SU1223205A1 - Relay servo system with non-linear correction - Google Patents

Abstract

This invention relates to automatic regulation and can be used to control various objects. It allows to improve the energy performance of the relay tracking system by introducing the second and third multiplication units, the second adder and the unipolar relay, since it creates the following alternation of movements: acceleration - opposition - dynamic braking. 2 Il. yu with N3

Description

one

The invention relates to the field of automatic control and can be used to control wide profile objects.

The aim of the invention is to improve the energy performance of the system.

FIG. Figure 1 shows the structural scheme of the proposed trace, its system; in fig. 2 - view of the transition process on the phase plane.

The system contains an error meter 1, the first rectifier 2, the second multiplication unit 3, the second adder 4, the unipolar power relay 5, the first multiplication unit 6, the motor 7, the gearbox 8, the tachogenerator 9, the second rectifier 10, two - polar relay 11, first adder 12, third multiplication unit 13, unipolar relay 14, character comparison unit 15 and scaling element 16 (in, - is the input signal, in - the output signal, Xi is the error signal,, F2 is the first and second control functions, 9 — tachogenerator signal).

In order to avoid gliding movements while maintaining an aperiodic transient process and speed in the system, the following alternation of movements is organized: acceleration - opposition - dynamic braking. To organize the proposed algorithm of work in the system, the following control functions are implemented. In a non-reversible channel

r |) | ATiI signxi sign (x - i9) -f In the reverse channel x - k - signTl;

{) with signX () 1 with signx () - 1 The system works as follows. When a signal Qi is applied to the input (moment to, fig. 2), the motor 7 starts to rotate in the required direction, since the sign of the direction of rotation in the first adder 12 is determined, i.e. f) Xi; The sign x and the sign 2 match, at the output of the character comparison block 15, there is a "- | -1, which, when multiplied in the second multiplication block 3, ensures that the module of the error signal kil to the passage of the adder 4 without changing the sign, i.e. | 3i | xi | . The power unipolar relay 5 is turned on, which through the first multiplication block connects the supply voltage to the motor 7 with the sign 2 signx, detected by the two-pole relay 11. Thus, when the engine is turned on |) i Ui | and The motor 7 begins to rotate, fulfilling the reference signal, the system output signal and the signal of the tachogenerator 9 appear, which through the second rectifier 10 is connected to the second input of the first adder 4, i.e. F1 |.) And through the scaling element 16 with a negative sign - to the second input of the first adder 12, i.e. i |) 2

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xi - fe | 9. With the presence of "1 at the output of block 15, the comparison of characters at the output of one-pole relay 14 is present," O and CHrHaj. The tachometer 9 connected to the input of the multiplication unit 13 does not pass to the third input of the adder 12. Thus, the control functions at the stage of acceleration are | 3i UiH- | | and x - k (time interval to-1 |, fig. 2). This state is maintained until equality

10 ф2 0, that is, ki | : | fei. |, after which the sign changes at the output of the adder 12. and the bipolar relay P. Engine 7 is switched on (time ti, fig. 2), simultaneously. The sign at the output of block 15 of the comparison of signs, sign Xi sign tz, and, consequently, the sign at the input of the second multiplication unit 3, that is, the sign with which the error signal module is summed in the second adder 4, varies. ) 1 - |., However Tj) i keeps the same

2Q sign, since the condition | л: ||. When the sign changes at the output of the character comparison block 15, a unipolar relay 14 is triggered, and the output of the tachogenerator 9 is connected to the input of the adder 12 with a negative sign. As a result, the control function takes the form r |) 2 L: 1- (fei + 1), sign 2 sign), i.e., the sign of the opposition is retained, which guarantees the elimination of the sliding mode (time interval or t: -ta, Fig. 2). The opposition movement is maintained until the fulfillment of the condition, i.e. R | Uil, in other words, before the imaging point hits a dynamic deceleration line (time point t2 of Fig. 2). The time interval t2-ts (Fig. 2) is the dynamic braking mode of the engine, the error signal Xi decreases to zero.

Thus, the transition process in the proposed system occurs without overshooting with one switch 40 of a two-pole relay 11, and the image point falls to the origin with the engine off.

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Claims (1)

Invention Formula Relay tracking system c. nonlinear correction, containing the error meter, the first rectifier, the unipolar power relay connected in series, the first multiplication unit, the executive motor and the gearbox, whose output is connected to the error meter, and the actuator shaft is mechanically connected to the tachogenerator, the output of which is connected to to the input of the second level and through the scaling element to the first input of the first adder, the second input of which is connected to the output of the error meter and to the first input In the comparison of signs, the output of the first adder via a two-pole relay is connected to the second input of the first multiplication unit, characterized in that, in order to improve the energy performance, the system comprises a series-connected second multiplication unit and a second adder, serially connected one-pole relay and a third block multiplication, connected by the second input to the output of the tachogenerator, and output to the third input of the first adder, the output of which is connected to the second input of the comparison unit of characters connected by the output to the input for a single-pole relay and the first input of the second multiplication unit, the second input of which is connected to the output of the first rectifier, the second input and the output of the second adder are connected respectively to the output. the second rectifier and the input of the unipolar power relay. 1 to Xi Compiled by V. Kuzin Editor T. KugryshevaTehred I. VeresKorrektor L. Pa Tay Order 1711/50 Circulation 836 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab. 4/5 Branch PPP "Patent, Uzhgorod, st. Project, 4 FIG. g