SU1029143A1 - Digital-analog servo system - Google Patents

Abstract

A DIGITAL ANALOG NEXT. SYSTEM containing a functional converter, the first input of which is connected to the output of the reference voltage generator, the second inputs to the system inputs, and the output to the input of the first amplifier, and the series-connected rotating transformer, the second amplifier and the motor whose shaft is mechanically connected a rotor of a rotating transformer, characterized in that, in order to simplify the system. , the descrambler and keys are entered into it, the decoder inputs are connected to the system inputs corresponding to the most senior bits, the first output is connected to the control inputs of the first and second keys, the second output is connected to the control outputs of the third and fourth keys, and the third output - to the control inputs of the fifth and sixth keys, the outputs of which are connected to the sinus winding of a rotating transformer, the first inputs to the first outputs of the first and second keys, and the second inputs to the first output of the first amplifier, the second output of which is connected to One first key, the second output connected to the second output of the second key and the first inputs (L dami of the third and fourth keys, the second inputs of which are connected to the first output of the first amplifier, and the outputs to the cosine winding of the rotating transformer, and the second key input connected to the output; home of the voltage reference generator. Code from color 4; 00

Description

The invention relates to automatic control and can be used to build shipborne automation and information broadcasting systems using digital computers (D & C).

A positional software control device is known, comprising a task unit, a decoder, a switch, a feedback sensor, an amplifier, and a drive mechanically coupled to the feedback sensor ill.

A disadvantage of the prior art is complexity.

Closest to the invention is a digital-analog tracking system comprising a functional converter, the first input of which is connected to the output of the reference voltage generator, the second inputs to the system inputs, and the output to the output of the first amplifier and the series-connected rotating transformer, second amplifier and motor , the shaft of which is mechanically connected with the rotor of the rotating transformer. In addition, the system comprises a second functional converter and an amplifier C 2.

The output of the digital computer is connected to the digital inputs of functional preamplifiers & amplifiers, the outputs of which are connected to the inputs of the amplifiers, and the output voltages of which vary in the sine, mu and cosine laws of the angle code

and Uon -51006 (1)

2 op. The outputs of the amplifiers are connected respectively to the stator winding si. A cosine rotary transformer (SCRT), the rotor winding of the SCRT is connected to the input of an amplifier of a tracking system, the output of which is connected to the control winding of the engine. The motor through the gearbox is mechanically connected with the SCR rotor,

When U, and U2 are applied to the sinus and cosine stator windings of the SCWT, a voltage arises in the rotor winding. The rotor is automatically under the action of the servo system is set in a position in which the voltage in the rotor winding is zero.

The rotation angle corresponds to the angle oi. given by the code from the digital computer. The position of the rotor depends on the ratio of the stresses on the stator windings of the SCRT.

- tgoC.

2, The disadvantage of such a system is the complexity, which is explained by the presence of two functional transducers and two linear amplifiers. The goal of avoidance is to simplify the system.

This goal is achieved by the fact that a descrambler and keys are entered into the system, the decoder inputs being connected to the system inputs corresponding to the most significant bits, the first output to the control inputs of the first and second keys, the second output to the control outputs of the third and fourth keys, and the third output to the control inputs of the fifth and sixth keys, the outputs of which are connected to the sinus winding of a rotating transformer, the first inputs to the first outputs of the first and second keys, and the second inputs. to the first output of the first amplifier, the second the output of which is connected to the input of the first key, the second output of the second key connected to the second output and the first inputs of the third and fourth keys, the second inputs of which are connected to the first output of the first amplifier, and the outputs to the cosine winding of a rotating transformer, and the input of the second key is connected to the output of the reference generator.

FIG. Figure 1 shows a digital-analogue tracking system flowchart; in fig. 2 is a voltage chart on stator windings of a SCWT.

The proposed device comprises a functional converter 1, an amplifier 2, a decoder 3, a SCWT 4, a tracking system amplifier 5, an engine b, a reference voltage generator 7, and keys 8-13.

Voltages from functional converters to the stator windings of a SCRT are tangentially dependent

14 Uo -1906, where O 4 of. 45 °

If accepted and ,. UpniTO we get the voltage system supplied to the windings of the SCWT

and-

Uon tg.pf (2) and; and.

7 - on

equivalent to the system of voltages acting on the electro-technical tracking system (1 /, but fair only for the first octant (.0-45 °;) .. For the second octant, the voltage system has the form

and

ip

Upn .ctg () (3)

and-

Taking into account that the t.go functions (/ H ctg (o) have an axis of symmetry passing through a point C ° 45 ° parallel to the axis of ordinates, the values of the function ctg. Ft5 ° + oi) can be replaced by the values of the function tgCfS - ot). The angle code (45 ° ct-} can be obtained by forming an inverse code from the angle code ct. Then the voltage system (3) for the second octant is

Ui uon

. 2 on 9oBr Similarly, you can write

voltages for the remaining octants. For the work described by the algorithm, the angle code is conveniently represented in two parts, the three most significant bits determine the octant in which the angle ot is located, and the remaining low bits define the angle cC, the range of variation of which (0-45 /. in order to form a voltage system for stator windings of SCRT equivalent to voltage system (1), it is enough to have one functional code-voltage converter realizing the tangential dependence .dl of the first octant angles, and the keys connecting the stator windings of the IC W either to the functional converter, or to the source, of the reference voltage and carrying out the change of the whole of their inclusion,

The minor code bits corresponding to the range of the angle change (045 °) are fed to the functional converter 1, the output of which gives rise to voltage corresponding to the tangent of the angle through power amplifier 2 fed to the input of the first key 8. Depending on the value of three the higher bits of the angle code are the keys connecting the stator windings of the SCRT to the output of the amplifier or to the generator. reference voltage, realizing the flow of the voltage uj and U to the windings of the SCWT. according

with the diagram (fig. 2) l,

Under the action of stresses and. and in the rotor winding of SCRT, a voltage arises corresponding to the magnitude of the mismatch, which

amplified by amplifier 5 and fed to engine 6. Engine b moves the rotor of the ACS 4 to the position. where the voltage in the rotor winding is zero. Angle of rotation

Corresponds to the angle specified by the code from the DVR.,.

Thus, the exclusion of the second functional converter, the implementation of which is quite complicated, allows us to simplify the system as a whole, which gives a certain technical and economic effect.

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Claims (1)

DIGITAL ANALOGUE. SYSTEM containing a functional converter, the first input of which is connected to the output of the reference voltage generator, the second inputs to the inputs of the system, and the output to the input of the first amplifier, and a rotary transformer, a second amplifier and a motor, the shaft of which is mechanically connected to the rotor, are connected in series rotating transformer, characterized in that, in order to simplify the system:: a decoder and keys are inserted into it, ¹ and the inputs of the decoder. connected to the system inputs corresponding to the senior digits, the first output to the control inputs of the first and second keys, the second output to the control outputs of the third and fourth keys, and the third output to the control inputs of the fifth and sixth keys, the outputs of which are connected to the sine winding of a rotating transformer, the first inputs are with the first outputs of the first and second keys, and the second inputs are with the first output of the first amplifier, the second output of which is connected to the input of the first key, the second output connected to the second output second switch and to the first inputs of the third and fourth keys, the second inputs of which are connected to the first output of the first amplifier and the outputs - to the cosine winding of the rotary transformer, the second switch input coupled to an output of the reference voltage generator. SU „„ 1029143