SU1282080A1 - Positioning system - Google Patents

Abstract

The invention relates to mechanical engineering and can be used in controlling mechanisms requiring precise stopping, for example, numerical control machines, robotic arms, etc. The purpose of the invention is to improve the accuracy and speed of the system. This goal is achieved due to the fact that the output signal of the speed sensor is detected, differentiated and its sign is determined. A signal proportional to the sign is fed to the first input of the AND element and the information input of the first key. In addition, the detected signal is compared with a DC voltage output at the comparator, the output of which is generated. a single signal if the detected signal is less than the specified constant signal. The output signal of the comparator is fed to the second input of the AND element and to the control input of the first key. The output signal of the first key is fed to the integrator input, and from its output - to the information input of the second key, to the control input of which the output signal of element I is fed. The signal from the output of the second key is fed to the input of the control signal generator, the output signal of which is fed through the power amplifier to the input of the executive engine. Starting from the moment of arrival of the signal from the output of the second key to the input of the control signal generator, the latter selects the positioning time D / s with a given speed inversely proportional to the integrator output signal. 5 il. o (l

Description

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The invention relates to mechanical engineering and can be used in controlling mechanisms that require precise stopping, for example, machine tools with numerical program control, robot manipulators, etc.

The purpose of the invention is to improve the accuracy and speed of the system,

FIG. 1 shows a block diagram of the system; in fig. 2 - the principle of the electrical system system; in fig. 3 - cyclogram of the engine; in fig. 4 and 5 are diagrams of the output voltages of a comparator and integrator.

The proposed system includes an executive motor 1, a power amplifier 2, a control signal driver 3, a speed sensor 4, a differentiator 5, a two-position relay 6, a first switch 7, an integrator 8, a second switch 9, a comparator 10, element 11, a source 12 constant voltage, detector 13, capacitor 14, diode 15, resistor 16, capacitor 17, zener diode 18, operational amplifier 19, common bus 20 and resistor 21.

In addition, the following notation is accepted: curves, velocity diagrams 21-24; O) is the current speed of rotation of the shaft of the executive engine 1; SW - the set speed of rotation of the shaft of the executive engine 1; (UK - the output signal of the comparator 10; and „- the output signal of the integrator 8.

Two-position relay 6 controls the sign of the output signal of the differentiator 5. It contains a diode 15 (Fig. 2). Differentiator 5 contains a resistor 24 and a capacitor capacitor 14 (FIG. 2). The integrator 8 contains a resistor 16, a capacitor 17, two Zener diodes 18 and an operational amplifier 19 (Fig. 2).

The system works as follows.

The speed sensor 4, which can be used as a tachogenerator or potentiometer that controls the EMF of the engine 1, generates at its output a signal proportional to the speed of rotation of the engine shaft. This signal is rectified in the detector 13, the output of which is fed to the input of the differentiator 5 and to the first input of the comparator 10. The output signal of the differentiator 5 is fed to the input of the two-position relay 6, which determines the acceleration of the rotation of the actuator shaft 1. When braking the differential of the velocity module is negative; through the first key 7, a negative signal is received at the input of the integrator 8.

The integration of the signal in the integrator 8 occurs until the speed of the engine 1 drops to a predetermined value of cc (Fig. 3). At this moment, the comparator 10 is triggered (Fig. 4) by switching the contacts of the first key 7. The input is integration1282080

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The torus 8 is disconnected from the output of the on-off relay 6 and connected to a common bus 20. At the output of the integrator 8 a constant signal U "is set (Fig. 5), the value of which depends on the rate of decrease of the speed of the engine 1 from the maximum to some predetermined value. Thus, for example, when the speed decreases with a tempo along curve 22 (Fig. 3), the comparator 10 operates at the time t (Fig. 4), and the integrator 8 has a constant voltage at the output (Ui | (Fig. 5). a slower decrease in the speed of engine 1 along curve 23 (fig. 3) of comparator 10 is triggered at time 2 (fig. 3), and a signal is produced at the output of integrator 8 (/ i is greater than the signal) This signal is proportional to engine 1 deceleration time from the maximum rotational speed to a certain preset, through the second key 9 is fed to the input of the change proQ we shaper 3 control signal.

Element And 11 closes the CLUB 9 and permits the passage of the signal from the output of the integrator 8 only if braking occurs, i.e. there is a negative

5, the value of the differential modulus of speed, and the speed is reduced to a certain value 0) 3. Control signal generator 3 selects the positioning time at a low speed. Let us assume that the speed decrease occurs along curve 22. At the same time, from the output of integrator 8, a t / Hi signal is received, which is proportional to the engine 1 deceleration time from the maximum rotational speed to a given speed, then, when approaching the positioning point, the control driver 3 selects the time positioning At at a low speed Wj, inversely proportional to the output voltage Un of the integrator 8. The speed reduction occurs at the same rate if the speed

0 varies along curve 24 (FIG. 3).

Thus, the proposed system allows a simple way to automatically select the braking mode, and the positioning time and accuracy do not depend on the change of the inertia moment of the system and its moment of static resistance.

Claims (1)

Invention Formula The positioning system containing the first key, the comparator connected by the first input to the detector output, the second input to the output of a constant voltage source, and the output to one of the inputs of the And element, the other input connected to the output of the two-position relay, and the input of the second key connected to the output of the input of the driver of the control signal connected by the output through the power amplifier to the input of the executive motor, shaft 0 five 0 which is kinematically connected with the speed sensor shaft, characterized in that, in order to increase accuracy and speed, it additionally has a differentiator and an integrator connected by its output to the information input of the second key, and the input to the output of the first key connected by a control input to the comparator output, and an information input to the output of a two-position relay connected by an input with a differentiator output connected by an input to the output of a detector connected by an input with a speed sensor output. P II-  Vl I- с: НС - О1 Jjl 20 I T -J 7 FIG. 2 65 l ffhrli- l - 14 U II II