SU1361697A1 - Contactless regulated electric drive - Google Patents

Abstract

The invention relates to electrical engineering and can be used in tracking systems with valve motors. The purpose of this invention is to improve the dynamic performance by improving speed. This goal is achieved by introducing the integrated amplifiers 15 and 16, the comparators 17 and 18, the controllable switches 19 and 20, the discriminator 21 and the multiplications 22 and 23 into the contactless adjustable electric drive. As a result of the introduction of the integrating amplifiers 15 and 16 The inertial position sensor 9 of the rotor of the synchronous machine I. The discriminator 21, the keys 19 and 20, and the comparators 17 and 18 prevent the accumulation of integration errors. In combination with the multiplication blocks 22 and 23, the entered nodes provide high precision control of the synchronous machine 1, since the order of the control system is reduced. 2 Il. I (L

Description

The invention relates to electrical engineering, in particular, to an electric drive with continuously variable rotational speed, and can be used in servo systems with valve motors.

The aim of the invention is to improve the dynamic performance by improving speed.

Figure 1 shows the functional block diagram of a contactless adjustable electric drive; figure 2 - graphics signals ..

The contactless adjustable electric drive contains a two-phase synchronous machine 1 with sinus 2 and kosinusny 3 phase windings and an inductor rotor 4, a tachogenerator 5 mounted on the shaft of the synchronous machine 1, made in the form of a synchronous machine with a sinus 6 and a cosine 7 output windings and a rotor inductor. eight,

20 settings at the output of the phase-sensitive rectifier, voltage U, p at the output of the low-frequency filter in a known electric drive, voltage and, at the output of the phase-shifting chain

p c sin oc voltage and voltage U at the output of the first integrating operational amplifier. Threshold eg 35

and a position sensor 9 in the form of a rotating transformer with a sinus and a voltage of 25 and a voltage Un at the output of the discriminatively sinus output windings. A small signal sinus- tor, ideal across the winding 2 of the synchronous machine 1 is connected to the output of power amplifier 10, and its cosine winding 3 is connected to the output of power amplifier 11. The inverter of the Small Signal discriminator, tating the inputs of amplifiers 10 and i 3 forming together, with phase-shifting power, is connected to sine 6 and the discriminator 21 stationary sine 7 by the output windings of the tacho signal, indicated by U. oscillator 5. The output windings of the sensor- Non-contact adjustable electrically 9 position are connected to the inputs of phase-sensitive rectifiers 12 and 13. The electric drive contains an input source 14.

Two integrating amplifiers 15 and 16, two comparators 17 and 18, two controllable Keys I9 and 20, a discriminator 21 and two multiplication blocks 22 and 23 are introduced into the contactless adjustable drive. The output of multiplication unit 22 is connected to the non-inverting input of power amplifier 11, and the output of multiplication unit 23 to the non-inverting input of power amplifier 10.

The drive operates as follows.

The cosine 7 and sine 6 output windings of the tachogenerator 5 receive signals at the inputs of the first 15 and second 16 integrating operational amplifiers, respectively

. .oDcosoij - (osinoi ,,

where oi is the angle of rotation of the rotor, el. glad; co-rotational part. The outputs of the amplifiers 15 and 16 are developed voltage

-s sinot

with cosoi

Some inputs of the multiplication units are connected to the output of the input source 14, another input of the multiplication unit 22 to the output of the integrating amplifier 16 and one comparator input

17, and the second input of multiplication unit 23 to the output of the integrating amplifier I5 and the first input of the comparator

18. The second inputs of the comparators. 17 and 18 are connected to the outputs of phase-sensitive rectifiers 12 and 13. The output

the comparator 17 is connected via a second control key 19 to a single non-inverting input of the integrating signal 16, the second non-inverting input of which is connected to the sinus winding 6 of the tachogenerator. The output of the comparator 18 is connected via a first control key 20 to a non-inverting input.

an integrating amplifier 15, the inverting input of which is connected to the cosine winding 7 of the oscillator 5. The control inputs of the keys 19 and 20 are connected to the output of the discriminator 21,

the input of which is connected to the input of the sensor 9 position. A variable reference signal is applied to the input of the position sensor 9.

Figure 2 shows voltage graphs at the output of a phase-sensitive rectifier, voltage U, p at the output of a low-frequency filter in a known electric drive, voltage, and at the output of a phase-shifting chain.

and the voltage Un at the output of the small signal discriminator, the ideal voltage of the discriminator of the Small signal that forms together with the phase-shifting chain the discriminator 21 of the stationarity of the signal, is denoted by U.

p c sin oc voltage and voltage U at the output of the first integrating operational amplifier. The threshold voltage and the voltage Un at the output of the small signal discriminator, the ideal voltage of the discriminator of the Small signal forming together with the phase-shifting chain the discriminator 21 of the signal's stationarity, is denoted by U. Non-contact adjustable electrically

and the voltage Un at the output of the discriminator of a small signal, the ideal voltage of the discriminator of the Small signal forming together with the phase-shifting chain, the discriminator 21 of the stationarity of the signal is denoted by U. Non-contact adjustable electric

The drive operates as follows.

and the voltage Un at the output of the small signal discriminator, the ideal voltage of the discriminator of the Small signal that forms together with the phase-shifting chain the discriminator 21 of the stationarity of the signal, is denoted by U.

The cosine 7 and sine 6 output windings of the tachogenerator 5 send signals to the inputs of the first 15 and second 16 integrating operational amplifiers, respectively.

. .oDcosoij - (osinoi ,,

where oi is the angle of rotation of the rotor, el. glad; co-rotational part. The outputs of the amplifiers 15 and 16 are developed voltage

-s sinot

with cosoi

they are fed to the inputs of multiplication units 22 and 23, the second inputs of which are supplied from source 14 with an analog signal proportional to the required rotational speed. At the outputs of the multiplication units, -c eO signals are generated, which are compared at the inputs of amplifiers 10 and P power. The outputs of the amplifiers 10 and 11 are voltage

-cky (cd - co) sinoi j

ckuXco ,, - CO) cos, ff, respectively, are supplied to sinus 2 and cosine 3 phase windings of the synchronous machine core 1. At large values of the gain factor ku, they have an approximate equality CO ": with".

The remaining elements are designed to periodically correct the output voltages of the integrating operational amplifiers 15 and 16. The reference voltage UQ is fed to the input of the discriminator 21, the output of which produces short voltage pulses and opens the keys 19 and 20 while the reference voltage module close to the maximum value.

Voltages are generated on the sine and cosine output windings of the rotating transformer 9

-and sin about sin t;

and cosoi

sin t.

where I - the angular frequency reference

stress

 These voltages are fed to the inputs of the first 12 and second 13 phase-sensitive rectifiers without smoothing filters, on which BbDcdftax voltages are formed

-csino6 / sin r2o t /;

with cos ot, / sin QO t /. These voltages are compared on the first 17 and second 18 comparators, respectively, by 40 windings, and the position sensor

correspondingly with the output voltages of the first and second integrating operational amplifiers. Depending on the sign of the difference in voltage applied to the inputs of the comparators 17 and 18, a voltage of ± Uo, UQ const, is produced at their output. In short periods of time, when keys 19 and 20 are open, voltages ± Ue are supplied from the outputs of comparators 17 and 18 to the inputs of integrating operational amplifiers 16 and 15 and their output voltages quickly change to values of -c sinoi, cos of, . The discriminator 21 of the signal stationarity can be made in the form of a cascade connected phase-shifting chain and a discriminator of a small signal. Spike shifting chain

61697

Phase voltage at the angle ir / 2 rad, can be made in the form of two cascade connected rc-chains.

. A small signal discriminator can be assembled on two integral comparators. Multiplication blocks 22 and 23 are implemented using analog-digital and digital-to-analog converters on integrated circuits, where one of the multiplied signals is used as the reference voltage of the digital-to-analog converters.

15 Thus, due to the introduction of integrating operational amplifiers, we get instantaneous sine and cosine sensors of the current angle, rotor rotation, and by introducing

20, a signal discriminator, two keys and two comparators exclude an accumulation of integration error. In combination with two multiplication blocks, a highly dynamic re-

25 high precision electric drive, since reducing the order of the system by one allows to increase the gain of the summing amplifiers.

35

Claims (1)

Invention Formula Non-contact adjustable electric drive, containing a synchronous electric motor with sine and cosine phase core windings, mounted on its shaft tachogenerator, made in the form of a synchronous machine with sine k k cosine output5 0 five rotor embedded in the form of a rotating transformer with -sinus and cosine output windings, power amplifiers, the outputs of which are connected to the sinus and cosine phase windings of a synchronous electric motor, and the inverting inputs of the power amplifiers are connected respectively to the sinus and cosine output windings of the tachogenerator, and I can use the rest of the way. , the input of each of which is connected to the corresponding output winding of the position sensor, the input signal source, characterized in that, in order to improve dynamic characteristics by increasing the speed, a discriminator, two interlating amplifiers, two comparators, two controllable keys and two multiplication units, the output of each of which is connected to the noninverting input of the corresponding power amplifier, are introduced; one input of the multiplication units is connected to the output of the input signal, the other input of each multiplication unit is connected to the output of one of the integrating amplifiers and one input of the corresponding comparator, the second inputs of the comparators are connected to the outputs of the ph GOVERNMENTAL ochuvstvitel rectifiers respectively, one output of the comparator via a first controllable switch coupled to neinverti by one of the integrating amplifiers, the inverting input. which is connected to the tachogenerator cosine output winding, the sinus winding of which is connected to a non-inverting input of another integrating amplifier, a second non-inverting input connected via a second control key with the output of another comparator, the control inputs of a different key. a position sensor input for supplying a variable reference signal. 9ig.2 Editor I.Nikolaychuk Compiled by A.Golovchenko Tehred M. Khodanich Proofreader I. Muska Order 6301/55 Circulation 659 Subscription VNIIPI USSR State Committee for inventions and discoveries 1G3035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4