SU1228070A1 - Power servo device - Google Patents

Abstract

The invention relates to general purpose powered servo drives (SSPs) and can be used to control the position of the control object in terms of speed-optimal performance. The device contains a digital error meter, a digital position sensor, a power drive, a control object, the first and second digital-to-analog converters, an error relay analyzer, an input node generator, a relay speed analyzer, an amplifier, a second and first adders, a memory unit, a relay element, a speed sensor , first and second relays, resistor. When developing a low level signal, the SSP operates as a simple tracking system, when developing a stepped high level signal, the relay error analyzer provides, firstly, a reduction in the gain of the amplifier, and secondly, memorizing half of the error signal at the output of the memory block. As a result, a constant value of the signal is sent from the relay element through the relay speed sender to the acceleration of the ERP with maximum acceleration. When the BSC completes the mismatch half, the signal from the output of the first adder changes the sign of the constant signal from the output of the relay element. As a result, the ERP will be decelerated with maximum deceleration. 1 il. . (About ts9 to bio

Description

The invention relates to general purpose powered servo drives and can be used to control the position of an object that is quasi-optimal in speed.

The aim of the invention is to increase the drive speed by implementing a control law that is quasi-optimal in speed for control signals of the type of single step action.

The drawing shows a functional principle diagram of a power servo drive.

The power tracking drive contains a digital error meter 1, a digital sensor 2 position, a power drive 3, a control object 4, the first 5 and second 6 digital-to-analog converters, an error relay analyzer 7, an input signal adjuster 8, a speed relay analyzer 9, , second 11 and first 12 adders, memory block 13, relay element 14, speed sensor 15, first 16 and second 17 relays, resistor 18.

The relay error analyzer 7 performs the functions of changing the gain factor of the amplifier 10 when the first 16 relays are turned on and the moment of storing the error signal of the device at the output of the memory block 13 is turned on when the second 17 relays are turned on.

The power follow-up drive operates as follows.

When working out small (up to 1 degree) mismatch with high accuracy, the power servo drive has a large gain factor. Sets the digital signal from the output of the unit 8 is fed to the digital error meter 1, then in the form of a digital error signal 1 is fed to the first 5 digital-to-analog converter of the exact reference (the maximum output voltage of which corresponds, for example, t7 degrees of error) and through normalized closed contacts the relay analyzer 7 errors, the amplifier 10 and the second 11 adder - to the actuator 3 control the control object 4, on the shaft of which a digital 2 position sensor is mounted. With small mismatches and, accordingly, small speeds of their working out the signals from the first 5 digital

the precision precision transducer and from the speed sensor 15 are small, the analyzers 9 and 7 of these signals do not work. In the mode of testing large disagreements with a quasi-optimal speed, i.e. with the shortest possible testing time, the driving signal from the first 5 digital-analog precision converter is long enough to trigger the first 16 and second 17 relays of the error analyzer 7. At the same time, the signal from the second 6 digital analog coarse converter (the maximum output voltage of which corresponds to an angle of 180 degrees) is memorized by memory block 13. At the same time, the output voltage from the memory unit 13 is about half of the signal of the voltage output from the output of the second digital-to-analog converter of a rough count and is selected when setting up the system. Thus, at the output of the relay element 14, a quasi-optimal control signal is generated.

The error signal from the output of the first 5 D / A converter due to the opening of the normally closed contacts of the primary 16 relay will go through the resistor 18, therefore, the laziness factor of the amplifier 10 will decrease.

the drive will start acceleration of control object 4. Then, with a sufficiently large signal from the speed sensor 16, the relay speed analyzer 9 is triggered and provides the control signal to the second 11 adder. The control object 4 accelerates with maximum acceleration up to the moment of working out half or more of the initial error.

at the moment when the signal from the first 12 adder changes sign, i.e. when the signal from memory 13 becomes larger than the current error, relay element 14 changes the sign of the quasi-optimal control and control object 4 starts to brake with the maximum possible acceleration to the speed at which the signal from speed sensor 16 is so small

that the relay speed analyzer 9 will come to its original state. In this case, the power follow-up drive will work out the remaining mismatch

at a rate determined by the small gain of the amplifier IO.

Subsequently, with a small mismatch, the signal from the first 5 digital-to-analog converter of the exact counting off will decrease and the relay analyzer 7 of the optical system will switch the system to work with a high gain factor. The first 16 relays are set to operate when there is a mismatch, which slightly exceeds (by 0-20%) the linear zone of operation of the silone follow-up drive (for example, .0.5-0.7 degrees). The second 17 relays are set to operate with a mismatch slightly exceeding (by 10–20%) the magnitude of the mismatches (for example, 5–7 degrees), which work out without turning on the signal of the quasi-optimal control and return to the initial state when the error signal is reduced. In this case, the memory unit 13 is ready for storing the next value of the coarse-alignment signal.

Thus, the power follow-up drive, which is quasi-optimal in speed, ensures maximum processing of large disparities in the transfer mode and switching to the tracking mode at the moment of the minimum stock of the kinetic energy of the object and exclusion, thereby eliminating the overshoot of the coordinated position.

1228070

Formulas

inventions

A power follow-up drive containing an input signal sensor connected in series and a digital error meter, the second & HOD of which is connected to the output of a digital position sensor connected to the control object, the speed sensor connected to the control object as well as to the output of the force actuator control object, characterized in that, in order to improve speed by implementing a quasi-optimal control law, the first digital-to-analog converter has been additionally introduced, relay analysis Op errors, relay analyzer “speed, amplifier, memory unit, as well as serially connected second digital-to-analog converter, first adder and second adder, the output of which is connected to the input of a power drive, and the second input - through an amplifier, relay error analyzer and first digital-to-analog converter connected to the output of the digital error meter and to the input of the second digital-to-analog converter, the output of which is connected to the subtractive input of the first adder via the memory block, the control input D which is connected to the second output of the error relay analyzer, the output of the speed sensor is connected to the control input of the relay speed analyzer.

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Compiled by B. Kirsanov Editor K. Voloshchuk Tehred I.Popovich Proofreader A. aimokosov

Order 2286/48 Circulation 836 Subscription

VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5

Production and printing company, Uzhgorod, Projecto st., 4

Claims (1)

Claim A power follow-up drive, comprising an input signal sensor and a digital mismatch meter in series, the second input of which is connected to the output of a digital position sensor connected to the control object, the speed sensor 10 is connected to the control object, as well as to the output of the power drive of the control object, o The reason is that, in order to improve performance by implementing the quasi-optimal control law, the first digital-to-analog converter, relay ana error analyzer, relay speed analyzer, amplifier, memory unit 20, as well as a second digital-to-analog converter, a first adder and a second adder connected in series with the output of the power drive, and a second 25 input through an amplifier, an error relay analyzer and the first digital-to-analog the converter is connected to the output of the digital mismatch meter and the input of the second digital-to-digital converter, the output of which is connected to the subtracting input of the first adder through the memory block, which controls the input of which is connected to the second output of the relay 'error analyzer, the output of the speed sensor is connected to the control input of the relay speed analyzer.