SU1296404A1 - Double-acting servo system - Google Patents

Abstract

The invention relates to the field of robotics and can be used to create copy manipulators. The aim of the invention is to simplify the device and increase its dynamic accuracy by eliminating load sensors. The device contains an adder, an integration unit, two regulators, a current converter, a motor, an electrohydraulic converter, a hydraulic motor, and two position sensors. 1 il.

Description

The invention relates to robotics and can be used to create copy manipulators.

The purpose of the invention is to simplify and increase the dynamic accuracy of the device by eliminating pressure sensors.

The drawing shows a functional diagram of a two-way tracking system.

The system contains the master 1 and the master 2 follower drives, the integration block 3, the first 4 and the second

5regulators, executive parts

6 and 7, a current converter 8, a motor 9, an electrohydraulic converter 10, a hydraulic motor 11, a first 12 and a second 13 position sensors, a summator 14.

The following system of bilateral action works as follows.

In the absence of a load, the actuator 1 is in the matched position of the signals Uj. At the output of controller 4 and I at the output of current transducer 8 are zero, the value of the output coordinate x, dd is equal to the setpoint x, the error is equal to Hyjno.

When an external load moment occurs on the output shaft of the drive 1 at the first time point due to backlashes and elasticity of the kinematic transmission, the output coordinate x. Slightly sags towards the moment of external load. In this case, a nonzero mismatch occurs at the input of controller 4 (for example, the PID controller), which generates a signal U acting on the current converter 8. The latter creates a current I in the motor 9 (for example, a DC motor), which determines the moment of opposition on the motor shaft 9 to an external load torque. The current I grows as long as the moments, which are applied by the operator (load moment of the follower drive 1) to the driver body and opposed to it by the engine 9, are not balanced. The increase in subsidence, and with it the mismatch error at the input of regulator 4, stops.

Thus, the indicated error is processed by the regulator 4 so that the torque on the output shaft compensates

five

0

five

Q Q g

externally applied load. In this case, the static error of the master follower drive 1 may remain non-zero (if drive 1 does not possess as-, tatism) or disappears in the case of an astatic drive 1. In any of the cases described, the drive U changes to a new steady state.

In order to maintain a balancing external load moment on the output shaft, the constant component of the current I, and hence the output signal of the regulator 4 - U (provided that the characteristics of the converter 8 are linear), regardless of the algorithm of its operation and the error in the steady state be proportional to the external load on the follower drive shaft 1. I

Executive work

drive 2, when compensating for external loads caused by moving load, is similar to that described with the only difference that converter 10 converts the output signal U, controller 5 into a proportional pressure differential & P in the cavity of the hydraulic motor 11, which creates a proportional differential pressure L P Load on output shaft of follower actuator 2-.

Thus, when the following drives 1 and 2 are applied to the output shafts of external loads, the output of the regulators 4 and 5 gives rise to signals and l and Uf, the constant components of which contain information about these loads, or rather, are proportional to them.

Depending on the difference signal. catching Ufl and and, allocated in the adder 14, the integrating unit 3 (for example, the double integrating unit) changes the set point x in the direction and at a speed proportional to the specified difference. The speed of movement of the output shafts of the actuator 2 and the driver 1 follower drives is proportional to the difference in torque effects from the operator and the displaced load.

In the case of the presence of signals Ua and high-frequency components, which are present when the pulse-width or frequency-pulse control of the actuators 6 and 7 of the actuators 1 and 2, these components do not affect the system of two-sided action, because they are attenuated in the block

3 integration, having the properties of a low-pass filter, as well as in the following actuators 1 and 2 due to their linear, non-linear distortions and the limited frequency spectrum of the passband.

Real executive parts 6 and 7 always have a lag (inertia), so the overall transfer functions of the closed position of the following actuators 1 and 2 from the signal X to the signals U and U will have a phase advance, because the executive parts 6 and 7 are included in the feedback when forming these transfer functions, i.e. The signals Ol and and appear a little earlier than the compensating moments on the shafts of the following drives 1 and 2, which has a beneficial effect on the stability of the external circuit of the two-way system.

If it is necessary to implement a follower drive 1 in the form of electrohydro or electropneumatic, it is necessary to perform its executive part 6 in the same way as executive part 7 of the executive follower drive 2. In this case, the work

Editor E. Kopcha

Compiled by E.Politov

Tehred L.Oleynik Proofreader L.Pilipenko

Order 708/20, Circulation 954 Subscription

VNIIPI USSR State Committee

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

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

The proposed system is neither in function nor in terms of the result achieved from that described.

Claims (1)

5 claims A follow-on system of two-sided operation, comprising on the driver side, serially connected a first controller, a current converter and a motor connected to the first position sensor, the output of which is connected to the first input of the first controller, on the executive side in series, connected to a second controller, a motor and a hydraulic motor connected to the second position sensor, the output of which is connected to the first input of the second controller, as well as the series-connected adder and integral unit Rovani connected to the second output and the second input of the first regulator, characterized in that, in order to simplify and enhance the accuracy of the dynamic system, therein the first and second adder inputs are connected respectively to the first and second output regulator.