RU32938U1 - Device for generating drive movement diagrams with limitation of the first and second derivatives of speed - Google Patents

Description

2003120196 Ayuriai

DEVICE FOR FORMING MOVEMENT DIAGRAMS

MOTORS WITH RESTRICTION OF THE FIRST AND SECOND

DERIVATIVES SPEEDS

The invention relates to electrical engineering and can be used to form an optimal speed diagram for moving an electric drive with the first and second derivatives of speed limited.

Closest to the claimed device for generating diagrams of the movement of the electric drive with the restriction of the first and second derivatives of speed is a second-order intensity adjuster / 1 /, which is taken as a prototype.

The prototype contains: a master, the output of which is connected to the input of the proportional block, the output of the proportional block is connected to the input of the block that limits the value of its input signal, the output of the block that limits the value of its input signal, is connected to the input of the first integral block, the output of the first integral block is connected to the input second integral unit.

The existing prototype does not allow to realize the movement diagram of the electric drive with the restriction of the first and second derivatives of speed.

The problem solved by the invention is to form an optimal speed diagram of the movement of the electric drive with the restriction of the first and second derivatives of speed.

The technical result from the use of the invention is a device that generates an optimal speed diagram of the movement of the electric drive with a limitation of the first and second derivatives of speed, which allows, together with the automatic control system of the position of the electric drive, to achieve the necessary intensity of movement, and as a result, an increase in the productivity of industrial plants that require technical requirements limitation of the second derivative speed of the executive body ma

The specified technical result is achieved by the fact that a second proportional block is introduced into the known device, the first input of which is connected to the output of the first block, limiting the value of its input signal, and the second input of which is connected to the output of the first integral block, the output of the second proportional block is connected to the input of the second block , limiting the value of its input signal, the output of the second block, limiting the value of its input signal, is connected to the input of the first integral block, the third and tes.v. Dobrobaba M.V. Martynenko

IPC 7 N 02 P 7/80

the main unit, the signal of which corresponds to the dependence of the angle of rotation of the electric drive on time, the input of the third integral block is connected to the output of the second integral block, and the output is connected to the second input of the first proportional block, the second master, the output signal of which is proportional to the increment of the specified movement of the electric drive, the output of which is connected with the input of the block forming the absolute value of its input signal at the output, the output of the block forming the absolute value of its input at the output of the first signal is connected to the input of the third proportional block, the output of the third proportional block is connected to the input of the first block, which generates an algebraic sum of the values of its input and reference signals, the output of the first block, which generates an algebraic sum of the values of its input and reference signals, is connected to the input a block forming an output value of the root of the second degree of its input signal, an output of a block forming an output value of a root of the second degree of its input signal is connected to the input of the second block, which generates the algebraic sum of the values of its input and reference signals, the output of the second block, which generates the algebraic sum of the values of its input and reference signals, is connected to the input of the third block, which generates the algebraic sum of the values of its input and reference signals , and with the input of the fourth block forming the algebraic sum of the values of its input and reference signals at the output, the fourth proportional block, the input of which is connected to the output of the the fifth block, which forms the algebraic sum of the values of its input and reference signals, the fifth proportional block, the input of which is connected to the output of the fourth block, which forms the algebraic sum of the values of its input and reference signals, the first block of the product, the first input of which is connected to the output of the second an integral block, and the second input of which is connected to the output of the fourth proportional block, the output of the first block of the product is connected to the third input of the first proportional block, the second block of the product, the first input of which is connected to the output of the first integral block, and the second input of which is connected to the output of the fifth proportional block, the output of the second block of the product is connected to the fourth input of the first proportional block. In addition, at the first setter, the output signal is proportional to the value of the specified movement of the electric drive.

The movement of the electric drive is carried out with a law that is optimal in terms of speed while limiting the first and second derivatives of speed, due to the technological requirements of industrial plants.

The speed-optimal law of movement of the electric drive with the restriction of the first and second derivatives of speed consists of five stages. The movement diagram of the electric drive with the restriction of the first and second derivatives of speed is shown in FIG. 1, which shows: the dependence of the angle of rotation of the electric drive on time f (/), the dependence of the speed of the electric drive on time o) (g), the dependence of the first

derivative of the speed of the electric drive on time, the dependence of the second derivative of the speed of the electric drive on time s (/). When moving forward (backward) in the first stage, the second derivative of the velocity is equal to the positive (negative) maximum permissible value (0 (- (0); in the second stage, the second derivative of the velocity is

zero; in the third stage, the second derivative of the velocity is equal to the negative (positive) maximum permissible value; in the fourth step, the second derivative of the velocity is zero; in the fifth stage, the second derivative of the velocity is equal to the positive (negative) maximum permissible value. Duration of the first and fifth stages imax - Duration of the second and

t - 4

, where f ,, is the set value of the angle of rotation

electric drive. The duration of the third stage is 2 / ,, „. For a given displacement intensity, the magnitude of which depends on ω, in order to obtain a given displacement φ, it is necessary to change the duration of the second stage t. When changing from the minimum value to the maximum value of a given displacement (p, the duration of the second stage t varies from zero to the maximum value of the duration of the second stage / 2 max

Thus, the claimed device for generating diagrams of the movement of the electric drive with the restriction of the first and second derivatives of the speed provides the necessary intensity of displacement of the actuator of the mechanism, which allows to achieve maximum productivity of industrial plants.

In FIG. 2 is a structural diagram of a device for generating motion diagrams of an electric drive with restriction of the first and second derivatives of speed.

A device for generating movement diagrams of an electric drive with a limitation of the first and second derivatives of speed, contains a first adjuster 1, the output signal of which is proportional to the value of the specified movement of the electric drive, the output of which is connected to the first input of the first proportional block 2, the output of the first proportional block 2 is connected to the input of the first block 3 , limiting the value of its input signal, the output of the first block 3, limiting the value of its input signal is connected to the first input of the second an optional unit 6, the output of which is connected to the input of the second unit 7, limiting the value of its input signal, the output of the second unit 7, limiting the value of its input signal, is connected to the input of the first integral unit 4, the output of the first integral unit 4 is connected to the second input of the second proportional unit 6, and with the input of the second integral block 5, the output of the second integral block 5 is connected to the input of the third integral block 8, the signal of which corresponds to the dependence of the angle of rotation of the electric // // / etvortogo steps equal

yes, from time to time, the output of the third integral block 8 is connected to the second input of the first proportional block 1, the second setter 9, the output signal of which is proportional to the increment of a given movement of the electric drive, the output of which is connected to the input of block 10, which forms the absolute value of its input signal at the output, output block 10, forming the absolute value of its input signal at the output is connected to the input of the third proportional block 11, the output of the third proportional block 11 is connected to the input of the first block 12, which generates an algebraic sum of the values of its input and reference signals, the output of the first block 12, which generates an algebraic sum of the values of its input and reference signals, is connected to the input of block 13, which generates the root value of the second degree of its input signal, the output of block 13, which forms the root value of the second degree of its input signal, is connected to the input of the second block 14, which generates an algebraic sum of the values of its input and reference signals at the output, the second block 14, which forms the algebraic sum of the values of its input and reference signals at the output, is connected to the input of the third block 15, which forms the algebraic sum of the values of its input and reference signals, and the input of the fourth block 17, which forms the algebraic sum of the values of its input and reference signals, the fourth proportional block 16, the input of which is connected to the output of the third block 15, forming at the output an algebraic sum of the values of its input and reference signals, the fifth prop a rational block 18, the input of which is connected to the output of the fourth block 17, which generates an algebraic sum of the values of its input and reference signals, the first block of the product 19, the first input of which is connected to the output of the second integral block 5, and the second input of which is connected to the output of the fourth proportional block 16, the output of the first block of the product 19 is connected to the third input of the first proportional block 2, the second block of the product 20, the first input of which is connected to the output of the first integral block 4, and the second second input of which is connected to the output of the fifth proportional block 18, second block 20 product output coupled to the fourth input of the first proportional block 2.

A device for generating diagrams of movement of the electric drive with the restriction of the first and second derivatives of speed works as follows.

The input from the first proportional block 2 receives a signal from the first driver proportional to the value of the specified movement of the electric drive, and signals of negative feedbacks: by voltage, proportional to the angle of rotation of the electric drive; by voltage proportional to the speed of the electric drive; voltage proportional to the first derivative of the speed of the electric drive.

Per151.1N proportional block 2 amplifies the total voltage, the first block (limit 3 restricts the signal coming from the first primary block 2. The second proportional block 6 amplifies the softened signal. The second restriction block 7 restricts the signal coming from the second proportional block 6. Output / /

the second signal of the second restriction unit 7, which is proportional to the second derivative of the speed of the electric drive, is integrated by the first integral block 4. The output signal of the first integral block 4, which is proportional to the first derivative of the speed of the electric drive, is integrated by the second integral block 5. The output signal of the second integral block 5, which is proportional to the speed of the electric drive, is integrated the third integral block 8. The output signal of the third integral block 8, proportional to the angle of rotation of the electric drive, is fed to the second input of the first proportional block 2.

The signal from the second setter 9, proportional to the increment of the specified movement of the electric drive, is fed to the input of block 10, which forms the absolute value of its input signal at the output. The absolute value of the increment of a given movement of the electric drive is supplied to the third proportional block 11. The output signal of the third proportional block 11 is fed to the input of the first block 12, which generates an algebraic sum of the values of its input and reference signals at the output. The output signal of the first block 12, forming at the output an algebraic sum of the values of its input and reference signals, is fed to the input of block 13, which forms the root value of the second degree of its input signal at the output. The output signal of block 13, which forms the root value of the second degree of its input signal, is fed to the input of the second block 14, which generates an algebraic sum of the values of its input and reference signals at the output. The output signal of the second block 14, which forms the algebraic sum of the values of its input and reference signals proportional to the duration of the second stage t, is fed to the input of the third block 15, which forms the algebraic sum of the values of its input and reference signals, and the input of the fourth block 17, forming the algebraic sum of the values of its input and reference signals at the output. The output signal of the third block 15, which forms the algebraic sum of the values of its input and reference signals, is fed to the input of the fourth proportional block 16, the output signal of which determines the value of the negative feedback coefficient by voltage proportional to the speed of the electric drive. The output signal of the fourth block 17, which forms the algebraic sum of the values of its input and reference signals, is fed to the input of the fifth proportional block 18, the output signal of which determines the value of the negative feedback coefficient with respect to voltage proportional to the first derivative of the speed of the electric drive. In the first block of the product 19, the voltage proportional to the speed of the electric drive is multiplied by the output voltage of the fourth proportional block 16. The output signal of the first block of the product 19 is supplied to the third input of the first proportional block 2. In the second block of the product 20, the voltage proportional to the first derivative of the speed of the electric drive is multiplied , the output voltage of the fifth proportional block 18. The output signal of the second block of product 20 is supplied to the fourth input first proportional block 2.

Thus, a change in the signal from the second setter 7, the output signal of which is proportional to the increment of the given movement of the electric drive, is carried out by adjusting the coefficient of negative feedback with respect to voltage proportional to the speed of the electric drive and the coefficient of negative feedback with respect to voltage proportional to the first derivative of the speed of the electric drive.

When a positive signal is supplied from the first setter 1 to the first input of the first proportional block 2: in the time interval About At, the total voltages at the inputs of the first proportional block 2 and the second proportional block 6 are positive; in the time interval, (imax) the total voltage at the inputs of the first proportional block 2 is positive, and the total voltage at the inputs of the second proportional block 6 is zero; in the time interval (t + 2) Olmax) the total voltages at the inputs of the first proportional block 2 and the second disproportionate block 6 are negative; in the time interval () (), the total voltage at the inputs of the first proportional block 2 is negative, and the total voltage at the inputs of the second proportional block 6 is zero; in the time interval (3 /,) / (4g,) the total voltage at the inputs of the first

proportional block 2 and the second proportional block 6 are positive in magnitude; in the time interval (4 / ,, +2/3) / total

the voltages at the inputs of the first proportional block 2 and at the inputs of the second proportional block 6 are equal to zero. In the time moment imax (max), the total voltage at the inputs of the second proportional block 6 is zero. At time points (/, + (2), (+) (max), the total voltage at the inputs of the first proportional block 2 is equal to 0. When the input voltage changes in the interval f / t / g f exmax, the duration of the second stage changes, respectively, О 2 2п, ah

The minimum and maximum values of the input voltage are determined by the formulas:

/ and 2U

9d; .t1program TTT

-I2-3 t / 22

and. „,. , „+ ЗС /„, „. + and „

vdg maxogy GGGogr TTTogr fTf

I l2 3 2 3G2-3

Depending on the value of the maximum voltage at the output of the integrated units and on the duration of the stages of the technological process, time constants are determined, respectively:

t - ° /

  tgmtah

t .fyf 4-f tv lmax 2tah /

3max

where and is the limiting value of the voltage at the output of the block

restrictions imax maximum voltage value at the output of the first

integrated unit; t / 2max maximum voltage value at the output of the second

integrated unit; This is the maximum voltage value at the output of the third

integral unit.

With an increase in the coefficient of the first proportional block / Г ,, and the coefficient of the second proportional block K-, the accuracy of the formation of optimal speed diagrams of movement of the electric drive increases.

The coefficients of the remaining proportional blocks are determined respectively by the formulas:

1 G.

TO

ogre1 max

TO,

2T, If 1 max

 4G2Gz

The value of the values of the reference signals of the blocks forming the algebraic sum of the values of its input and reference signals at the output are determined respectively by the formulas:

1,2.

A - -t

1 . 1 max

A

1 pt

A, 4 /,

4 V 1 max

Thus, the accuracy of the generated drive movement diagram with the restriction of the first and second derivatives of speed is determined by the setting of linear blocks: proportional, integral; as well as non-linear blocks: limiting the value of its input signal, generating the absolute value of its input signal at the output, generating the value of the root of the second degree of its input signal at the output, forming the algebraic sum of the values of the input and reference signals, products.

 ,

Claims (1)

A device for generating movement diagrams of an electric drive with a limitation of the first and second derivatives of speed, comprising a first adjuster, the output of which is connected to the first input of the first proportional block, the output of the first proportional block is connected to the input of the first block, limiting the value of its input signal, the first integral block, the output of which connected to the input of the second integral unit, characterized in that a second proportional unit is introduced into the device, the first input of which is connected to the output ohm of the first block, limiting the value of its input signal, and the second input of which is connected to the output of the first integral block, the output of the second proportional block is connected to the input of the second block, limiting the value of its input signal, the output of the second block, limiting the value of its input signal, is connected to the input the first integral block, the third integral block, the signal of which corresponds to the dependence of the angle of rotation of the electric drive on time, the input of the third integral block is connected to the output ohm of the second integral block, and the output is connected to the second input of the first proportional block, the second switch, the output signal of which is proportional to the increment of the specified movement of the electric drive, the output of which is connected to the input of the block, which forms the absolute value of its input signal at the output, the output of the block forming the output the absolute value of its input signal is connected to the input of the third proportional block, the output of the third proportional block is connected to the input of the first block, forming at the output, the algebraic sum of the values of its input and reference signals, the output of the first block forming the algebraic sum of the values of its input and reference signals at the output, is connected to the input of the block, which forms the root value of the second degree of its input signal, the output of the block, which forms the output the root value of the second degree of its input signal, is connected to the input of the second block, forming at the output an algebraic sum of the values of its input and reference signals, the output of the second block, forming about the output, the algebraic sum of the values of its input and reference signals, is connected to the input of the third block, which forms the algebraic sum of the values of its input and reference signals, and the input of the fourth block, which forms the algebraic sum of the values of its input and reference signals, the fourth is proportional the block, the input of which is connected to the output of the third block, which forms the algebraic sum of the values of its input and reference signals, the fifth proportional block, the input of which is is single with the output of the fourth block, which forms the algebraic sum of the values of its input and reference signals, the first block of the product, the first input of which is connected to the output of the second integral block, and the second input of which is connected to the output of the fourth proportional block, the output of the first block of the product is connected to the third the input of the first proportional block, the second block of the product, the first input of which is connected to the output of the first integral block, and the second input of which is connected to the output of the fifth prop an alternative block, the output of the second block of the product is connected to the fourth input of the first proportional block, in addition, the output signal of the first setter is proportional to the value of the specified movement of the electric drive.