SU1305628A2 - Servo system - Google Patents

Abstract

The invention relates to automatic control of electric drives. The purpose of the invention is to increase the noise immunity and reliability of the tracking system. High noise immunity and reliability are provided by introducing into the known system an additional decoder 11, which plays the role of a pore device for erasing the faulty information and putting the system into the initial operation mode. 1 il. s about sd

Description

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The invention relates to the automatic control of electric drives, and is an improvement of the tracking system according to the author. St. No. 1265692.

The purpose of the invention is to increase the interlacing and reliability of the tracking system.

The drawing shows a block diagram of the system.

The system contains the I control object, setpoint 2, executive motor 3, first 4 and second 5 counters, converter 6 code - frequency, reversing | Ny counter 7, digital to analog converter 8, converter 9 position - code, unit 10 for initial settings conditions descrambler 11.

The system works as follows.

The coordinates of the object .1, given by the unit 2 in binary code, are fed to the group of inputs of the first subtractor 4, the other group of inputs of which is connected to the converter 9, the position - the code. The module of the difference between the codes, corresponding to the error of the error, arrives at the npeo6pa3OBaTeJEb 6 code — the frequency, which translates the code into pulses with a frequency proportional to the error. These pulses are applied to the counting input of the reversible counter 7, which, depending on the sign of the error (transfer signal of subtractor 3), is put into addition or subtraction mode.

At the initial moment of time when power is applied to the system, the initial condition setting unit 10 emits a pulse, which is fed to the recording input of the reversible counter 7, and the reversing counter 7 records the information about the current position of the object 1 through the information inputs. subtractor 4 will have a casting error code, and the output of the second subtractor 5, which controls motor 3 through a digital-to-analogue converter 8, shows a zero code. Depending on the sign and magnitude of the casting error, the reversible counter 7 begins to fill with pulses from the code-frequency converter, and these pulses are either skipped or are output from a previously recorded code of the current position of the object. On vivsh with the difference at the output of the second you reader 5 is converted to digital

to

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lnova converter 8 to analog signal, motor current 3,

As soon as the motor current reaches a value sufficient to overcome the moment of resistance in the mechanical units, the object 1 begins to move. The stability of the closed control loop, consisting of the second subtractor 5, the motor 3, and the transducer 9, is provided with a correction circuit. digital to analogue converter 8. The movement of object 1 is determined by the pulse frequency from the converter 6 code - frequency. When approaching a given coordinate, the coercion error (code at the output of the first subtractor 4) approaches zero and, accordingly, the filling frequency of the reversible counter 7. Object 1 smoothly without overshoot and error sets to the preset position ... At this time, while moving and stabilizing the preset The position of the object decoder 11 does not affect the operation of the system. However, in case of a random reversal counter failure, when a large difference code exceeding a predetermined number appears at the output of the second subtractor, the decoder 11 generates a signal arriving at the initial conditions setting unit 10. In unit 10, a pulse is written to write the code of the current position of the object into the reversible counter 7 i.e. erasing the faulty information and transferring the system to the initial operation mode described above for the moment of power supply to the system.

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At this moment, a short-term deviation of the object from the stabilization point by an angle proportional to the elastic moment acting on the object, the deviation value and the object return time is possible, can be reduced to an acceptable minimum by imposing certain requirements on the transmission coefficients of the element of the open-loop system, and in addition, at the moments of dry friction, exceeding the elastic moments, at any failure of the reversible counter, the deviations of the object from the point of stabilization will not be recorded at all.

The number at which the decoder issues a signal to transfer the system to

3I

the initial mode of operation may be determined from various conditions, for example, from the conditions for limiting the maximum permissible moment developed by the engine, or the maximum permissible speeds of movement of the control object, or, for example, if the system has a dead zone in the direct system system transmission path, ensuring the operation of the system in the linear region. It all depends on the specific tasks, parameters and constraints imposed on the system.

If, under the action of external disturbing moments beyond the motor torque, the control object deviates from the stabilization point and the difference code is more than acceptable at the output of the second subtractor, the decoder also converts the system to

Editor V. Petrash

Compiled by S. Nikishchov

Tehred L. Serdyukova Proofreader A. Obruchar

Order 1426/44. Circulation 864 Subscription

VINILI State Committee of the USSR

for inventions and discoveries 1.13035, Moscow, Zh-35, Raushsk nab., 4/5

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

3056284

the initial operation mode and when the disturbing torque is removed, the control object moves to a predetermined position with a speed determined by the 5th transfer characteristic of the conversion. 6 code - frequency, i.e. without exceeding the maximum permissible operating modes, therefore, the noise immunity and reliability of the tracking system is increased.

Claims (1)

Invention Formula Following system by aut. St. No. 1265692, characterized in that, in order to increase reliability and noise immunity, a decoder is introduced into it, the output of which is connected to the initial conditions setting unit, and the input is connected to the output of the second subtractor.