SU1381420A1 - Nonlinearity corrector - Google Patents

Abstract

The invention relates to the technical means for the correction of control systems and can be used in tracking systems, stabilization systems and software control, in computer devices and automation containing an inertial nonlinear block with backlash-type nonlinearity. The object of the present invention is to increase the accuracy of the device. The goal is achieved due to the fact that the input signal of the device passes through a linear model of a nonlinear dynamic link, is differentiated and compared by level with a threshold value and is fed to the first information switch. In addition, after comparing with a threshold device, the signal is scaled from the first time and fed to the second input of the information switch, then scaled a second time and compared with the output signal of the switch. The result of this comparison controls the switch. The output of the switch is summed with the input of the device, and the result of the sum is the output of the device. This signal is fed to the input of a dynamic non-linear unit with a backlash-type characteristic, the effect of which on the system must be compensated. 2 Il. with (L

Description

00 00

4 S

Process: The technology refers to the technical means of nonlinear correction of control systems and can be used in tracking systems, systems of stabilization and software control, in computers and automation devices containing an inertial nonlinear block with backlash-type nonlinearity.

The purpose of the invention is to improve the accuracy of the device.

At the time of changing the sign of the derivative of the input signal to compensate for the backlash, it is necessary to input the inertial link 2 to additionally send a signal that would produce a signal at the output of the inertial link 2 equal to half the backlash value. To do this, you must first apply to the input of the inertial link 2 the maximum possible signal, based on the operational characteristics of FIG. in fig. 2 - voltage diagrams, the moment when the signal is reached by the output of the inertia, which explains the principle of operation of the device. 2 half of the first half of the backlash

change the size of the input signal so the device contains an adder 1, inertial, so that the output signal of the inertial coupling unit 2, inertia-free. link 2, formed depending on

nonlinear link 3, second model of inertial link 4, differentiator 5, relay block 6, first and second mashtabating blocks 7 and 8, block 9 of comparison, switch 10, first model of inertial link 11, inertial nonlinear block 12 and block 13 20 of control.

As an inertial non-linear unit 12, the effect of which non-linearity is to be compensated for by the output signal of the non-linear compensation device, remained unchanged and equal to half the amount of play.

Ideally, the first and second models of the inertial link 4 and 11 should accurately reflect the dynamic properties of the inertial link 2, i.e., have the same transfer functions with it. However, to increase accuracy in this case, it is enough to

Ideally, the first and second models of the inertial link 4 and 11 should accurately reflect the dynamic properties of the inertial link 2, i.e., have the same transfer functions with it. However, to increase accuracy in this case, it is enough to

nonlinearity compensation device, the 35 ″ first model of the inertial link 4 had

for definiteness, we will consider a motor with the same inertial link 2 phase-phase current with a gearbox, which is a characteristic, and the second model

structurally can be represented in the form of the following - “„ the action link 11 for the same time

the inertial linkage of the inertial link with the link 2 and the inertialeless nonlinear, the relay block 6 and the first

3. The inertial linear link Z JU .. -t.

structurally represents two linear dynamic links connected in series with transfer functions

W, (p) and W, (p), where W. (p) is aperiodic link of the 1st order or w, (p)

 , aperiodic link of the 2nd

(T, pfO (Xpt2)

for now or

scale unit 7. The backlash of the nonlinear block 3 should be experimentally determined in each case. In order to minimize the effect of changes in the backlash in the process of development, the first scaling unit 7 should be made adjustable from the bots of the device. Relay unit 6 (for example, a relay amplifier) must form the maximum possible for a given non-linear unit 12 (for example, for a permanent-drive motor

 current) signal, while the level of this signal is reflected only at the time of reaching the signal at the output of the inertial link 2 of the value equal to half the amount of play of the nonlinear link 3, the investigator is the Laplace transform. However, there are no high requirements to the accuracy of the output signal of the relay unit 6. The parameters of the relay block b are chosen so as to ensure at the time of changing the sign of the derivative of the input signal of the device the maximum speed from W, (, Yp T p 2jTp

bone link; Wj (p) .k ,, k is the gain; T, T, Tj are the time constants; f is the coefficient of oscillation;

The input signal of this connection is voltage, and the output signal is the angle of rotation of the motor shaft. The type of transfer function WI (P) depends on the characteristics of the engine, in particular, on the ratio of the electric current. In order to compensate for the backlash, the input signal of the inertial link 2 must be additionally sent a signal that in the shortest possible time would generate a signal at the output of the inertial link 2 equal to half the amount of backlash. To do this, you must first apply to the input of the inertial link 2 the maximum possible signal, starting from operational conditions, so that the output signal of the inertial link 2, generated depending on

the output signal of the non-linearity compensation device remained unchanged and equal to half the amount of the backlash.

Ideally, the first and second models of the inertial link 4 and 11 should accurately reflect the dynamic properties of the inertial link 2, i.e., have the same transfer functions with it. However, to increase accuracy in this case, it is enough to

“First, the inertial link model 4 had

the time constant of the root of the 50th signal change at the output of the inertial

link 2. The parameters of the first scaling unit 7 must be such as to provide a signal at the output of the inertial link 2 and the second model of the inertial link 11, equal to half the amount of play, if the compensation signal is removed from the output of this scaling unit. The second scaling unit 8 plays an auxiliary role, a signal at its output of the chain and electromechanical time constant in the common signal. The functions w (p) and w.j (p) may have a different form.

To ensure the operability of this device, it is not necessary to know the exact form of the transfer function of the inertial link 2, it is only necessary to know its frequency characteristics, which can always be obtained experimentally.

signal changes at the inertial output

link 2. The parameters of the first scaling unit 7 must be such as to provide a signal at the output of the inertial link 2 and the second model of the inertial link 11, equal to half the amount of play, if the compensation signal is removed from the output of this scaling unit. The second scaling unit 8 plays an auxiliary role, the signal at its output should be somewhat less than the signal at the output of the scaling unit 7.

The switching elements in the switch 10 are connected so that when the signal at the output of the second model of the inertial link 11 exceeds the signal at the output of the second scaling block 8, the switch 10 switches to a position where the second input of the adder 1 and

of the inertial link II, a signal is output from the first scaling unit 7. This signal is equal to half the width of the play of the nonlinear link 3. The increase in the signals at the output of the first model of the inertial link 11 and at the output of the inertial link 2 of the nonlinear 12 stops. The second scaling block 8, slightly reducing the signal compared to half the gap of the nonlinear second input of the inertial link model of the second link 3, does not allow the compensation signal to output the first scale signal to slip through the level of the block 7. This state the switch 10 must be maintained until the signal sign at the output of the gap width gap changes due to inertial switching and, in addition, after switching it provides a slight excess of signal

5, since the signal at the output of the first model of the inertia-second model of the inertial link 11 is larger than the signal at the output of the second voltage divider of the scaling unit.

The device works as follows.

The second model of the inertial link 4, practicing the input signal of the device, introduces the same phase lag as the inertial link 2.

Suppose that when the device is turned on in the slave link 11 as compared with the signal at the output of the second scaling unit 8. This, in turn, prevents bouncing of the switch 10.

This value of the compensation signal is preserved until the sign of the signal at the output of the differentiator 5 changes. As it changes, the signal at the outputs of the first model begins to decrease.

This signal at the output of the second model of the inertial link 1I and the inertial link 4 increases from zero in the positive direction. The derivative of this signal is also positive, therefore, the differentiator 5 and the relay unit 6 form a permanent positive signal 2 of the nonlinear unit 12, which leads to the next switching of the switch 10, which connects the second input of the adder 1 and the input of the first model of the inertial link 11 to the output of the relay unit 6 signal on

Cash which is fed to the first information output of which becomes negative.

The transient process begins again, which ends in the shortest possible time and the further operation of the device is repeated.

..., the "Introduction of the indicated blocks and connections, the descending signal of which arrives at the second — bakes in comparison with the prototype an increase in the input of the comparison block 9. Initially, the compensation accuracy signal when using the input from the output of the first model of the inertial link 11 to the first input is the block input of the switch 10. The output signal of the relay unit 6 through the first scaling unit 7 is fed to the second information input of the switch 10 and the input of the second scaling unit 8 The comparison trick 9 is zero. Block 9 compares the inertial links of any order preceding the nonlinear law.

Using the proposed device

It does not operate with absolute values of 40; the inertia is maximally neutralized.

input signals. Since the absolute value of the signal at the output of the second spreading unit 8 is larger than at the output of the first model of the inertial unit 11, the comparison unit 9, controlled by the switch 10, connects the second input of the adder 1 to the output of the relay unit 6. In this case, the compensation signal significantly exceeds the value of half the width of the backlash is nonlinear. This signal begins to work.

properties of link 2 in order to provide a compensation signal to the input of the non-linearity of the backlash type, equal to half the value of this backlash.

Claims (1)

Invention Formula A nonlinearity compensation device containing the first model of the inertial link, the adder, whose first input is in the first model of the inertial link 11, is the input of the device and is connected to the input and inertial link 2 of the nonlinear block of the second model of the inertial link, and ka 12. The speed of testing is maximum. the output is the output of the device, and the nose In a moment, when the magnitude of the output signal is successively connected by the relay unit and the first model of the inertial link 11, the prescale first scaling unit differs in that the output signal value is increased by the fact that scaling unit 8, 55 devices occur, it additionally switches the switch 10 into the opposite of the switch, the comparison unit, the second false state, in which the second scaling unit and the differentiator, the input of the adder 1 and the first model's stroke input connected to the output of the second inertial link II is given a signal from the output of the first scaling block 7. This signal is equal to half the width of the play of the nonlinear link 3. The signals at the output of the first model of the inertial link 11 and the output of the inertial link 2 of the nonlinear 12 stop . The second scaling block 8, slightly reducing the signal compared to half the gap of the nonlinear link 3, does not allow the compensation signal to slip through a level equal to link 3, does not allow the compensation signal to slip through a level equal to the fault of the backlash width due to inertial switching and, moreover, after switching it provides a slight excess of sig The output of the first model of the inertial link 11 is compared with the signal at the output of the second scaling unit 8. This, in turn, prevents bouncing of the switch 10. This value of the compensation signal is preserved until the sign of the signal at the output of the differentiator 5 changes. As it changes, the signal at the outputs of the first model begins to decrease. inertial element 1I and inertial element 2 of the nonlinear unit 12, which leads to the next switching of the switch 10, which connects the second input of the adder 1 and the input of the first model of the inertial element 11 to the output of the relay unit 6, the signal to the output of which becomes negative. compared to the prototype, it improves the accuracy of compensation when using vanin of inertial links of any order preceding the nonlinear law. Using the proposed device neutralize as much as possible properties of link 2 in order to provide a compensation signal to the input of the non-linearity of the backlash type, equal to half the value of this backlash. Invention Formula .X sharing the inertial unit, and output through the relay element with the first information input of the switch connected by the second information input to the output of the first scaling unit and to the input of the second scaling unit, control  ... a common input to the output of the comparison unit, and an output to the second input of the adder and to the input of the first model of the inertial link, the output connected to the first input of the comparison unit connected by the second input 5 to the output of the second scaling unit.