RU67797U1 - DEVICE FOR FORMING PERFORMANCE OPTIMUM OPTIMAL DIAGRAMS OF MOVEMENT OF THE EXECUTIVE AUTHORITY OF THE MECHANISM ELASTICALLY CONNECTED WITH ELECTRIC MOTOR WITH RESTRICTION OF THE FOURTH DERIVED SPEED - Google Patents

Abstract

The utility model relates to electrical engineering and can be used in industrial installations to form optimal speed diagrams of movement of the actuator of the mechanism, elastically connected to the electric motor, with a limitation of the fourth derivative of speed. The essence of the utility model is that in a known device for generating motion diagrams of an electric drive with a restriction of the second derivative of speed, comprising a first adjuster, a first proportional block, a block limiting the value of its input signal, a first integral block, a second integral block, a first product block, the third integral block, the second block of the product, the second master, the block forming the absolute value of its input signal at the output, the second proportional block, block, f the root value of the third degree of its input signal forming at the output, the third proportional block, the third block of the product, the fourth proportional block, the fourth integral block, the fifth integral block, the fourth block of the product, the fifth block of the product, the fifth proportional block, the block forming the root value at the output fifth degree of its input signal, the sixth block of the product, the sixth proportional block, the seventh block of the product, the seventh proportional block. The technical result of the utility model is the development of a device that generates optimal speed diagrams of the movement of the actuator of the mechanism, elastically connected to the electric motor, with a limitation of the fourth derivative of speed and allows, together with the automatic adjustment of the position of the electric drive, to increase its speed, to achieve the necessary intensity of movement and, as a result, increasing the productivity of industrial plants.

Description

The utility model relates to electrical engineering and can be used in industrial installations to form optimal speed diagrams of movement of the actuator of the mechanism, elastically connected to the electric motor, with a limitation of the fourth derivative of speed.

An analogue of the developed device is a device for generating diagrams of movement of the electric drive with the restriction of the first and second derivatives of speed / Pat. for utility model No. 32937, IPC 7 Н02Р 7/80. A device for generating movement diagrams of an electric drive with speed limitation and its second derivative / Yu.P. Dobrobaba, V.A. Murlin, G.A. Koshkin, S.V. Dobrobaba, M.V. Martynenko // from 09.27.2003, bull. No. 27. /.

The analogue is implemented without taking into account the elasticity of the electric drive shaft, therefore its use does not allow to realize the optimal speed diagrams of the movement of the actuator of the mechanism elastically connected to the electric motor, with the fourth derivative of the speed limited, and also to work out movements over small distances.

Closest to the claimed device for generating optimal speed diagrams of movement of the actuator of the mechanism, elastically connected to the electric motor, with a limitation of the fourth derivative of speed is a device for forming diagrams of electric actuator movement with the restriction of the second derivative of speed / Pat. for utility model No. 32650, IPC 7 Н02Р 7/80. A device for generating movement diagrams of an electric drive with a limitation of the second derivative of speed / Yu.P. Dobrobaba, V.A. Murlin, G.A. Koshkin, S.V. Dobrobaba, A.N. Blagodyr // September 20, 2003, bull. No. 26. /, which is taken as a prototype.

The prototype contains: the first master, 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 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 of the second integral block and to the first input of the first block of the product, the output of the second integral block is connected to the input of the third integral block and with the first

the input of the second block of the product, the output of the third integral block is connected to the second input of the first proportional block, the second master, the output of which is connected to the input of the block, which forms the absolute value of its input signal, the output of the block, which forms the absolute value of its input signal, is connected to the input of the second proportional block, the output of the second proportional block is connected to the input of the block, which forms the root value of the third degree of its input signal, the output of the block forming the root value of the third degree of its input signal at the output, is connected to the input of the third proportional block, with the first and second inputs of the third block of the product, the output of the third proportional block is connected to the second input of the second block of the product, the output of the second block of the product is connected to the third input of the first proportional block, the output of the third block of the product is connected to the input of the fourth proportional block, the output of the fourth proportional block is connected to the second input of the first block Single product, the first product of the output unit is connected to a fourth input of the first proportional block.

The prototype is implemented without taking into account the elasticity of the electric drive shaft, therefore its use does not allow to realize the optimal speed diagrams of the movement of the actuator of the mechanism elastically connected to the electric motor, limiting the fourth derivative of the speed, and also to achieve high accuracy of positioning of the actuator of the mechanism.

The technical result of the utility model is the development of a device that generates optimal speed diagrams of the movement of the actuator of the mechanism, elastically connected to the electric motor, with a limitation of the fourth derivative of speed and allows, together with the automatic adjustment of the position of the electric drive, to increase its speed, to achieve the necessary intensity of movement and, as a result, increasing the productivity of industrial plants.

The technical result is achieved in a device for generating optimal speed diagrams of movement of an actuator of a mechanism elastically connected to an electric motor, with the fourth derivative of speed limited by the fact that a block is generated from the known device that generates a third root value of its input signal at the output, the input of which is connected to the output of the second proportional block, and the output of which is connected to the input of the third proportional block, with the first and second inputs of the third block a product; a fourth integral block is introduced into the known device, the input of which is connected to the output of the block limiting the value of its input signal, the output of the fourth integral block is connected to the input of the fifth integral block and to the first input of the fourth block of the product, the output of the fifth integral block is connected to the input of the first integral block

and with the first input of the fifth block of the product, the block forming the fifth root value of its input signal at the output, the input of which is connected to the output of the second proportional block, and the output of which is connected to the input of the fifth proportional block, the fifth proportional block, the output of which is connected to the input of the third proportional block, with the first and second inputs of the third block of the product, the sixth block of the product, the first input of which is connected to the output of the third block of the product, and the second input is connected to the output of the fifth proportional block, the output of the sixth block of the work is connected to the input of the sixth proportional block and to the first input of the seventh block of the work, the output of the sixth proportional block is connected to the second input of the fifth block of the work, the output of the fifth block of the work is connected to the fifth input of the first proportional block, the second input of the seventh block the product is connected to the output of the fifth proportional block, the output of the seventh block of the product is connected to the input of the seventh proportional block, the output of the seventh proportional unit connected to the second input of the fourth work unit, fourth output of unit works connected to a sixth input of the first proportional block.

The optimal speed diagram of the movement of the actuator of the mechanism, elastically connected to the electric motor, with the restriction of the fourth derivative of the speed consists of five stages. With an increase (decrease) in the angle of rotation of the executive body of the mechanism, the fourth derivative of the speed of the latter at the stages of the first, third and fifth is equal to the positive (negative) maximum permissible value ; at the second and fourth stages is equal to the negative (positive) maximum allowable value . The duration of the first and fifth stages is . The duration of the second and fourth stages is equal to . The duration of the third stage is .

The area of existence of optimal speed diagrams of movement of the actuator of the mechanism, elastically connected to the electric motor, with the restriction of the fourth derivative of the speed is limited by the conditions:

-I _additional ≤I ≤I _{additional x1;}

-I _additional ≤I _n3 ≤I _extra,

where I _add - the permissible value of the current of the anchor circuit of the electric motor, A;

I _I1 , I _I3 - current values of the anchor circuit of the electric motor at time t ₁ and (t ₁ + t ₂ + t ₃ ), A.

The values of I _I1 and I _{I3 are} determined from the relations:

where M _c is the moment of resistance, N · m;

With _m - the coefficient of proportionality between the current and the motor torque, B · s;

J ₁ - moment of inertia of the electric motor, kg · m ² ;

J ₂ - moment of inertia of the executive body of the mechanism, kg · m ² ;

C _y - the rigidity of the shafting, .

Figure 1 presents a structural diagram of a device for generating optimal speed diagrams of movement of the Executive body of the mechanism, elastically connected to the electric motor, with the restriction of the fourth derivative of speed.

A device for generating optimal speed diagrams of movement of the actuator of the mechanism, elastically connected to the electric motor, with a fourth derivative of speed limitation, contains a first adjuster 1, 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 limiting value block its input signal 3, the first integral unit 4, the output of which is connected to the input of the second integral unit 5 and to the first input of the first unit As product 15, the output of the second integral unit 5 is connected to the input of the third integral unit 6 and to the first input of the second unit of product 14, the output of the third integral unit 6 is connected to the second input of the first proportional unit 2, the second unit 7, the output of which is connected to the input of the unit, forming the absolute value of its input signal 8 at the output, the output of the block forming the absolute value of its input signal 8 at the output is connected to the input of the second proportional block 9, the output of the second is proportional block 9 is connected to the input of the block forming the fifth root value of its input signal 10, the third proportional block 11, the output of which is connected to the second input of the second block of the product 14, the output of the second block of the product is connected to the third input of the first proportional block 2, the third block product 12, the output of which is connected to the input of the fourth proportional block 13, the output of the fourth proportional block 13 is connected to the second input of the first block of product 15, the output of the first block of product 1 5 is connected to the fourth input of the first proportional

block 2, the fourth integral block 16, the input of which is connected to the output of the block limiting the value of its input signal 3, the output of the fourth integral block 16 is connected to the input of the fifth integral block 17 and to the first input of the fourth block of product 24, the output of the fifth integral block 17 is connected to the input of the first integral block 4 and with the first input of the fifth block of product 22, the fifth proportional block 18, the input of which is connected to the output of the block, which generates the fifth root value of its input signal at the output and 10, the output of the fifth proportional block 18 is connected to the input of the third proportional block 11, with the first and second inputs of the third block of product 12, the sixth block of product 19, the first input of which is connected to the output of the third block of product 12, and the second input is connected to the output of the fifth proportional block 18, the output of the sixth block of product 19 is connected to the input of the sixth proportional block 20 and with the first input of the seventh block of product 21, the output of the sixth proportional block 20 is connected to the second input of the fifth block of 22, the output of the fifth block of product 22 is connected to the fifth input of the first proportional block 2, the second input of the seventh block of product 21 is connected to the output of the fifth proportional block 18, the output of the seventh block of product 21 is connected to the input of the seventh proportional block 23, the output of the seventh proportional block 23 is connected with the second input of the fourth block of product 24, the output of the fourth block of product 23 is connected to the sixth input of the first proportional block 2.

A device for forming optimal speed diagrams of movement of the actuator of the mechanism, elastically connected to the electric motor, with the limitation of the fourth derivative of the speed works as follows. At the inputs of the first proportional block 2, a signal is supplied from the first setter 1, proportional to the value of the specified movement of the electric drive, and signals of negative feedback: proportional to the angle of rotation of the actuator of the mechanism; proportional to the product of the output signal of the third proportional block 11 and the signal proportional to the speed of the executive body of the mechanism; proportional to the product of the output signal of the fourth proportional block 13 and the signal proportional to the first derivative of the speed of the executive body of the mechanism; proportional to the product of the output signal of the sixth proportional block 20 and the signal proportional to the second derivative of the speed of the Executive body of the mechanism; proportional to the product of the output signal of the seventh proportional block 23 and the signal proportional to the third derivative of the speed of the executive body of the mechanism. The first proportional block 2 amplifies the signal supplied to its inputs. The block, limiting the value of its input signal 3, limits the signal coming from the first proportional block 2 to the value . The fourth integral block 16 integrates the signal coming from the block,

limiting the value of its input signal 3. The fifth integral block 17 integrates the signal from the fourth integral block 16. The first integral block 4 integrates the signal from the fifth integral block 17. The second integral block 5 integrates the signal from the first integral block 4. Third the integral unit 6 integrates the signal coming from the second integral unit 5. The output signal of the second setter 7, proportional to the increment of the specified movement of the electric drive, enters to the input of the block, which forms the absolute value of its input signal 8. The second proportional block 9 amplifies the signal from the block, which forms the absolute value of its input signal 8, which is input. A signal from the second proportional block 9 is received at the input of the block forming the fifth root value of its input signal 10. The fifth proportional block 18 amplifies the signal from the block generating the fifth root value of its input signal 10. Third proportional block 11 amplifies the signal from the fifth proportional block 18. The fourth proportional block 13 amplifies the signal equal to the product of the signal from the fifth proportional block 18. oh proportional unit 20 amplifies a signal equal to the product of the signals from the third unit 12 and the product of the fifth unit 18. Seventh proportional proportional unit 23 amplifies a signal equal to the product of the signals from the sixth unit 19 and the product from the fifth proportional block 18.

When applying a signal corresponding to the value of the specified displacement from the first setter 1 to the first input of the first proportional block 2, and a signal equal to the increment of the set displacement, from the second setter 7 to the input of the block, which forms the absolute value of its input signal 8 at the output, in the interval time 0 <t≤t _{1 the} output signal of the block restriction 3 is equal to . At the time t = t _{1, the} sum of the input signals of the proportional block 2 changes its sign from plus to minus, therefore, switching occurs in the restriction block 3. At the time interval t ₁ <t≤ (t ₁ + t ₂ ), the output signal of the restriction block 3 is . At the time t = t ₁ + t _{2, the} sum of the input signals of the proportional block 2 changes its sign from minus to plus, therefore, switching occurs in the restriction block 3. On the time interval (t ₁ + t ₂ ) <t≤ (t ₁ + t ₂ + t ₃ ) the output of block 3 is . At the time t = t ₁ + t ₂ + t _{3, the} sum of the input signals of the proportional block 2 changes its sign from plus to minus, therefore, switching occurs in the restriction block 3. At the time interval (t ₁ + t ₂ + t ₃ ) <t ≤ (t ₁ + t ₂ + t ₃ + t ₄ ) the output of block 3 is

. At the time t = t ₁ + t ₂ + t ₃ + t _{4, the} sum of the input signals of the proportional block 2 changes its sign from minus to plus, therefore, switching occurs in the block of restriction 3. On the time interval (t ₁ + t ₂ + t ₃ + t ₄ ) <t≤ (t ₁ + t ₂ + t ₃ + t ₄ + t ₅ ) the output of block 3 is . At time t = t ₁ + t ₂ + t ₃ + t ₄ + t _{5, the} sum of the input signals of the proportional block 2 becomes equal to zero, therefore, the output signal of the restriction block 3 is equal to zero.

The optimal speed diagram of the movement of the Executive body of the mechanism, elastically connected to the electric motor, with the restriction of the fourth derivative of the speed is presented in figure 2-7, which shows the dependence of the angle of rotation of the Executive body of the mechanism on time φ ₂ (t) (figure 2), the dependence the speed of the executive body of the mechanism on time ω ₂ (t) (Fig.3), the dependence of the first derivative of the speed of the executive body of the mechanism on time (figure 4), the dependence of the second derivative of the speed of the Executive body of the mechanism from time to time (figure 3), the dependence of the third derivative of the speed of the executive body of the mechanism on time (Fig.6), the dependence of the fourth derivative of the speed of the executive body of the mechanism on time (Fig.7).

The question of the formation of optimal speed diagrams of movement of the actuator of the mechanism, elastically connected to the electric motor, with the limitation of the fourth derivative of the velocity, under the condition φ _KOH > φ _{NACH is considered} .

The proposed device allows you to generate optimal speed diagrams of movement of the Executive body of the mechanism, elastically connected to the electric motor, with a limitation of the fourth derivative of speed, when the condition φ _KON <φ _NACH .

The proposed device provides the formation of optimal speed diagrams of movement of the actuator of the mechanism, elastically connected to the electric motor, with a limitation of the fourth derivative of speed for electric drives with a moment of resistance such as dry friction and with an active constant moment of resistance.

The accuracy of the generated optimal speed diagrams of movement of the actuator of the mechanism, elastically connected to the electric motor, with a limitation of the fourth derivative of speed, is determined by the adjustment of linear blocks: proportional and integral, as well as blocks that limit the value of its input signal and blocks of the product.

An intensity adjuster based on a programmable controller is developed, implemented, and experimentally investigated, which forms executive speed diagrams optimal for speed

an organ of the mechanism elastically connected to the electric motor, with a limitation of the fourth derivative of speed.

Claims (1)

A device for generating optimal speed diagrams of movement of an actuator of an mechanism elastically connected to an electric motor with a fourth derivative of speed limitation, 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 block that limits the value of its input signal, the first integral block, the output of which is connected to the input of the second integral block and with the first input of the first block p products, the output of the second integral block is connected to the input of the third integral block and to the first input of the second product block, the output of the third integral block is connected to the second input of the first proportional block, the second master, 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 absolute value of its input signal at the output is connected to the input of the second proportional block, the output of the second proportional block is connected with the input of the block forming the fifth root value of its input signal at the output, the third proportional block, the output of which is connected to the second input of the second block of the product, the output of the second block of the product is connected to the third input of the first proportional block, the third block of the product, the output of which is connected to the input the fourth proportional block, the output of the fourth proportional block is connected to the second input of the first block of the product, the output of the first block of the product is connected to the fourth input of the first proportional block, characterized in that the fourth integral block is inserted into the device, the input of which is connected to the output of the block that limits the value of its input signal, the output of the fourth integral block is connected to the input of the fifth integral block and to the first input of the fourth product block, the output of the fifth integral block connected to the input of the first integral block and to the first input of the fifth block of the product, the fifth proportional block, the input of which is connected to the output of the block forming the output e is the root value of the fifth degree of its input signal, the output of the fifth proportional block is connected to the input of the third proportional block, with the first and second inputs of the third block of the product, the sixth block of the product, the first input of which is connected to the output of the third block of the product, and the second input is connected to the output of the fifth proportional block, the output of the sixth block of the product is connected to the input of the sixth proportional block and with the first input of the seventh block of the product, the output of the sixth proportional block is connected to about the second input of the fifth block of the product, the output of the fifth block of the product is connected to the fifth input of the first proportional block, the second input of the seventh block of the product is connected to the output of the fifth proportional block, the output of the seventh block of the product is connected to the input of the seventh proportional block, the output of the seventh proportional block is connected to the second input the fourth block of the product, the output of the fourth block of the product is connected to the sixth input of the first proportional block.