RU98852U1 - DEVICE WITH IMPROVED DYNAMIC CHARACTERISTICS FOR THE FORMATION OF A SIGNAL CORRESPONDING TO THE OPTIMAL OPTIMAL DIAGRAM FOR SMALL MOVEMENTS OF THE EXECUTIVE MECHANISMEDIS ORGANISMENOGENOMA - Google Patents

Abstract

The utility model is directed to a device with improved dynamic characteristics for generating a signal corresponding to a diagram that is optimal in speed for small displacements of the actuator of the mechanism, elastically connected to a direct current electric motor and allowing, together with the automatic control system of the angle of rotation of the electric drive, to achieve high accuracy of working out a given displacement diagram. The technical result is achieved in a device with improved dynamic characteristics for generating a signal corresponding to a diagram that is optimal in speed for small displacements of an executive body of a mechanism elastically connected to a direct current electric motor in that it contains a first master, the output of which is connected to the first input of the first summing unit, the output of the first the summing block is connected to the input of the first proportional block, the output of the first proportional block is connected to the input ne of the first block limiting the value of its input signal, the output of the first block limiting the value of its input signal is connected to the first input of the thirteenth summing block, the output of the thirteenth summing block 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, output the second integral block is connected to the input of the third integral block, the output of the third integral block is connected to the input of the fourth integral block, the output is four of the second integral block is connected to the input of the fifth integral block, the output of the fifth integral block is connected to the first input of the twelfth summing block, the second input of which is connected to the output of the second master, the output of the first master is connected to the input of the second proportional block, with the input of the third proportional block, with the input of the fourth proportional block, with the input of the fifth proportional block, with the input of the sixth proportional block, with the input of the seventh proportional block, with the input of the eighth proportion of the second unit, with the input of the ninth proportional block, with the input of the tenth proportional block and with the input of the eleventh proportional block, the output of the second master is connected to the input of the twelfth proportional block, with the input of the thirteenth proportional block, with the input of the fourteenth proportional block, with the input of the fifteenth proportional block, s the input of the sixteenth proportional block, with the input of the seventeenth proportional block, with the input of the eighteenth proportional block, with the input of nine of the twentieth proportional block, with the input of the twentieth proportional block and with the input of the twenty-first proportional block, the output of the second proportional block is connected to the first input of the second summing block, the block, the output of the third proportional block is connected to the first input of the third summing block, the output of the fourth proportional block is connected to the first the input of the fourth summing block, the output of the fifth proportional block is connected to the first input of the fifth summing block, the output of the sixth is proportional the block is connected to the first input of the sixth summing block, the output of the seventh proportional block is connected to the first input of the seventh summing block, the output of the eighth proportional block is connected to the first input of the eighth summing block, the output of the ninth proportional block is connected to the first input of the ninth summing block, the output of the tenth proportional block connected to the first input of the tenth summing block, the output of the eleventh proportional block is connected to the first input of the eleventh summing block OK, the output of the twelfth summing block is connected to the second input of the second summing block, with the second input of the third summing block, with the second input of the fourth summing block, with the second input of the fifth summing block, with the second input of the seventh summing block, with the second input of the eighth summing block, with the second input of the ninth summing block, with the second input of the tenth summing block and with the second input of the eleventh summing block, the output of the twelfth the rational block is connected to the third input of the second summing block, the output of the thirteenth proportional block is connected to the third input of the third summing block, the output of the fourteenth proportional block is connected to the third input of the fourth summing block, the output of the fifteenth proportional block is connected to the third input of the fifth summing block, the output of the sixteenth proportional block connected to the third input of the sixth summing block, the output of the seventeenth proportional block is connected to the third input the house of the seventh summing block, the output of the eighteenth proportional block is connected to the third input of the eighth summing block, the output of the nineteenth proportional block is connected to the third input of the ninth summing block, the output of the twentieth proportional block is connected to the third input of the tenth summing block, the output of the twenty-first proportional block is connected to the third input of the eleventh summing block, the output of the second summing block is connected to the input of the twenty-second proportional block, the output q of the third summing block is connected to the input of the twenty-third proportional block, the output of the fourth summing block is connected to the input of the twenty-fourth proportional block, the output of the fifth summing block is connected to the input of the twenty-fifth proportional block, the output of the sixth summing block is connected to the input of the twenty-sixth proportional block, the output of the seventh the summing block is connected to the input of the twenty-seventh proportional block, the output of the eighth summing block is connected to the input of twenty-eight of the proportional block, the output of the ninth summing block is connected to the input of the twenty-ninth proportional block, the output of the tenth summing block is connected to the input of the thirtyth proportional block, the output of the eleventh summing block is connected to the input of the thirty-first proportional block, the output of the twenty-second proportional block is connected to the input of the second block, limiting the value of its input signal, the output of the twenty-third proportional block is connected to the input of the third block, limiting of the value of its input signal, the output of the twenty-fourth proportional block is connected to the input of the fourth block that limits the value of its input signal, the output of the twenty-fifth proportional block is connected to the input of the fifth block that limits the value of its input signal, the output of the twenty-sixth proportional block is connected to the input of the sixth block , limiting the value of its input signal, the output of the twenty-seventh proportional block is connected to the input of the seventh block, limiting the value the value of its input signal, the output of the twenty-eighth proportional block is connected to the input of the eighth block limiting the value of its input signal, the output of the twenty-ninth proportional block is connected to the input of the ninth block limiting the value of its input signal, the output of the thirty proportional block is connected to the input of the tenth block limiting the value of its input signal, the output of the thirty-first proportional block is connected to the input of the eleventh block, limiting the value of of the input signal, the output of the second block limiting the value of its input signal is connected to the second input of the thirteenth summing block, the output of the third block limiting the value of its input signal is connected to the third input of the thirteenth summing block, the output of the fourth block limiting the value of its input signal connected to the fourth input of the thirteenth summing block, the output of the fifth block, limiting the value of its input signal, is connected to the fifth input of the thirteenth summing block o block, the output of the sixth block limiting the value of its input signal is connected to the sixth input of the thirteenth summing block, the output of the seventh block limiting the value of its input signal is connected to the seventh input of the thirteenth summing block, the output of the eighth block limiting the value of its input signal is connected with the eighth input of the thirteenth summing block, the output of the ninth block limiting the value of its input signal is connected to the ninth input of the thirteenth summing block, the output the tenth block limiting the value of its input signal is connected to the tenth input of the thirteenth summing block, the output of the eleventh block limiting the value of its input signal is connected to the eleventh input of the thirteenth summing block, the output of the first integral block is connected to the input of the thirty-second proportional block, the output of the second integral block is connected to the input of the thirty-third proportional block, the output of the third integral block is connected to the input of the thirty-fourth proportional an ionic block, the output of the fourth integral block is connected to the input of the thirty-fifth proportional block, the output of the thirty-second proportional block is connected to the first input of the fourteenth summing block, the output of the thirty-third proportional block is connected to the second input of the fourteenth summing block, the output of the thirty-fourth proportional block is connected to the third input of the fourteenth summing block, the output of the thirty-fifth proportional block is connected to the fourth input of the fourteenth with mmiruyuschego unit, an output of the twelfth adder unit is connected to a fifth input of the fourteenth summing unit, an output of the fourteenth summation unit coupled to the second input of the first summing unit.

Description

The utility model relates to electrical engineering and can be used in industrial installations for generating a signal corresponding to a diagram that is optimal in speed for small displacements of the executive body of a mechanism elastically connected to a DC motor consisting of eleven stages.

An analogue of the developed device is a device for generating a signal corresponding to a diagram that is optimal in speed for average displacements of the executive body of a mechanism elastically connected to a DC motor consisting of twenty-one stages. / Pat. for utility model No. 45879, IPC 7 Н02Р 7/80. A device for generating movement diagrams of an actuator of a mechanism elastically connected to an electric motor with restriction of the first, second, and fourth derivatives of speed / Yu.P. Dobrobaba, V.A. Murlin, G.A. Koshkin, S.V. Dobrobaba // from 05/27/2005, bull. No. 15 /.

The analogue generates a signal corresponding to a diagram that is optimal in speed for average displacements of the executive body of a mechanism elastically connected to a DC motor consisting of twenty-one stages. The disadvantage of the analogue is that the existing device does not have the required number of variable parameters in the second and third circuits, and it also provides for a change in the values of the feedback coefficients depending on the given displacement. This leads to a deterioration in the dynamic characteristics of the device, and in some cases, does not allow to achieve its stability. The analogue implements a diagram consisting of twenty-one stages, and you need a device that forms a diagram of eleven stages.

Closest to the claimed device with improved dynamic characteristics for generating a signal corresponding to a speed-optimal diagram for small displacements of an actuator of a mechanism elastically connected to a DC motor consisting of eleven steps is a device for generating a signal corresponding to a speed-optimal diagram for small displacements of the executive body of the mechanism elastically connected to the electric motor of constant ka, consisting of eleven stages. / Pat. for utility model No. 42717, IPC 7 Н02Р 7/80. A device for generating movement diagrams of an actuator of a mechanism elastically connected to an electric motor with a limitation of the fourth derivative of speed / Yu.P. Dobrobaba, V.A. Murlin, G.A. Koshkin, O.V. Akulov, S.V. Dobrobaba // dated 10.12.2004, bull. No. 34 /, 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 summing block, the output of the first summing block is connected to the input of the first proportional block, the output of which is connected to the input of the block limiting the value of its input signal, the output of the block limiting the value of its input signal, is connected with the input of the first integral block, the output of the first integral is connected to the input of the second integral block, the output of the second integral block is connected to the input of the third integral block, the output of the third integral block is connected to the input of the fourth integral block, the output of the fourth integral block is connected to the input of the fifth integral block, the output of which is connected to the second input of the first summing block and to the first input of the second summing block, the second input of the second summing block is connected to the output of the first setter, the first block of the product, the first input of which is connected to the output of the first integral block, and the output of which is connected to the third input of the first summing block, the second the product block, the first input of which is connected to the output of the second integral block, and the output of which is connected to the fourth input of the first summing block, the third block of the product, the first input of which is connected to the output of the third integral block, and the output of which is connected to the fifth input of the first summing block, eighteenth a product block, the first input of which is connected to the output of the fourth integral block, and the output of which is connected to the sixth input of the first summing block, the second master, the output of which is connected is connected with the input of the block, which forms the absolute value of its input signal at the output, the output of the block, which forms the absolute value of its input signal at the output, is connected to the input of the second proportional block, and the output of which is connected to the input of the block, which forms the output, the root value of the fifth degree input signal, the output of the block forming the fifth root value of its input signal at the output is connected to the first inputs of the fifth and sixth blocks of the product, with the input of the third proportional block, with output and the fourth inputs of the fourth block of the work, the output of the fourth block of the work is connected to the input of the fourth proportional block and to the second input of the fifth block of the work, the output of the fifth block of the work is connected to the second input of the sixth block of the work and to the inputs of the fifth, sixth, seventh, eighth proportional blocks, the output of the sixth block of the product is connected to the inputs of the ninth, tenth, eleventh and twelfth proportional blocks, the thirteenth proportional block, the input of which is connected to the output the second master, the third summing block, the first input of which is connected to the output of the thirteenth proportional block, and the second input of which is connected to the output of the second summing block, the fourteenth proportional block, whose input is connected to the output of the second master, the fourth summing block, the first input of which is connected to the output the fourteenth proportional block, and the second input of which is connected to the output of the second summing block, the fifteenth proportional block, the input of which is connected to the output of the second sensor, the fifth summing block, the first input of which is connected to the output of the fifteenth proportional block, and the second input of which is connected to the output of the second summing block, the seventh block of the product, the first input of which is connected to the output of the second master, and the second input of which is connected to the output of the third summing block , the eighth block of the product, the first input of which is connected to the output of the second master, the second input of which is connected to the output of the fourth summing block, the ninth block of the product, the first input of which the first is connected to the output of the second master, and the second input of which is connected to the output of the fifth summing block, the block whose output signal, when a positive (negative) signal is fed to its input, is equal to one (zero), the input of which is connected to the output of the seventh block of the product, the first block whose output signal, when a negative (positive) signal is supplied to its input, is equal to one (zero), the input of which is connected to the output of the seventh block of the product, the second block, the output signal of which, when a negative is applied to its input of the second (positive) signal is equal to one (zero), the input of which is connected to the output of the eighth block of the product, the third block, the output of which, when a negative (positive) signal is fed to its input, is equal to one (zero), whose input is connected to the output of the ninth block of the product , the sixth summing block, the first input of which is connected to the output of the first block, the output signal of which, when a negative (positive) signal is fed to its input, is equal to one (zero), and the second input of which is connected to the output of the second block, in the output signal of which, when a negative (positive) signal is fed to its input, is equal to one (zero), the seventh summing block, the first input of which is connected to the output of the second block, whose output signal, when a negative (positive) signal is fed to its input, is equal to one (zero) , and the second input of which is connected to the output of the third block, the output signal of which, when a negative (positive) signal is fed to its input, is equal to one (zero), the tenth block of the product, the first input of which is connected to the output of the fifth unit, the second input of which is connected to the output of the unit, the output signal of which, when a positive (negative) signal is fed to its input, is equal to one (zero), the eleventh block of the product, the first input of which is connected to the output of the sixth proportional block, and the second input of which is connected with the output of the sixth summing block, the twelfth block of the product, the first input of which is connected to the output of the seventh proportional block, and the second input of which is connected to the output of the seventh summing block, trinade the fourth block of the work, the first input of which is connected to the output of the eighth proportional block, and the second input of which is connected to the output of the third block, the output signal of which, when a negative (positive) signal is fed to its input, is equal to one (zero), the fourteenth block of the work, the first input of which connected to the output of the ninth proportional block, and the second input of which is connected to the output of the block, the output signal of which, when a positive (negative) signal is fed to its input, is equal to one (zero), the fifteenth the product block, the first input of which is connected to the output of the tenth proportional block, and the second input of which is connected to the output of the sixth summing block, the sixteenth block of the product, the first input of which is connected to the output of the eleventh proportional block, and the second input of which is connected to the output of the seventh summing block, seventeenth a product block, the first input of which is connected to the output of the twelfth proportional block, and the second input of which is connected to the output of the third block, the output signal of which When a negative (positive) signal is fed to its input, it is equal to unity (zero), the eighth summing block, the first input of which is connected to the output of the tenth block of the work, and the second input of which is connected to the output of the eleventh block of the work, the ninth summing block, the first input of which is connected to the output of the twelfth block of the work, and the second input of which is connected to the output of the thirteenth block of the work, the tenth summing block, the first input of which is connected to the output of the fourteenth block of the work, and the second input One of which is connected to the output of the fifteenth block of the work, the eleventh summing block, the first input of which is connected to the output of the sixteenth block of the work, and the second input of which is connected to the output of the seventeenth block of the work, the twelfth summing block, the first input of which is connected to the output of the eighth summing block, and the second the input of which is connected to the output of the ninth summing block, the thirteenth summing block, the first input of which is connected to the output of the tenth summing block, and the second input of which dinen with the output of the eleventh summing block, the second input of the eighteenth block of the work is connected to the output of the third proportional block, the second input of the third block of the work is connected to the output of the fourth proportional block, the second input of the second block of the work is connected to the output of the twelfth summing block, the second input of the first block of the work is connected to the output of the thirteenth summing block.

The prototype generates a signal corresponding to a diagram that is optimal in speed for small displacements of the actuator of the mechanism, elastically connected to a DC motor consisting of eleven stages. The disadvantage of the prototype is that the existing device provides for a change in the values of the feedback coefficients depending on a given displacement, which leads to a deterioration in the dynamic characteristics of the device, and in some cases, does not allow to achieve its stability.

The objective is to improve the dynamic characteristics of the device for generating a signal corresponding to a diagram that is optimal in speed for small displacements of the executive body of a mechanism elastically connected to a DC motor (consisting of eleven stages).

The technical result of the utility model is to increase the accuracy of signal formation corresponding to a given diagram of the movement of the Executive body of the mechanism, elastically connected to a DC motor.

The technical result is achieved by the fact that from the device for generating a signal corresponding to a diagram that is optimal in speed for small displacements of the actuator of the mechanism elastically connected to a DC motor, a block is generated that generates the absolute value of its input signal at the output, a block that forms the root value at the output the fifth degree of its input signal, from the first to the eighteenth blocks of the work, a block whose output signal when a positive (from the negative) signal is equal to unity (zero), from the first to third blocks, the output signals of which, when negative (positive) signals are fed to their inputs, are equal to unity (zero), all connections except the connection between the output of the first master and the first input of the first summing block, the connection between the output of the first summing block and the input of the first proportional block, the connection between the output of the first proportional block and the input of the first block limiting the value of its input signal, the connection between the output the first integral block and the input of the second integral block, the connection between the output of the second integral block and the input of the third integral block, the connection between the output of the third integral block and the input of the fourth integral block, the connection between the output of the fourth integral block and the input of the fifth integral block; and sixteenth to thirty-fifth proportional blocks are additionally introduced, from the second to eleventh blocks limiting the values of its input signal, the fourteenth summing block, the output of the first setter is connected to the input of the second proportional block, with the input of the third proportional block, with the input of the fourth proportional block, s the input of the fifth proportional block, with the input of the sixth proportional block, with the input of the seventh proportional block, with the input of the eighth proportional block, with the input the ninth proportional block, with the input of the tenth proportional block and the input of the eleventh proportional block, the output of the second encoder is connected to the input of the twelfth proportional block, with the input of the thirteenth proportional block, with the input of the fourteenth proportional block, with the input of the fifteenth proportional block, with the input of the sixteenth proportional block, with the input of the seventeenth proportional block, with the input of the eighteenth proportional block, with the input of the nineteenth proportional of the first block, with the input of the twentieth proportional block and with the input of the twenty-first proportional block, the output of the second proportional block is connected to the first input of the second summing block, the block, the output of the third proportional block is connected to the first input of the third summing block, the output of the fourth proportional block is connected to the first input fourth summing block, the output of the fifth proportional block is connected to the first input of the fifth summing block, the output of the sixth proportional block is connected to by the input of the sixth summing block, the output of the seventh proportional block is connected to the first input of the seventh summing block, the output of the eighth proportional block is connected to the first input of the eighth summing block, the output of the ninth proportional block is connected to the first input of the ninth summing block, the output of the tenth proportional block is connected to the first input tenth summing block, the output of the eleventh proportional block is connected to the first input of the eleventh summing block, the output of the fifth integration of the first block is connected to the first input of the twelfth summing block, the second input of which is connected to the output of the second master, the output of the twelfth summing block is connected to the second input of the second summing block, with the second input of the third summing block, with the second input of the fourth summing block, with the second input of the fifth summing block, with the second input of the sixth summing block, with the second input of the seventh summing block, with the second input of the eighth summing block, with the second input of the ninth summing block ka, with the second input of the tenth summing block and with the second input of the eleventh summing block, the output of the twelfth proportional block is connected to the third input of the second summing block, the output of the thirteenth proportional block is connected to the third input of the third summing block, the output of the fourteenth proportional block is connected to the third input of the fourth summing block block, the output of the fifteenth proportional block is connected to the third input of the fifth summing block, the output of the sixteenth proportional lock is connected to the third input of the sixth summing block, the output of the seventeenth proportional block is connected to the third input of the seventh summing block, the output of the eighteenth proportional block is connected to the third input of the eighth summing block, the output of the nineteenth proportional block is connected to the third input of the ninth summing block, the output of the twentieth proportional block is connected with the third input of the tenth summing block, the output of the twenty-first proportional block is connected to the third input of the fifth summing block, the output of the second summing block is connected to the input of the twenty-second proportional block, the output of the third summing block is connected to the input of the twenty-third proportional block, the output of the fourth summing block is connected to the input of the twenty-fourth proportional block, the output of the fifth summing block is connected to the input of the twenty-fifth proportional block, the output of the sixth summing block is connected to the input of the twenty-sixth proportional block, the output of the seventh summing block with is single with the input of the twenty-seventh proportional block, the output of the eighth summing block is connected to the input of the twenty-eighth proportional block, the output of the ninth summing block is connected to the input of the twenty-ninth proportional block, the output of the tenth summing block is connected to the input of the thirtyth proportional block, the output of the eleventh summing block is connected to the input thirty-first proportional block, the output of the twenty-second proportional block is connected to the input of the second block, limiting the beginning of its input signal, the output of the twenty-third proportional block is connected to the input of the third block limiting the value of its input signal, the output of the twenty-fourth proportional block is connected to the input of the fourth block limiting the value of its input signal, the output of the twenty-fifth proportional block is connected to the input of the fifth block, limiting the value of its input signal, the output of the twenty-sixth proportional block is connected to the input of the sixth block, limiting the value of its input signal, the output of the twenty-seventh proportional block is connected to the input of the seventh block, limiting the value of its input signal, the output of the twenty-eighth proportional block is connected to the input of the eighth block, limiting the value of its input signal, the output of the twenty-ninth proportional block is connected to the input of the ninth block, limiting the value of its input signal, the output of the thirtieth proportional block is connected to the input of the tenth block, limiting the value of its input o signal, the output of the thirty-first proportional block is connected to the input of the eleventh block that limits the value of its input signal, the output of the first block that limits the value of its input signal is connected to the first input of the thirteenth summing block, the output of the second block that limits the value of its input signal is connected to the second input of the thirteenth summing block, the output of the third block, limiting the value of its input signal, is connected to the third input of the thirteenth summing block, the output of the fourth block limiting the value of its input signal is connected to the fourth input of the thirteenth summing block, the output of the fifth block limiting the value of its input signal is connected to the fifth input of the thirteenth summing block, the output of the sixth block limiting the value of its input signal is connected to the sixth input of the thirteenth summing block, the output of the seventh block limiting the value of its input signal is connected to the seventh input of the thirteenth summing block, the output of the eighth block limiting the value of its input signal is connected to the eighth input of the thirteenth summing block, the output of the ninth block limiting the value of its input signal is connected to the ninth input of the thirteenth summing block, the output of the tenth block limiting the value of its input signal is connected to the tenth input of the thirteenth summing block, the output of the eleventh block, limiting the value of its input signal, is connected to the eleventh input of the thirteenth summing block, the output of thirteen of the first summing block is connected to the input of the first integral block, the output of the first integral block is connected to the input of the thirty-second proportional block, the output of the second integral block is connected to the input of the thirty-third proportional block, the output of the third integral block is connected to the input of the thirty-fourth proportional block, the output of the fourth integral block connected to the input of the thirty-fifth proportional block, the output of the thirty-second proportional block is connected to the first input of fourteen of the summing block, the output of the thirty-third proportional block is connected to the second input of the fourteenth summing block, the output of the thirty-fourth proportional block is connected to the third input of the fourteenth summing block, the output of the thirty-fifth proportional block is connected to the fourth input of the fourteenth summing block, the output of the twelfth summing block is connected to the fifth the input of the fourteenth summing block, the output of the fourteenth summing block is connected to the second input of the first total guide block.

It is proposed to divide the device functions into logical and damping ones: logical blocks form a diagram; additionally introduced damping blocks provide high quality transient processes in the device. This will allow us to implement the proposed device in conjunction with a system for automatically controlling the angle of rotation of the executive body of the mechanism, high accuracy of working out a given displacement diagram.

The accuracy of generating a signal corresponding to a given diagram of movement of the executive body of the mechanism is achieved by performing the device single-circuit and the additional introduction of four variable parameters: the time constant of negative feedback with respect to the first derivative of the angle of rotation of the executive body of the mechanism; the time constant in the second degree of negative feedback on the second derivative of the angle of rotation of the executive body of the mechanism; the time constant in the third degree of negative feedback on the third derivative of the angle of rotation of the executive body of the mechanism; the time constant in the fourth degree of negative feedback on the fourth derivative of the angle of rotation of the executive body of the mechanism.

The optimal speed diagram for small displacements of the actuator of a mechanism elastically connected to a direct current electric motor is formed as follows. In the first, third, fifth, seventh, ninth and eleventh stages, the fourth derivative of the rotational speed of the executive body of the mechanism is equal to the maximum allowable value ; in the second, fourth, sixth, eighth and tenth stages, the fourth derivative of the rotational speed of the executive body of the mechanism is equal to the maximum allowable value with a minus sign . The duration of the first, third, fourth, eighth, ninth and eleventh stages is t ₁ ; the duration of the second, fifth, sixth, seventh and tenth stages is 2t ₁ . At time t ₁ , 7t ₁ , 11t ₁ and 13t _{1, the} third derivative of the rotational speed of the actuator reaches the maximum value ; at times 3t ₁ , 5t ₁ , 9t ₁ and 15t _{1, the} third derivative of the rotational speed of the actuator reaches the maximum value with a minus sign . At time instants 2t ₁ , and 14t _{1, the} second derivative of the rotational speed of the actuator reaches the maximum value ; at times 6t ₁ , and 10t _{1, the} second derivative of the rotational speed of the actuator reaches the maximum value with a minus sign . At time 4t ₁ , the first derivative of the rotational speed of the actuator reaches the maximum value ; at time 12t ₁ , the first derivative of the rotational speed of the actuator reaches the maximum value with a minus sign . At time 8t _1, the rotational speed of the actuator reaches the maximum value ω _max.

For this diagram, the following relations are true:

where φ _beg is the initial value of the angle of rotation of the executive body of the mechanism;

φ _con - the final value of the angle of rotation of the executive body of the mechanism;

T is the duration of the cycle.

The optimal speed diagram for small displacements of the actuator of a mechanism elastically connected to a direct current electric motor, consisting of eleven stages, is valid when the condition

If the condition is not fulfilled, then it is necessary to switch to a diagram optimally in speed for small displacements of the actuator of a mechanism elastically connected to a direct current electric motor consisting of nineteen stages.

The transfer function on the control channel of the prototype has the form

β ₁ - gain of the first proportional block;

φ ₂ - the angle of rotation of the Executive body of the mechanism, elastically connected to a DC motor;

To ₁ - coefficient of negative feedback on the frequency of rotation of the executive body of the mechanism;

K ₂ - negative feedback coefficient for the first derivative of the rotational speed of the executive body of the mechanism;

K ₃ - negative feedback coefficient for the second derivative of the rotational speed of the executive body of the mechanism;

To ₄ - the coefficient of negative feedback on the third derivative of the rotational speed of the executive body of the mechanism.

The coefficients K ₃ and K ₄ during the cycle change their value four times with a constant task of moving the executive body of the mechanism. When changing the task for moving the executive body of the mechanism, the duration of the stages changes and, as a result, the feedback coefficients K ₁ , K ₂ , K ₃ , K ₄ and the time constants of the transfer function of the prototype T ₁ , T ₂ , T ₃ , T ₄ change, which leads to a deterioration in the dynamic characteristics of the device, and in some cases, to a violation of its stability.

The transfer function on the control channel of the claimed device is

The transfer function of the claimed device along the control channel is a reference, i.e. through the control channel, the system has the best dynamic characteristics. When the angle of rotation of the executive body of the mechanism changes, the time constants of the transfer function do not change, i.e. the dynamic characteristics of the claimed device remain unchanged.

Figure 1 presents a structural diagram of a device with improved dynamic characteristics for generating a signal corresponding to a diagram that is optimal in speed for small displacements of an actuator of a mechanism elastically connected to a direct current electric motor.

A device with improved dynamic characteristics for generating a signal corresponding to a diagram that is optimal in speed for small movements of an actuator of a mechanism elastically connected to a direct current electric motor contains a first switch 1, the output of which is connected to the first input of the first summing block 2, the output of the first summing block 2 is connected with the input of the first proportional block 3, the output of the first proportional block 3 is connected to the input of the first block 4, limiting the value its input signal, the output of the first block 4, limiting the value of its input signal, is connected to the first input of the thirteenth summing block 5, the output of the thirteenth summing block 5 is connected to the input of the first integral block 6, the output of the first integral block 6 is connected to the input of the second integral block 7, the output of the second integral block 7 is connected to the input of the third integral block 8, the output of the third integral block 8 is connected to the input of the fourth integral block 9, the output of the fourth integral block 9 connected to the input of the fifth integral block 10, the output of the fifth integral block 10 is connected to the first input of the twelfth summing block 11, the second input of which is connected to the output of the second master 61, the output of the first master 1 is connected to the input of the second proportional block 12, with the input of the third proportional block 17 , with the input of the fourth proportional block 22, with the input of the fifth proportional block 27, with the input of the sixth proportional block 32, with the input of the seventh proportional block 37, with the input of the eighth proportional about block 42, with the input of the ninth proportional block 47, with the input of the tenth proportional block 52 and with the input of the eleventh proportional block 57, the output of the second setter 61 is connected to the input of the twelfth proportional block 16, with the input of the thirteenth proportional block 21, with the input of the fourteenth proportional block 26 , with the input of the fifteenth proportional block 31, with the input of the sixteenth proportional block 36, with the input of the seventeenth proportional block 41, with the input of the eighteenth proportional block 46, with the house of the nineteenth proportional block 51, with the input of the twentieth proportional block 56 and with the input of the twenty-first proportional block 62, the output of the second proportional block 12 is connected to the first input of the second summing block 13, the output of the third proportional block 17 is connected to the first input of the third summing block 18, output the fourth proportional block 22 is connected to the first input of the fourth summing block 23, the output of the fifth proportional block 27 is connected to the first input of the fifth summing block 28, the output the sixth proportional block 32 is connected to the first input of the sixth summing block 33, the output of the seventh proportional block 37 is connected to the first input of the seventh summing block 38, the output of the eighth proportional block 42 is connected to the first input of the eighth summing block 43, the output of the ninth proportional block 47 is connected to the first input of the ninth summing block 48, the output of the tenth proportional block 52 is connected to the first input of the tenth summing block 53, the output of the eleventh proportional block 57 is connected to the first the input of the eleventh summing block 58, the output of the twelfth summing block 11 is connected to the second input of the second summing block 13, with the second input of the third summing block 18, with the second input of the fourth summing block 23, with the second input of the fifth summing block 28, with the second input of the sixth summing block 33, with the second input of the seventh summing block 38, with the second input of the eighth summing block 43, with the second input of the ninth summing block 48, with the second input of the tenth summing block 53 and with the second input about of the eleventh summing block 58, the output of the twelfth proportional block 16 is connected to the third input of the second summing block 13, the output of the thirteenth proportional block 21 is connected to the third input of the third summing block 18, the output of the fourteenth proportional block 26 is connected to the third input of the fourth summing block 23, the output of the fifteenth proportional block 31 is connected to the third input of the fifth summing block 28, the output of the sixteenth proportional block 36 is connected to the third input of the sixth summing block 33, the output of the seventeenth proportional block 41 is connected to the third input of the seventh summing block 38, the output of the eighteenth proportional block 46 is connected to the third input of the eighth summing block 43, the output of the nineteenth proportional block 51 is connected to the third input of the ninth summing block 48, the output of the twentieth proportional block 56 connected to the third input of the tenth summing block 53, the output of the twenty-first proportional block 62 is connected to the third input of the eleventh summing block 58, the output the second summing block 13 is connected to the input of the twenty-second proportional block 14, the output of the third summing block 18 is connected to the input of the twenty-third proportional block 19, the output of the fourth summing block 23 is connected to the input of the twenty-fourth proportional block 24, the output of the fifth summing block 28 is connected to the input of twenty of the fifth proportional block 29, the output of the sixth summing block 33 is connected to the input of the twenty-sixth proportional block 34, the output of the seventh summing block 38 is connected to the input of the twenty-seventh proportional block 39, the output of the eighth summing block 43 is connected to the input of the twenty-eighth proportional block 44, the output of the ninth summing block 48 is connected to the input of the twenty-ninth proportional block 49, the output of the tenth summing block 53 is connected to the input of the thirtieth proportional block 54, the output of the eleventh summing block 58 is connected to the input of the thirty-first proportional block 59, the output of the twenty-second proportional block 14 is connected to the input of the second block 15, limiting the value of its input signal, the output of the twenty-third proportional block 19 is connected to the input of the third block 20, limiting the value of its input signal, the output of the twenty-fourth proportional block 24 is connected to the input of the fourth block 25, limiting the value of its input signal, the output of the twenty-fifth proportional block 29 is connected with the input of the fifth block 30, limiting the value of its input signal, the output of the twenty-sixth proportional block 34 is connected to the input of the sixth block 35, I limit of the value of its input signal, the output of the twenty-seventh proportional block 39 is connected to the input of the seventh block 40, limiting the value of its input signal, the output of the twenty-eighth proportional block 44 is connected to the input of the eighth block 45, limiting the value of its input signal, the output of the twenty-ninth proportional block 49 connected to the input of the ninth block 50, limiting the value of its input signal, the output of the thirtieth proportional block 54 is connected to the input of the tenth block 55 its value of its input signal, the output of the thirty-first proportional block 59 is connected to the input of the eleventh block 60, limiting the value of its input signal, the output of the second block 15, limiting the value of its input signal, is connected to the second input of the thirteenth summing block 5, the output of the third block 20, limiting the value of its input signal, is connected to the third input of the thirteenth summing block 5, the output of the fourth block 25, limiting the value of its input signal, is connected to four the fifth input of the thirteenth summing block 5, the output of the fifth block 30, limiting the value of its input signal, is connected to the fifth input of the thirteenth summing block 5, the output of the sixth block 35, limiting the value of its input signal, is connected to the sixth input of the thirteenth summing block 5, the output of the seventh block 40, limiting the value of its input signal, is connected to the seventh input of the thirteenth summing block 5, the output of the eighth block 45, limiting the value of its input signal, is connected to the eighth input ohm of the thirteenth summing block 5, the output of the ninth block 50, limiting the value of its input signal, is connected to the ninth input of the thirteenth summing block 5, the output of the tenth block 55, limiting the value of its input signal, is connected to the tenth input of the thirteenth summing block 5, the output of the eleventh block 60 , limiting the value of its input signal, is connected to the eleventh input of the thirteenth summing block 5, the output of the first integral block 6 is connected to the input of the thirty-second proportional block 64, the output of the second integral block 7 is connected to the input of the thirty-third proportional block 65, the output of the third integral block 8 is connected to the input of the thirty-fourth proportional block 66, the output of the fourth integral block 9 is connected to the input of the thirty-fifth proportional block 67, the output of the thirty-second proportional block 64 is connected to the first input of the fourteenth summing block 63, the output of the thirty-third proportional block 65 is connected to the second input of the fourteenth summing block 63, the output d thirty-fourth proportional block 66 is connected to the third input of the fourteenth summing block 63, the output of the thirty-fifth proportional block 67 is connected to the fourth input of the fourteenth summing block 63, the output of the twelfth summing block 11 is connected to the fifth input of the fourteenth summing block 63, the output of the fourteenth summing block 63 is connected with the second input of the first summing block 2.

A device with improved dynamic characteristics for generating a signal corresponding to a diagram optimal in speed for small displacements of an actuator of a mechanism elastically connected to a direct current electric motor works as follows. The first master 1 generates a signal equal to the final value of the angle of rotation of the Executive body of the mechanism φ _con . The second setter 61 generates a signal equal to the initial value of the angle of rotation of the Executive body of the mechanism φ _beg . The inputs of the first summing unit 2 receive a signal from the first master 1, equal to the final value of the angle of rotation of the actuator of the mechanism φ _kon , and negative feedback signals: along the angle of rotation of the actuator of the mechanism with a factor equal to one; according to the frequency of rotation of the executive body of the mechanism with a time constant equal to 4τ (implements the thirty-fifth proportional block 67); according to the first derivative of the rotational speed of the executive body of the mechanism with a time constant in the second degree equal to 8τ ² (implements the thirty-fourth proportional block 66); according to the second derivative of the rotational speed of the executive body of the mechanism with a time constant in the third degree equal to 8τ ³ (implements the thirty-third proportional block 65); according to the third derivative of the rotational speed of the executive body of the mechanism with a fourth time constant equal to 4τ (implements the thirty-second proportional block 64). The algebraic sum of the signals is input to the first proportional block 3. The first proportional block 3 amplifies the resulting signal. The first block 4, limiting the value of its input signal, limits the signal from the first proportional block 3 to the value . The inputs of the second summing unit 13 receives signals: from the first master 1, equal to (implements the second proportional block 12); from the second setter 61, equal to (implements the twelfth proportional block 16); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of the two signals arriving at the inputs of the second summing block 13 from the first and second adjusters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the tenth stage The algebraic sum of the signals is input to the twenty-second proportional block 14. The twenty-second proportional block 14 amplifies the resulting signal. The second block 15, limiting the value of its input signal, limits the signal from the twenty-second proportional block 14 to the value . The inputs of the third summing unit 18 receives signals: from the first master 1, equal to (implements the third proportional block 17); from the second setter 61, equal to (implements the thirteenth proportional block 21); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of the two signals arriving at the inputs of the third summing block 18 from the first and second setters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the ninth stage The algebraic sum of the signals is input to the twenty-third proportional block 19. The twenty-third proportional block 19 amplifies the resulting signal. The third block 20, limiting the value of its input signal, limits the signal from the twenty-third proportional block 19 to . The inputs of the fourth summing block 23 receives signals: from the first setter 1, equal to (implements the fourth proportional block 22); from the second setter 61, equal to (implements the fourteenth proportional block 26); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of the two signals arriving at the inputs of the fourth summing block 23 from the first and second setters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the eighth stage The algebraic sum of the signals is input to the twenty-fourth proportional block 24. The twenty-fourth proportional block 24 amplifies the resulting signal. The fourth block 25, limiting the value of its input signal, limits the signal from the twenty-fourth proportional block 24 to a value . The inputs of the fifth summing block 28 receives signals: from the first setter 1, equal to (implements the fifth proportional block 27); from the second setter 61, equal to (implements the fifteenth proportional block 31); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of the two signals arriving at the inputs of the fifth summing block 28 from the first and second setters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the seventh stage The algebraic sum of the signals is input to the twenty-fifth proportional block 29. The twenty-fifth proportional block 29 amplifies the resulting signal. The fifth block 30, limiting the value of its input signal, limits the signal from the twenty-fifth proportional block 29 to a value . The inputs of the sixth summing block 33 receive signals: from the first setter 1, equal to (implements the sixth proportional block 32); from the second setter 61, equal to (implements the sixteenth proportional block 36); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of the two signals arriving at the inputs of the sixth summing block 33 from the first and second setters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the sixth stage The algebraic sum of the signals is input to the twenty-sixth proportional block 34. The twenty-sixth proportional block 34 amplifies the resulting signal. The sixth block 35, limiting the value of its input signal, limits the signal from the twenty-sixth proportional block 34 to a value . The inputs of the seventh summing block 38 receive signals: from the first setter 1, equal to (implements the seventh proportional block 37); from the second setter 61, equal to (implements the seventeenth proportional block 41); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of the two signals supplied to the inputs of the seventh summing block 38 from the first and second setters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the fifth stage The algebraic sum of the signals is input to the twenty-seventh proportional block 39. The twenty-seventh proportional block 39 amplifies the resulting signal. The seventh block 40, limiting the value of its input signal, limits the signal from the twenty-seventh proportional block 39 to the value The inputs of the eighth summing block 43 receive signals: from the first setter 1, equal to (implements the eighth proportional block 42); from the second setter 61, equal to (implements the eighteenth proportional block 46); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of the two signals arriving at the inputs of the eighth summing block 43 from the first and second setters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the fourth stage The algebraic sum of the signals is input to the twenty-eighth proportional block 44. The twenty-eighth proportional block 44 amplifies the resulting signal. The eighth block 45, limiting the value of its input signal, limits the signal from the twenty-eighth proportional block 44 to a value . The inputs of the ninth summing block 48 receives signals: from the first setter 1, equal to (implements the ninth proportional block 47); from the second setter 61, equal to (implements the nineteenth proportional block 51); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of two signals arriving at the inputs of the ninth summing block 48 from the first and second setters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the third stage The algebraic sum of the signals is input to the twenty-ninth proportional block 49. The twenty-ninth proportional block 49 amplifies the resulting signal. The ninth block 50, limiting the value of its input signal, limits the signal from the twenty-ninth proportional block 49 to a value . The inputs of the tenth summing block 53 receives signals: from the first master 1, equal to (implements the tenth proportional block 52); from the second setter 61, equal to (implements the twentieth proportional block 56); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of the two signals arriving at the inputs of the tenth summing block 53 from the first and second setters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the second stage The algebraic sum of the signals is input to the thirtieth proportional block 54. The thirtieth proportional block 54 amplifies the resulting signal. The tenth block 55, limiting the value of its input signal, limits the signal from the thirtieth proportional block 54 to a value . The inputs of the eleventh summing block 58 receive signals: from the first setter 1, equal to implements the eleventh proportional block 57); from the second setter 61, equal to (implements the twenty-first proportional block 62); negative feedback on the angle of rotation of the executive body of the mechanism with a coefficient equal to one. The sum of two signals arriving at the inputs of the eleventh summing block 58 from the first and second setters is equal to the value of the angle of rotation of the executive body of the mechanism at the end of the first stage The algebraic sum of the signals is input to the thirty-first proportional block 59. The thirty-first proportional block 59 amplifies the resulting signal. The eleventh block 60, limiting the value of its input signal, limits the signal from the thirty-first proportional block 59 to a value . The inputs of the thirteenth summing block 5 receive signals: with a plus sign from the first block 4, limiting the value of its input signal; with a minus sign from the second block 15, limiting the value of its input signal; with a plus sign from the third block 20, limiting the value of its input signal; with a minus sign from the fourth block 25, limiting the value of its input signal; with a plus sign from the fifth block 30, limiting the value of its input signal; with a minus sign from the sixth block 35, limiting the value of its input signal; with a plus sign from the seventh block 40, limiting the value of its input signal; with a minus sign from the eighth block 45, limiting the value of its input signal; with a plus sign from the ninth block 50, limiting the value of its input signal; with a minus sign from the tenth block 55, limiting the value of its input signal; with a plus sign from the eleventh block 60, limiting the value of its input signal. The thirteenth summing block 5 generates at the output the dependence of the fourth derivative of the rotational speed of the actuator of the mechanism on time The first integral unit 6 integrates the dependence of the fourth derivative of the rotational speed of the actuator of the mechanism on time and forms the dependence of the third derivative of the frequency of rotation of the actuator of the mechanism on time The second integral unit 7 integrates the dependence of the third derivative of the rotational speed of the actuator of the mechanism on time and forms the dependence of the second derivative of the rotational speed of the actuator of the mechanism on time The third integral unit 8 integrates the dependence of the second derivative of the rotational speed of the actuator of the mechanism on time and forms the dependence of the first derivative of the frequency of rotation of the actuator of the mechanism on time The fourth integral unit 9 integrates the dependence of the first derivative of the rotational speed of the actuator of the mechanism on time and forms the dependence of the rotational speed of the actuator of the mechanism on time ω ₂ (t). The fifth integral unit 10 integrates the time dependence of the rotational speed of the actuator. The inputs to the inputs of the twelfth summing block 11 are: with a plus sign from the output of the fifth integral block 10 and with a plus sign from the second setter 61. The twelfth summing block 11 forms the dependence of the rotation angle of the actuator of the mechanism on time φ ₂ (t) at the output.

With an increase in the angle of rotation of the executive body of the mechanism, the condition φ _con > φ _beg . Moreover, in the time interval 0 <t <t _{1, the} angle of rotation of the executive body of the mechanism is less than the final value of the angle of rotation φ ₂ <φ _con , therefore, the output signal of the first block 4, limiting the value of its input signal, is the rotation angle of the executive body of the mechanism is less than the rotation angle at the end of the tenth stage φ ₂ <φ ₂₁₀ , therefore, the output signal of the second block 15, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the ninth stage φ ₂ <φ _29, so the output signal of the third block 20, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the eighth stage φ ₂ <φ ₂₈ , therefore, the output signal of the fourth block 25, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the angle of rotation at the end of the seventh stage φ ₂ <φ ₂₇ , therefore, the output signal of the fifth block 30, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the sixth stage φ ₂ <φ ₂₆ , therefore, the output signal of the sixth block 35, limiting the value of its input signal, is ; the rotation angle of the executive body of the mechanism is less than the rotation angle at the end of the fifth stage φ ₂ <φ _25, therefore, the output signal of the seventh unit 40, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the value of the angle of rotation at the end of the fourth stage φ ₂ <φ _24, therefore, the output signal of the eighth block 45, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the angle of rotation at the end of the third stage φ ₂ <φ _23, therefore, the output signal of the ninth block 50, limiting the value of its input signal, is ; the angle of rotation of the executive body of the mechanism is less than the angle of rotation at the end of the second stage φ ₂ <φ _22, therefore, the output signal of the tenth block 55, limiting the value of its input signal, is ; the rotation angle of the executive body of the mechanism is less than the rotation angle at the end of the first stage φ ₂ <φ ₂₁ , therefore, the output signal of the eleventh block 60, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At time t = t ₁ φ ₂ = φ _21, therefore, the sum of the input signals of the eleventh summing block 58 changes its sign from plus to minus and a switching occurs in the eleventh block 60, limiting the value of its input signal. In the time interval t ₁ <t <3t _{1, the} output signal of the eleventh block 60, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At time t = 3t ₁ φ ₂ = φ _22, therefore, the sum of the input signals of the tenth summing block 53 changes its sign from plus to minus and switching occurs in the tenth block 55, which limits the value of its input signal. In the time interval 3t ₁ <t <4t _{1, the} output signal of the tenth block 55, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At time t = 4t ₁ φ ₂ = φ _23, therefore, the sum of the input signals of the ninth summing block 48 changes its sign from plus to minus and switching occurs in the ninth block 50, which limits the value of its input signal. In the time interval 4t ₁ <t <5t _{1, the} output signal of the ninth block 50, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At time t = 5t ₁ φ ₂ = φ _24, therefore, the sum of the input signals of the eighth summing block 43 changes its sign from plus to minus and switching occurs in the eighth block 45, which limits the value of its input signal. In the time interval 5t ₁ <t <7t _{1, the} output signal of the eighth block 45, limiting the value of its input signal, is the output signal of the thirteenth summing block 5 is equal to . At time t = 7t ₁ φ ₂ = φ _25, therefore, the sum of the input signals of the seventh summing block 38 changes its sign from plus to minus and switching occurs in the seventh block 40, which limits the value of its input signal. In the time interval 7t ₁ <t <9t _{1, the} output signal of the seventh block 40, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At time t = 9t ₁ φ ₂ = φ _26, therefore, the sum of the input signals of the sixth summing block 33 changes its sign from plus to minus and switching occurs in the sixth block 35, limiting the value of its input signal. In the time interval 9t ₁ <t <11t _{1, the} output signal of the sixth block 35, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At time t = 11t ₁ φ ₂ = φ _27, therefore, the sum of the input signals of the fifth summing block 28 changes its sign from plus to minus and switching occurs in the fifth block 30, limiting the value of its input signal. In the time interval 11t ₁ <t <12t _{1, the} output signal of the fifth block 30, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At time t = 12t ₁ φ ₂ = φ _28, therefore, the sum of the input signals of the fourth summing block 23 changes its sign from plus to minus and switching occurs in the fourth block 25, which limits the value of its input signal. In the time interval 12t ₁ <t <13t _{1, the} output signal of the fourth block 25, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At time t = 13t ₁ φ ₂ = φ _29, therefore, the sum of the input signals of the third summing block 18 changes its sign from plus to minus and switching occurs in the third block 20, limiting the value of its input signal. In the time interval 13t ₁ <t <15t _{1, the} output signal of the third block 20, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At the time t = 15t ₁ φ ₂ = φ _210, therefore, the sum of the input signals of the second summing block 13 changes its sign from plus to minus and switching occurs in the second block 15, limiting the value of its input signal. In the time interval 15t ₁ <t <16t _{1, the} output signal of the second block 15, limiting the value of its input signal, is ; the output signal of the thirteenth summing block 5 is equal to . At time t = 16t ₁ φ ₂ = φ _con , therefore, the sum of the input signals of the first summing block 2 becomes equal to zero and switching occurs in the first block 4, limiting the value of its input signal. In the time interval 16t ₁ <t, the output signal of the first block 4, limiting the value of its input signal, is zero; the output signal of the thirteenth summing block 5 is zero. The presence of negative feedbacks on the frequency of rotation of the executive body of the mechanism and its first, second and third derivatives allows us to provide a transition process in the time interval 16t ₁ <t with improved dynamic characteristics.

In the description, a variant is considered in which the angle of rotation of the executive body of the mechanism increases (φ _con > φ _beginning ). The inventive device provides the formation of a signal corresponding to the optimal speed diagram for small movements of the actuator of the mechanism, elastically connected to a DC motor and with a decrease in the angle of rotation of the actuator of the mechanism (φ _con <φ _beg ). The proposed device provides a high-quality signal generation corresponding to the optimal speed diagram for small movements of the executive body of the mechanism, elastically connected to a DC motor.

The accuracy of generating a signal corresponding to a diagram that is optimal in speed for small displacements of an actuator of a mechanism elastically connected to a direct current electric motor is determined by setting linear blocks: proportional, summing and integral, as well as blocks limiting the value of its input signal.

A device based on a programmable controller that generates a signal corresponding to an optimal speed diagram for small displacements of the actuator of a mechanism elastically connected to a direct current electric motor is developed, implemented and experimentally investigated.

Claims (1)

A device with improved dynamic characteristics for generating a signal corresponding to a speed-optimal diagram for small displacements of an actuator of a mechanism elastically connected to a DC motor, comprising a first master, the output of which is connected to the first input of the first summing block, the output of the first summing block is connected to the input of the first proportional block, the output of the first proportional block is connected to the input of the first block, limiting its value of the input signal, the first integral block, the output of which is connected to the input of the second integral block, the output of the second integral block is connected to the input of the third integral block, the output of the third integral block is connected to the input of the fourth integral block, the output of the fourth integral block is connected to the input of the fifth integral block, the second master, from the second to fifteenth proportional blocks, from the second to thirteenth summing blocks, characterized in that the device is entered from sixteenth to thirty the fifth proportional blocks, the second to eleventh blocks limiting the values of its input signal, the fourteenth summing block, the output of the first master is connected to the input of the second proportional block, with the input of the third proportional block, with the input of the fourth proportional block, with the input of the fifth proportional block, s the input of the sixth proportional block, with the input of the seventh proportional block, with the input of the eighth proportional block, with the input of the ninth proportional block, with the input of ten nth proportional block and with the input of the eleventh proportional block, the output of the second master is connected to the input of the twelfth proportional block, with the input of the thirteenth proportional block, with the input of the fourteenth proportional block, with the input of the fifteenth proportional block, with the input of the sixteenth proportional block, with the input of the seventeenth proportional block, with the input of the eighteenth proportional block, with the input of the nineteenth proportional block, with the input of the twentieth proportional lock and with the input of the twenty-first proportional block, the output of the second proportional block is connected to the first input of the second summing block, the output of the third proportional block is connected to the first input of the third summing block, the output of the fourth proportional block is connected to the first input of the fourth summing block, the output of the fifth proportional block is connected with the first input of the fifth summing block, the output of the sixth proportional block is connected to the first input of the sixth summing block, the output of the seventh the optional block is connected to the first input of the seventh summing block, the output of the eighth proportional block is connected to the first input of the eighth summing block, the output of the ninth proportional block is connected to the first input of the ninth summing block, the output of the tenth proportional block is connected to the first input of the tenth summing block, the output of the eleventh proportional block connected to the first input of the eleventh summing block, the output of the fifth integral block is connected to the first input of the twelfth sum unit, the second input of which is connected to the output of the second master, the output of the twelfth totalizing unit is connected to the second input of the second totalizing unit, with the second input of the third totalizing unit, with the second input of the fourth totalizing unit, with the second input of the fifth totalizing unit, with the second input of the sixth totalizing block, with the second input of the seventh summing block, with the second input of the eighth summing block, with the second input of the ninth summing block, with the second input of the tenth summing block and with w by the input of the eleventh summing block, the output of the twelfth proportional block is connected to the third input of the second summing block, the output of the thirteenth proportional block is connected to the third input of the third summing block, the output of the fourteenth proportional block is connected to the third input of the fourth summing block, the output of the fifteenth proportional block is connected to the third input of the fifth summing block, the output of the sixteenth proportional block is connected to the third input of the sixth summing block ka, the output of the seventeenth proportional block is connected to the third input of the seventh summing block, the output of the eighteenth proportional block is connected to the third input of the eighth summing block, the output of the nineteenth proportional block is connected to the third input of the ninth summing block, the output of the twentieth proportional block is connected to the third input of the tenth summing block, the output of the twenty-first proportional block is connected to the third input of the eleventh summing block, the output of the second summing the lock is connected to the input of the twenty-second proportional block, the output of the third summing block is connected to the input of the twenty-third proportional block, the output of the fourth summing block is connected to the input of the twenty-fourth proportional block, the output of the fifth summing block is connected to the input of the twenty-fifth proportional block, the output of the sixth summing block is connected with the input of the twenty-sixth proportional block, the output of the seventh summing block is connected to the input of the twenty-seventh proportional block OK, the output of the eighth summing block is connected to the input of the twenty-eighth proportional block, the output of the ninth summing block is connected to the input of the twenty-ninth proportional block, the output of the tenth summing block is connected to the input of the thirtyth proportional block, the output of the eleventh summing block is connected to the input of the thirty-first proportional block, output the twenty-second proportional block is connected to the input of the second block, limiting the value of its input signal, the output of the twenty-third about the proportional block is connected to the input of the third block, limiting the value of its input signal, the output of the twenty-fourth proportional block is connected to the input of the fourth block, limiting the value of its input signal, the output of the twenty-fifth proportional block is connected to the input of the fifth block, limiting the value of its input, output the twenty-sixth proportional block is connected to the input of the sixth block, limiting the value of its input signal, the output of the twenty-seventh proportion the ionic block is connected to the input of the seventh block that limits the value of its input signal, the output of the twenty-eighth proportional block is connected to the input of the eighth block that limits the value of its input signal, the output of the twenty-ninth proportional block is connected to the input of the ninth block that limits the value of its input, the output of the thirty the proportional block is connected to the input of the tenth block, limiting the value of its input signal, the output of the thirty-first proportional block ka is connected to the input of the eleventh block, limiting the value of its input signal, the output of the first block, limiting the value of its input signal, is connected to the first input of the thirteenth summing block, the output of the second block, limiting the value of its input signal, is connected to the second input of the thirteenth summing block, output the third block, limiting the value of its input signal, is connected to the third input of the thirteenth summing block, the output of the fourth block, limiting the value of its about the input signal, connected to the fourth input of the thirteenth summing block, the output of the fifth block limiting the value of its input signal, connected to the fifth input of the thirteenth summing block, the output of the sixth block limiting the value of its input, connected to the sixth input of the thirteenth summing block, the output of the seventh block limiting the value of its input signal is connected to the seventh input of the thirteenth summing block, the output of the eighth block limiting the value of its input signal a, connected to the eighth input of the thirteenth summing block, the output of the ninth block limiting the value of its input signal, connected to the ninth input of the thirteenth summing block, the output of the tenth block limiting the value of its input signal, connected to the tenth input of the thirteenth summing block, the output of the eleventh block, limiting the value of its input signal, connected to the eleventh input of the thirteenth summing block, the output of the thirteenth summing block is connected to the input of the first integ of the first block, the output of the first integral block is connected to the input of the thirty-second proportional block, the output of the second integral block is connected to the input of the thirty-third proportional block, the output of the third integral block is connected to the input of the thirty-fourth proportional block, the output of the fourth integral block is connected to the input of the thirty-fifth proportional block , the output of the thirty-second proportional block is connected to the first input of the fourteenth summing block, the output of the thirty-third prop the national block is connected to the second input of the fourteenth summing block, the output of the thirty-fourth proportional block is connected to the third input of the fourteenth summing block, the output of the thirty-fifth proportional block is connected to the fourth input of the fourteenth summing block, the output of the twelfth summing block is connected to the fifth input of the fourteenth summing block, the output of the fourteenth a summing block is connected to a second input of a first summing block.