SU1213997A1 - Apparatus for automatic driving of veh - Google Patents

Description

FIELD OF THE INVENTION The invention relates to agricultural machinery, in particular, to devices for automatically guiding a vehicle.

The purpose of the invention is to improve the quality of the automatic direction of movement of the vehicle,

Fig about 1 shows a block diagram of the proposed device; in fig. 2- a block diagram of the device with a block diagram of a pulsed self-adjusting device.

The device consists of successively connected sensing element 1, sensor 2, element 3 0, sensing the disconnection of the control signal, the pulse self-adjusting device 4, the servo drive 5, the control object 6. The impulse of the self-tuning device 4 has a second input connected to the output of the sensing element 1, and the control object 6 is connected to the input of the sensitive element 1. The latter can be made in the form of a mechanical, inductive, photometric 5 magnetoelectric I.PI of another device. The element 3 of the control signal disconnection ahead can be made in the form of: a mechanical device — an electrical contact head with a mechanical device; a recording time of changing the mismatch sign, or an electromechanical device consisting of a differentiator and a sign-relay (sign relay) connected in series.

Pulse self-tuning device 4 has a main control loop with a pulse element 7 and a two-position key 8, a self-tuning circuit with an analyzer 9, an executive 10 and a pulse 11 elements and an interference filtering circuit with an analyzer 12} controlled by a key 13 from a delay link 14 and a pulse element 15 .

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The device works as follows.

When the control object 6 moves along a rectilinear or smoothly articulated base, the deviations are small, and the device operates in the pulsed self-adjusting device 4 mode. Sensitive element 1 determines the deviation of the object 6

1 control sensor 2 converts this signal into an electric signal and sends it through the control switch-off element 3 to the input of the device 4, which generates a control pulse of a certain duration, acting through the servo drive 5 on the control object 6. The deviation is tested. When moving object 6 controls

20, along a highly curved base, large deviations of the object 6 are effected along the course angle and linear coordinate. When developing these deviations at the initial moment of turning the device

25 also works in the mode of a pulsed self-adjusting device 4. Under the action of pulsed signals, the number of which in this case may be more than one, object 6

Control 30 starts the turn. When the rate of change of the deviation (the first derivative of the deviation) changes its sign to the opposite, the tripping advance element 3 is activated, which turns the pulse self-adjusting device 4. Due to this, the rotation of the control object 6 stops before the complete elimination of the deviation, So

,, | Q as the supply of pulsed signals to the rotation is stopped and the control object 6 at a small angle approaches the base, as a result of which its oscillations due to an increase in the angle of controlled rotation are eliminated

object 6 after changing the sign of the speed of the deviation, observed in a pulsed self-adjusting device with b, deviations.

Claims (1)

DEVICE OF AUTOMATIC DIRECTION OF TRAFFIC OF TRANSPORT. MEANS, containing a serially connected sensing element, a sensor, a pulse self-adjusting device having a main control circuit with a pulse element and a two-position key, a self-tuning circuit with an analyzer, actuating and pulse elements and an interference filtering circuit with an analyzer controlled by a key, a delay link and a pulse element, a servo drive and a control object associated with the input of the sensing element, the output of which is connected to the second input of the pulse self-adjusting device, characterized in that, in order to improve the quality of the automatic direction of movement, it is equipped with an element for advancing the shutdown of the control signal, the input of which is connected to the output of the sensor, and the output with the first input of a pulse self-adjusting device. ! 8 ω cg FIG. 1st GO with stock>