required to change the value of the voltage supplied to the winding.

Suppose now that in a certain n-th cycle of EM operation, the load acting on the EM rod has decreased by 10%. This will lead to a decrease in the starting current and, consequently, the response time (the current value at which the EM armature starts to move will be reached faster). When simulating in this cycle of operation, we have t _break (n) = 5.3 ms, which leads to violation of the condition described by inequality (4), a. This means that a change in the voltage value Uem (n + 1) is required, which will be applied to the EM winding in the next operation cycle. To calculate the value of U _em (n + 1), we take U _em (n) = U _em (k + 2) = 31.08 V, k _in (n) = k _in (k + 1) = - 5.05 V / ms and get: U _em (n + 1) = U _em (n) + k _B (n) Δt _cpa6 (n) = 31.08 + (- 5.05) ⋅ (5.5-5.3) = 30.095 V.

By applying this voltage value to the EM winding in the next actuation cycle, we obtain the transient process shown in Fig. 7, d. In this case, the response time t _cpab (n + 1) = 5.47 ms is achieved, for which inequality (4) is not satisfied, i.e. it will require another change in the voltage value supplied to the winding in the next operation cycle. Let's perform the correction of the coefficient k _in . Using formula (3), we get:

k _in (n + 1) = (U _em (n + 1) -U _em (n)) / (t _cpa6 (n + 1) -t _crab (n)) = (30.095-31.08) / (5.47-5.3 ) = - 5.794 V / ms.

Then, in accordance with relation (2) with an accuracy of 0.01 V, we obtain:

U _em (n + 2) = 30.095 + (- 5.794) ⋅ (5.5-5.47) = 29.92 V.

If, in the next cycle of operation, this voltage value is applied to the EM winding, then if the operating conditions have not changed in comparison with the previous cycle, we will get the transient process shown in Fig. 7, e. It corresponds to the response time (t _trip (n + 2) = 5.500 ms, for which inequality (4) is satisfied.

The presented results of computer simulation confirm the operability of the proposed technical solution and demonstrate its stable and reliable operation in different situations when adjusting the EM response time for any sign of deviation from a given value, which allows solving the problem of expanding the functionality of the proposed invention. An increase in the efficiency of electricity use is achieved due to the fact that when using the proposed functional diagram of the device, there are practically no losses in steel.

SOURCES OF INFORMATION

1. Rodshtein L.A. Electrical Apparatus: A Textbook for Technical Schools. - 4th ed., Rev. and additional - L. Energoatomizdat, Leningrad. branch 1989 .-- 304 p. with silt. ISBN 5-283-04389-4 pp. 142-144.

2. Slivinskaya A.G. Electromagnets and permanent magnets. Textbook for university students. M. Energy, 1972, 248 p. with silt.

3. Electromagnet with time delay when triggered. RU 2246774 C1, 2005, bul. No. 5.

4. Electromagnet control device. RU 2349978 C2, 2009, bull. No. 8.

5. Device for regulating the actuation time of the high-voltage circuit breaker drive. RU 2285309 C1, 2006, bull. No. 28.

6. Control device for constant voltage electromagnet. RU 2636052 C1, 2017, bul. No. 32.

7. Development of the SEPIC converter. COMPONENTS AND TECHNOLOGIES No. 9, 2008, p. 125-128.

8.www.ia.omron.com/product/item/2168/

9. DS40001819B.pdf www.microchip.com/

Claims (7)

1. A method for regulating the response time of an electromagnet, which consists in measuring the response time after applying voltage to the electromagnet winding and changing the power supply circuit parameter, which affects the duration of the time interval required for the winding current to reach the value above which the armature begins to move, characterized in that the value the response time is measured in each electromagnet response cycle, at the end of which the deviation of the obtained response time from the set value is determined, and before the start of the next cycle, a new constant on the cycle value of the voltage applied to the electromagnet winding during its subsequent switching on is changed and stabilized, providing a change in the duration of the time interval required to reach the value of the winding current, upon exceeding which the armature begins to move, and the change in the value of the voltage supplied to the winding of the electromagnet when it is turned on, before each new cycle with Operations are carried out automatically until the response time of the electromagnet reaches the set value with the required accuracy. 2. A method for regulating the response time of an electromagnet according to claim 1, characterized in that the voltage value supplied to the electromagnet winding when it is turned on in each subsequent operation cycle is changed by adding to its current value an increment, the value of which is determined by multiplying the deviation value of the obtained time tripping from the set value by the coefficient characterizing the effect of voltage changes on the magnitude of the tripping time. 3. A method for regulating the response time of an electromagnet according to claim 2, characterized in that the initial value of the coefficient characterizing the effect of voltage changes on the magnitude of the response time is determined experimentally before starting work. 4. A method for regulating the response time of an electromagnet according to claim 2, characterized in that the initial value of the coefficient characterizing the effect of voltage changes on the response time is determined by the method of computer simulation. 5. A method for regulating the response time of an electromagnet according to claim 3 or 4, characterized in that the value of the coefficient characterizing the effect of voltage changes on the magnitude of the response time is redetermined automatically before the start of each operation cycle by dividing the voltage increment supplied to the winding at the previous operation cycle, by the value of the resulting increment in response time. 6. A device for regulating the response time of the electromagnet, containing the first and second power terminals connected respectively to the positive and negative terminals of the constant voltage source, two terminals for connecting the electromagnet winding, a voltage divider, a diode, a controlled switch, a voltage stabilizer and a microcontroller, and the diode anode , the negative terminals of the voltage divider, the voltage stabilizer and the controlled key are connected to the second power terminal, the cathode of the diode and the positive terminal of the controlled key are connected to the positive terminal of the electromagnet, the input of the voltage stabilizer is connected to the first power terminal, and its output is connected to the positive power terminal of the microcontroller, the control the input of the controlled key is connected to the discrete output of the microcontroller, the input of the analog-to-digital converter of which is connected to the output of the voltage divider, and the negative terminal of the electromagnet and the negative power output of the microcontroller are connected to the second terminal pi tanya, characterized in that a voltage converter, a power filter, an interface converter and an electromagnet actuation sensor connected to its armature are additionally introduced into it, and the positive and negative terminals of the voltage converter are connected to the corresponding power terminals, its control input is connected to the analog output of the microcontroller, and the output - with the positive terminals of the controlled key and the power filter, the negative terminal of which is connected to the second power terminal, the output of the actuation sensor is connected to the analog input of the comparator of the microcontroller, the data input of which is connected to the data output of the interface converter, whose data input is connected to the data output of the microcontroller, and the bi-directional outputs of the interface converter and the discrete input of the microcontroller are external signal inputs for controlling the electromagnet. 7. A device for regulating the response time of an electromagnet according to claim 6, characterized in that a PIC16F1778-I / SO microcircuit is used as a microcontroller, in which pin 3 is an analog output, pins 8 and 19 are a negative power supply, pin 11 is a discrete output , pin 13 is the analog input of the comparator, pin 14 is the input of an analog-to-digital converter, pin 15 is a discrete input, pin 16 is a data input, pin 18 is a data output, and pin 20 is a positive power output.

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