SU1232939A1 - Servosystem for inertia object - Google Patents

Abstract

The invention relates to tracking systems operating in a mode of relatively slow change in the input signal. The aim of the invention is to increase the reliability and safety of the system at work by reducing the speed of the executive body during the development of large discrepancies. The system contains an input signal adjuster, two adders, a differentiating unit, an object, a sensor, two

Description

devices, amplifier, integrator, and functional converter. The essence of the invention lies in the functional transformation. The invention relates to control systems and controls for tracking devices operating in relatively variable input signal (setpoint) modes, in particular, to drive copiers of machine tools or copy manipulators.

The aim of the invention is to increase the reliability and safety of the system by reducing the speed of the executive body during the development of large stepwise discrepancies.

Fig. 1 shows a functional system diagram of the tracking system; in fig. 2 - non-linear dependence, realizable by a functional converter.

The following system contains the input signal 1., The first 2 adder J differentiating unit 3. the second 4 adder, object 5, the sensor second 7 multiplying device, amplifier 8j integrator 9, first 10 multiplying device, functional, converter 11,

As an object 5 included in the next system, only a non-second-order inertia object containing at least one integrator can be used.

The functional Converter 11 implements the function

f (E) T pr "

al When where a i,

B.

If the input signal E of the functional converter 11 is in absolute magnitude less than some predetermined value of EJJ at tuning, then the output signal f (E) is equal to one (multipliers 7 and 10 have a unit transfer coefficient)

adjusting the error signal of the regulation, namely, reducing the system's assistivity coefficient for large values of the error signal. 2 or

EcjiH, however, the absolute value of E exceeds E, then the output signal f (E) takes a small value of q, also set when adjusting the functional converter 11. At the same time, the transfer coefficients of multiplying devices 7 and 10 become significantly less than one and equal to q, which significantly reduces the transfer factors of amplifier 8 and integrator 9,

The system works as follows. If the setpoint from the output of setpoint 1 changes smoothly and the maximum

its speed lies within permissible limits, then the parameter E is following; systems in a dynamic mode due to the statism introduced by the integrator 9 is small and lies within the limits of / E / iEj ,,

The signal f (E) is equal to unity, and the system provides stable testing of all smoothly varying driving effects with maximum speed and high dynamic characteristics due to high Q-factor determined by the transfer coefficients of the proportional and integral channels.

When the jump change

Rasogla.sovanik E, which in absolute value exceeds E, which may occur at the moment of breakdown of the sensor b of the controlled variable or

setting device 1, as well as in another emergency situation, the signal f (E) from the output of the functional converter 1 1 decreases sharply to the value q. As a result, the coefficients are reduced.

transmission of the proportional and integrating channels and testing of the error E is carried out at a low speed, since the transmission coefficient of differentiation of the channel is not changed.

Benno with side gaps, which increases the reliability and durability of the tracking system.

The rate of testing large deviations E is determined by the value of q.

After entering the mismatch E

Claims (1)

5 Formula of the invention; the input signal f (E) of the functional converter 11 becomes equal to one, the transmission coefficients of the proportional and integrating channels increase again, the Q-factor of the system increases and the reproduction of smoothly changing signals from the setpoint 1 occurs maximum speed. The use of the system allows to exclude the dangerous consequences of emergency situations. In case of breakdowns and breaks of the setpoint 1, the sensor 6 of the regulated value, the first 2 adders, when the setpoint supplied by the control computer 20 is lost, as well as when the actuator is jammed during the monitoring of the smoothly changing setpoint, there is no sudden movement of the executive body following system, which increases its safety. Low speeds of running large discrepancies reduce the dynamic tracking system for an inertial object, containing a series-connected input signal adjuster, a first adder, a differentiation unit, a second adder, an object whose output is the system output, and a sensor whose output is connected to the subtracting input of the first the adder, the second and third inputs of the second adder are connected respectively to the outputs of the amplifier and the integrator, characterized in that, in order to increase reliability and safety, the system mu additionally introduced functional transducer and two multipliers, the outputs of which are connected respectively to the input of the amplifier and the integrator, the first adder output is connected to the input of the function generator and to the first inputs of the first and second multipliers, the second inputs of which are combined and connected to the output of a functional transducer. The overloads of the actuators and their kinematic chains, especially those with side gaps, which increase the reliability and durability of the tracking system. 5 Formula of invention  5 20 25 0 A tracking system for an inertial object comprising a serially connected input signal adjuster, a first adder, a differentiating unit, a second adder, an object whose output is the system output, and a sensor whose output is connected to the subtracting input of the first adder, the second and third inputs of the second the adder is connected respectively to the outputs of the amplifier and the integrator, characterized in that, in order to increase reliability and safety, a functional converter and two multiples are added to the system Yelnia device, outputs of which are respectively connected to the input of the amplifier and the integrator, the first adder output is connected to the input of the function generator and to the first inputs of the first and second multipliers, the second inputs of which are combined and connected to the output of a functional transducer. ./ one/(; Editor H, Egorova Compiled by G. Nefedova Tehred O. Sopko Order 2757/40 Circulation 836 Subscription VNIIPI USSR State Committee. for inventions and discoveries 113035, Moscow, Zh-35, Raushsk .ab. 4/5 Production and printing company, Uzhgorod, st. Project, 4 Proof-reader I.Erdeyi