SU1056129A1 - Tracking electric drive setting device - Google Patents

Description

which is connected to the output of the seventh element And, the second input of which is connected to the second input of the eighth element And, to the first input the ninth element And, to the synchronization input of the first trigger, to the output of the gate driver and through the second trigger to the first input of the tenth element And whose second input is connected to the second input of the meter control unit and to the output of the clock generator, and the output to the counting input of the building unit, the output of the second element OR the fourth inverter is connected to the second input of the ninth element This And through the eleventh And element - to the first input of the third element OR, the output of which through the third trigger is connected to the input of the zero gate driver, the second 29 input of the third element OR is connected to the output of the third zero-body And to the second input of the sixth element And, the output which through the fourth trigger is connected to the second input of the switch, to the first input of the fourth key, the second input of which is connected to the third input of the switch and to the digital control device, the third input to the speed feedback sensor and the output is with the first input of the adder, the second input of which is connected to the output of the subtracting amplifier and to the input of the comparator, the output of the adder is the output of the device, the output of the single pulse generator is connected to the zero inputs of all triggers and to the second input of the eleventh element I.

The invention relates to an automatic control technique and can be used in installations with a tracking positional electric drive, during operation of which there is a need to install the tracking shaft at a predetermined angle, for example, using sensors and receivers installed in several control channels of the tracking electric drive.

The following electric drive device is known, containing a no-cosine rotary transformer (SCRT}, switching relays, two groups of variable resistors according to the number of positions of the offset zero, in which the beginnings and ends of the first and second windings of SCRT are connected through the contacts of the corresponding relays variable resistors, and the moving contacts of the variable resistors, in turn, also through the second group of contacts of the mentioned relays, are connected to the output terminals of the device. output voltages transformed at the output windings, summing them at the output terminals of the device, get the sum of voltage combinations in accordance with a given program Cl JK the shortcomings of this device should include the presence of two groups of variable resistors for each offset bias, the need

pre-installation of SCRT to the true zero position, as well as the possibility of jumps in the executive part of the electric power & o when initially switched on in the case of a channel change

control when there are multiple control channels.

Closest to the invention, the technical solution is a driver for a tracking electric drive containing a sensor and a receiver in the form of a CCTV connected in a synchronous transmission scheme, in which, using a reversing contact bridge, the output of the source of the sensor voltage supply is connected to the output windings of the sensor 2.

The disadvantages of the known device. Should include the possibility of random jumps executive

parts of the electric drive due to testing a false zero of the receiver SSS when the drive is initially turned on or when the control channel is changed when there are several control channels, and the impossibility of mating with digital control nodes, which are currently widely used with synchronous angle transmission schemes.  Accidental surges of the actuator of the electric drive can lead to emergency situations and are dangerous for the operating personnel.  The aim of the invention is to increase the languor and expansion of the functionality of the device by compensating for the initial mismatch, elimination. false zero and obtaining the possibility of direct docking of synchronous angle transmission with digital control nodes.  The goal is achieved by the fact that the driver of the following electric drive, containing a sensor and a receiver in the form of a SCRT, the first and second keys, the power source, are connected by an output to the excitation winding of the sensor and to the locking inputs of these keys, the disconnecting inputs of which are connected to the corresponding windings of the sensor , phase inverter, four triggers, eleven AND elements, three OR elements, the third and fourth keys of the gate former, alternators of the night and clock pulses, connected in series by the comparator are entered , a counter control unit, a counter, a switch, a digital-to-analog converter, a subtracting amplifier, as well as a phase detector, three circuits, each of which consists of a null organ and a series-connected limit amplifier and inverter, and the inputs of limit amplifiers are connected respectively with C, N, cosine and output windings of the receiver, and the outputs - to the inputs of the corresponding inverters, the output of the first inverter is connected to the first inputs of the first and second elements, and the input to the first inputs is the third of it and the quarter And, the output of the second inverter is connected to the second inputs of the first and fourth elements And, and the input to the second inputs of the second and third elements And, the output of the third inverter is connected to the third inputs of the second and third elements And, and the input to the third inputs of the first and the fourth And elements, the outputs of the first, second, third and fourth elements And through the first element OR are connected to the first 1 94 input of the fifth element And, the second input of which is connected to the input of the generator of a single pulse, to the first input of the sixth element And and to The channel is switched on, and the output is connected to the inverted input of the first trigger connected by the output to the control inverter input, the output of which is connected to the second input of the subtractive amplifier through the phase detector, the second input of the phase detector is connected to the output of the power source, the output of the first zero-organ is connected to the first inputs of the second OR element and the seventh AND element, the output of the second zero-organ is connected to the second input of the second OR element and to the first input of the eighth AND element, the output of which is connected to the control l y:, (to it the input of the first key, the output of which is connected to the cosine winding of the receiver, the sine winding of which is connected via the third key to the output of the second key, the control input of which is connected to the output of the seventh element And, the second input of which is connected to the second input of the eighth element And, with the first input of the ninth element And, with the synchronization input of the first trigger, with the output of the gate generator, and through the second trigger with the first input of the tenth element And, the second input of which is connected to the second input of the control unit and the output of the clock pulse generator, and the output to the counting input of the gate driver, the output of the second element OR via the fourth inverter is connected to the second input of the ninth And element and through the eleventh element And to the first input of the third OR element, the output of which is through the third trigger connected to the installation input of the zero gate generator, the second input of the third element OR is connected to the output of the third null organ and to the second input of the sixth element AND, the output of which through the fourth trigger is connected to the second input of the to the first input of the fourth key, the second input of which is connected to the third input of the switch and the digital control device, the third input to the speed feedback sensor, and the output to the first inputs of the adder, the second input of which is connected to the output of the subtracting amplifier and the comparator input, the output of the adder is the output of the device, the output of the generator of single pulses is connected to the zero inputs of all the triggers and to the second input of the eleventh element I.  FIG. 1 is given a functional diagram of the device; in fig. 2 - diagram of voltages NP receiver windings.  The device contains a source of 1 power, a sensor 2, a key 3f elements And, keys 7 and 8, a receiver 9 in the form of SSCT, an amplifier-limiter 10, the first, second, third of a circuit 11-13 (polar separation), zero-organ Ij , inverter 15, elements AND 16-19, element OR 20. , element 21, inverter 225 element OR 23, trigger 2k, driver 25 strobe, element AND 26, trigger 27, generator 28 clock pulses, element OR 29, element 30, trigger 31, generator 32 single pulses, phase inverter 33 (controlled ), phase detector 34 next analog-to-digital converter (SATS J 35, subtractive amplifier 36, digital-to-analog converter (1 (AP) 37, comparator 38, switch 39 (code), counter 40 (version), block 41 meter control, element 42, trigger 43, key 44, adder 45, inputs 46-48 device oprivoda comprises a power source 1 for powering the sensor 2 and the synchronous transmission phase angle detector 34.  The coils of sensor 2 are connected via keys 3.7 and 8 to the windings of receiver 9. Keys 3 and 7 switch the circuits of the input windings of receiver 9 and allow them to be powered from the coils of sensor 2 or from source 1.  The key 8 breaks the circuit of the input winding of the receiver.  The first, second and third elements AND 4-6 are connected by outputs, respectively, to the control inputs of the keys 3.7 and 8.  The inputs of the elements And 4-6 are connected to the output of the strobe 25.  The synchronization input of the phase inverter trigger 31 is connected to the same output.  The second inputs of the AND 4 and 5 elements are connected to the outputs of the circuits, indicating zero-organs 14 of the corresponding chains 11 and 12 of polarity separation. The second input of the AND 6 element through the inverter 22 is connected to the output of the OR element 20, the inputs of which are also connected to the outputs of the null organs 14 chains 11 and 12.  Each of the polarization chains of the soetoite from the series-connected amplifier limiting 10 and inverter 15, in parallel with the inputs of the inverters 15, the inputs of the zero-organs 14 are included in the polarization selection chains.  The output of the zero-organ I of the third chain 13 through the element 2 and the trigger is connected to the first control inputs of the fourth key kk and the code 39 switch, the digital control device (input 48) is connected to the second control inputs of this key and the code 39 switch.  The SATS 35 consists of a subtracting amplifier 36, the output of which is connected to the input of the comparator 38, the outputs of the latter are connected to the inputs of the control unit 41 (reversible) by the estimator 40, the outputs of this estimator are connected via a code 39 switch to the control inputs of the DAC 37, the output of which is connected to the second input subtractive amplifier 36.  The information input of the fourth key 44 is connected to the speed feedback sensor (input 47), the output of the key 44 is connected to the first input of the adder 45, the first input of which is connected to the output of the subtracting amplifier 36.  The output of the adder 45 is the output of the device.  The inputs of the limiting amplifiers 10, the first 11 and the second 12 polarization allocation chains are connected to the beginnings of the sinus and cosine windings of the receiver 9, and the output of the amplifier-limiter 10, the third string 13 to the output winding of the receiver 9, simultaneously to this winding of the receiver 9 is connected to the control input phase inverter 33.  The output of the phase inverter 33 is connected to the signal input of the phase detector 34.  The outputs of the limiting amplifiers 10, the first 11, the second 12 and the third 13 chains are connected to the inputs of the inverters 15 and the inputs of the corresponding elements And 16-19.  The outputs of these elements are connected to the inputs of the element OR 29, the output of which through the element 30 is connected to the input of the trigger 31.  The output of the element OR 20 is also connected to the second input of the element AND 21, the output of which through the element OR 23 and the trigger 24 is connected to the control input of the gate generator 25, the output of which is connected to the second inputs of the elements AND 4-6, the synchronization input of the trigger 31 and through the trigger 27 the second input element And 26 - to the counting input of the gate 25 strobe.  The second input element And 26 together with the input of the clock pulses of the control unit tl of the reversing stripper is connected to the output of the generator 28 clock pulses.  The output of the generator 32 single pulses together with the corresponding inputs of the elements 30 and 2 are connected to the input 46 of the device, where a channel start signal is given from the device for switching on channels, and the output of the generator 32 of single pulses is connected to resetting triggers 2 27, 31 and 3 and element 21 Key 4 is connected to a speed feedback sensor () by its information input.  The key control inputs are connected respectively to the output of the trigger 3 and to the input, a signal turns on the digital control, and the second control input of the code 39 switch is connected to the same input.  The structure of SATS 35 and the construction of its individual nodes are known.  The device works as follows.  If there is voltage on the output winding of the receiver 9, which is a consequence of the misalignment of the receiver axis - and the sensor before transferring control to this channel, at the output of the null organ 1 third. chain 13 is a logical zero signal. The signal at the input h6. Switching the channel on using the generator of 32 single pulses will reset all device triggers to the initial state.  Since at the input of the element tZ there is a logical zero signal, the trigger will be in the initial state, the key is in the closed state, the switch 39 of the code closes the outputs of the reversible counter kQ to the control inputs of the DAC 37.  This provides the operation of the SADS 35 in the following mode.  The error voltage from the output winding of the receiver 9 is fed through a controlled phase inverter 33 to the input of the phase detector 3 and then to the input of the subtracting amplifier 36 of the SCPP.  The process of work of SATsP is known.  With the help of the SATSP, the second input of the 36 SADS amplifier was used to form a voltage equal to the mode | LJ of the output voltage of the phase detector Z- and.  opposite in sign.  Thus, the voltage at the output of the amplifier 36 is zero.  The key 4 is in the closed state and the signal of a hard negative feedback is fed to the first input of the amplifier 45, the output of this amplifier is the output of the device.  Amplifier 5 is for uncoupling. hard negative chains. connection and input circuits of the amplifier 36.  The introduction of a hard negative speed feedback signal is necessary to eliminate the movement of the working element of the installation in the absence of control signals at the output of the BZ amplifier.  SADS 35 contains standard components: a subtractive amplifier Zb, a comparator 38, a control unit for a revolving counter, a reversible counter 40 of a D / A converter 37. A code switch 39 is introduced to open the SATS circuit and the possibility of entering an external control code, i. e.  . direct connection of the angle transmission system with digital control nodes.  This mode is implemented when the signal from the input tS is received by the switch 39. Turning on the digital control. . .  . . . .  The control using this channel is performed by rotating the receiver axis of this channel.  Dp excluding the jump of the executive part of the electric drive, the control voltage is formed only after passing the axis of the receiver to an agreed position.  The formation of the control signal of the servo motor occurs as follows.  At the moment of the coordinated position of the axes of the sensor and the receiver of this channel, the voltage on the output winding of the receiver becomes zero.  SADP 35 will track the zero voltage at the first end of the amplifier 36 and the output of the D / A converter 37 will also have zero voltage.  The signal of a logical unit appears at the time of the output of the third chain of the polarization 13, resulting in a signal of the logical unit at the output of the element 2 and triggering} The signal at its output will lead to pa. the locking of the SATS loop 35 and, with the help of a key, the opening of a circuit of a hard Negative feedback in speed.  Thus, the voltage of the output winding of the receiver 9 through the controlled phase inverter 33 is supplied to the phase detector 3, the amplifier Zb and the adder 5.  The SSCT sensor generates a voltage on the output windings as a function of the sine and cosine of the angle of rotation of the axial axis.  These functions, depending on the quadrant of the angular position of the axis, are characterized by the corresponding sign (polarity of voltage).  To determine the position of the electrical axis of the output winding of the receiver, corresponding to true zero, combinations of polarity signs of the output voltage of the scientific research institute of the sensor and receiver are used. The device has a polarity allocation chains 11-13.  Amplifiers 10 and inverters 15 generate signals of a logical unit, which in time correspond to negative and positive voltage half-waves in the sensor and receiver circuits, these signals allow to select the polarity signs of the corresponding output voltages And elements in accordance with the connections shown in FIG. their inputs with the outputs of the limiting amplifiers 10 and the inverters 15 of the corresponding chains form at their outputs the signals of a logical unit, the presence of which is a sign of matching the position innogo zero electric vyhod1Choy receiver winding axis in each of four quadrants, ie. e.  Each of the mentioned elements AND selects the corresponding combinations of signals of a logical unit in its quadrant.  Combining the signals of logical units for a true zero is verified experimentally.  With the help of the OR element 29 information about the position of the axis of the winding focuses on one output.  To illustrate the principle of obtaining information about the position of the electrical axis of the output winding of the receiver in FIG. Figure 2 shows the voltage diagrams on the output windings of the sensor and receiver when the sensor axis is located in various quadrants, as well as on the border of adjacent quadrants.  The order vectors of the sensor windings (input windings of the receiver) are plotted along the axis of order and abscissa.  The electrical axis of the output winding of the receiver is indicated by a dotted line. On this axis, vectors of input voltages of the receiver transformed under real conditions on its output winding are designed.  The symbols H and K correspond to the beginning and end of this winding.  In automatic analysis of the true zero position, two options are possible depending on the position of the sensor axis.  The first analysis variant is performed in the case when on both output windings of the sensor (input windings of the receiver) there are directors, for example, FIG. 26, g, e, s1. The zero voltage on the output winding of the receiver corresponds to a position of the axis of the receiver when the sine and cosine components are transformed into this winding of equal magnitude and opposite in phase.  With the position of the receiver axis corresponding to true zero, the projection vectors of the stresses of the above components are conventionally directed from point 0 ;.  If the receiver axis is turned on to the voltage on its output winding, it is also zero, since in this case the projections of the components are also equal and opposite in phase, but the vectors in this case are directed to point 0.  This position corresponds to a false zero of the synchronous angle transmission.  Since at the true and false zero positions the voltage on the output winding of the receiver is absent and there is no information in the form of electrical signals, in order to analyze the key 8, one of the input windings of the receiver is de-energized.  This leads to the elimination of the corresponding component, and in turn the appearance of a voltage on the output winding, the polarity of which, in combination with the polarity of the voltages on the sensor windings, makes it possible to unambiguously determine the true zero position of the electrical axis of the receiver winding.  This principle is realized. in the following way.  At zero voltage on the output winding of the receiver, the zero-body 1 of the string 13 forms a signal of a logical unit.  This signal arrives at the element OR 23 and the trigger 2.  The signal from the trigger output 2k generates a enable signal to start the formation.  Those / w 25 strobe, which is used as a counter.  The strobe at the output of the strobe shaping unit 25 is generated by dividing often 28 clock pulses by the generator.  These pulses pass through Element AND 26, which serves as the key 8 of the initial state to the second input of the Eeneita 26, a signal of a logical unit is supplied and element And 26 transmits pulses of the clock generator 26 to the gate driver 25, however, the shaper starts working its input to the enable signal issued by the 2k trigger.  Trigger (27) triggers trigger 27, then the second input of element I 26 is given a logical zero and oi signal (it stops the flow of pulses and the formation of a new page is possible only after the return of the triggers 2 and 27 to the initial state.  It happens every time after. signal feed Turn on the channel at input k with the help of a generator of 32 single pulses.  Generator 32 is also designed to return all device triggers to their initial state after the appearance of a signal at input 6 Switching on a channel.  Trigger L serves to break the formation of a single strobe after the first matching of the receiver and sensor axes, because if these axes are subsequently coordinated during operation of the next drive, the signal from the output of the null organ 1 would resume operation of the receiver Winding axis position, although There is no need for j since the alignment of the axes. After the signal, the channel is not disturbed.  The strobe arrives at the first input element And 6.  If the second unit has a logical unit at the time the key 8 is disconnected, the third chain} 3 provides the necessary information and the combination of voltage fields at the output windings of the sensor and receiver is analyzed.  Inverter 2 serves to generate a prohibitory signal for the operation of the key 8 when it is zero on a voltage on any output winding of the sensor.  When the electrical axis is in the true zero position on the xo / ie of the element OR 29, the SI 9 is formed. 12 is set to logical units, and for false zero, the signal is logical zero.  The presence of signals of a logical unit at the inputs of an element of an ISO causes a manifestation. a similar signal at the output of this element and its strobe time at the synchronization input of the trigger 31, from its inverse output, a control signal is sent to the controlled phase inverter 33, with which the voltage phase is changed to 80 its output, which allows for a false position zero, the output voltage of the phase inverter 33 is detected by means of the phase detector and through the amplifier 36 and the runner kS is fed to the devices.  The second variant of the analysis is carried out when the sensor axis is set in such a position that the voltage is zero at one of its operating windings {Fig. 2 a, e, 5, g).  On the corresponding winding of the receiver, the voltage is also zero.  In such a case, the zero voltage on the output winding of the receiver will be when the electrical axis of this winding is perpendicular to the electrical axis of that receiver input winding on which there is a voltage.  To obtain the necessary information for this analysis with the help of keys 3 or 7, an auxiliary voltage is applied to the winding circuit in which there is no voltage, which allows to determine the orientation of the electrical axis of the output winding of the receiver.  Zero voltage at one and. The output windings of the sensor are fixed by the null-body 14 of the corresponding chain 1 or 12.  In this case, the logical unit from the output of the zero-organ I through the elements OR 20, AND 21, OR 23 and the trigger 2k triggers, as in the first embodiment, the gate driver 25, which also forms one gate and the back front of this gate closes the key as an element And 26.  In this case, the flow of clock pulses to the counting input of driver 2b is stopped.  Thus, at the inputs of one of the elements And k or 5 there are signals of a logical unit from the output of the corresponding null organ} TS and strobe.  For the time of the strobe, switch 3 or 7 switches the circuit of the corresponding receiver winding to the output of power supply 1, whereby the output winding of the receiver also has a voltage, the polarity of which makes it possible to determine which zero corresponds to the position of the electrical axis of the output winding of the receiver.  Element And 21 is slave to associate the analysis process in the second variant at the time of the appearance of the signal at the input t6 Turning on the channel / ta.  Key 8 does not open with this option.  This is provided by the inverfe 10 fe torus 22.  In the process of operation, the next driver drives the corresponding mismatch voltages, occurring on the output winding of the receiver 9.  The use of the invention will also make it possible to REDUCE the cost of equipment by eliminating component assemblies, an electric motor, a differential selsyn, and so on. d. , as well as mechanical components and reduce weight and dimensions.

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Claims (1)

A NEXT ELECTRIC DRIVE DRIVER, containing a sensor and a receiver in the form of sine-cosine rotating transformers, the first and second switches, a power source connected to the sensor excitation winding and to the closing inputs of these keys, the disconnecting inputs of which are connected to the corresponding sensor windings, distinguishing the fact that, in order to improve accuracy and expand the scope of the device, a phase inverter, four triggers, eleven AND elements, three OR elements, the third and fourth keys, f strobe trimmer, single and clock pulse generators. sequentially connected comparator, counter control unit, counter, switch, digital-to-analog converter, subtracting amplifier, and phase detector, three circuits, each of which consists of a zero organ and series-connected limiter amplifier and inverter, and the inputs of the amplifier-limiters are connected respectively to the sine, cosine and output windings of the receiver, and the outputs to the inputs of the corresponding inverters, the output of the first inverter and connected to the first inputs of the first and second elements And, and the input to the first inputs of the third and fourth elements And, the output of the second inverter is connected to the second inputs of the first and fourth elements And, the input - to the second inputs of the second and third And the inverter is connected to the third inputs of the second and third AND elements, and the input to the third inputs of the first and fourth AND elements, the outputs of the first, second, third and fourth AND elements through the first OR element are connected to the first input of the fifth AND element, the second input is It is connected to the input of a single-pulse generator, to the first input of the sixth AND element, and to the channel switching device, and the output is connected to the inverse input of the first trigger, connected by the output to the control input of the phase inverter, the output of which is connected through the Phase detector to the second input of the subtracting amplifier, the second input the phase detector is connected to the output of the power source, the output of the first null organ is connected to the first inputs of the second OR element and the seventh element And, the output of the second null organ is connected to the second input the second OR element and with the first input of the eighth AND element, the output of which is connected to the control input of the first key, the output of which is connected to the cosine of the receiver, the sinus winding of which is connected through the third key to the output of the second key, the control input of which is connected to the output of the seventh AND the second input of which is connected to the second input of the eighth element And, with the first input of the ninth element And, with the synchronization input of the first trigger, with the output of the gate driver and through the second trigger with the first input des of the And element, the second input of which is connected to the second input of the counter control unit and to the output of the clock generator, and the output to the counting input of the gate former, the output of the second OR element through the fourth inverter is connected to the second input of the ninth And element and through the eleventh element And to the first Input of the third OR element, the output of which through the third trigger is connected to the input of the zero setting of the gate driver, the second input of the third OR element is connected to the output of the third zero-organ and to the second input of the sixth e AND element, whose output through the fourth trigger is connected to the second input • of the switch, to the first input of the fourth key, the second input of which is connected to the third input of the switch and to the digital control device, the third input - with a speed feedback sensor, and the output - with the first the input of the adder, the second input of which is connected to the output of the subtracting amplifier and to the input of the comparator, the output of the adder is the output of the device, the output of the single pulse generator is connected to the zeroing inputs of all the triggers and to the second input od of the eleventh element I.