SU1381422A1 - Drive controller - Google Patents

Abstract

The invention allows to expand the functionality and increase the accuracy of the static state of the following drive by organizing an additional loop with positive feedback, containing the second 13 and third 14 amplifiers, the key 10 and the adder 8. This closed loop in a fixed position of the drive ensures the existence of a factor gain, which, even with a small error in drive 5, provides output from engine 3 to rest, despite a large amount of dry friction. After the start of rotation of the engine shaft 3, the indicated circuit is opened with the help of key 10 according to the signal from speed sensor 4. 1 sludge.

Description

WITH

00

 ISD iv :)

The invention relates to devices for automatic control and can be used in electrical follow-up systems and drives, including robo drive.

The purpose of the invention is to expand the scope and improve the accuracy of the device.

The drawing shows a diagram of the proposed device.

The device for controlling the drive contains a correction unit I, a first amplifier 2, an actuator (motor) 3, a speed sensor 4, a gear 5, a control object 6, a position sensor 7.

ten

the impossibility of exact realization of pure differentiation, and also due to the presence of a constant amplifier time, in many cases it is not possible to instantly remove the engine from a fixed state with a sufficiently large dry friction moment and any sufficiently small error value i. The inventive device also uses a closed loop with positive feedback. However, this circuit is built only with amplifiers. Suppose the gain of the second amplifier 13 is K, and the ratio of the third amplifier 14 is 1 / K. As a result, when the actuator is stationary, the pesummator is 8, the element is NOT 9, the first is 10, and the second is 5 the function of a closed loop with

a swarm of 11 keys, a nonlinear element 12 of a relay type with a zero neutral point, and a second 13 and third 14 amplifiers.

In addition, the following notation is entered in the drawing: "- the signal supplied

positive feedback has the form

P rt -J x-.

As a result, even with little

th drive; U - adjustable signal.

The device works as follows.

When the shaft is stationary, the device is input S - the error follows the 20th magnitude of 5 at the input of the engine 3 before the start

its movement increases sharply (to the maximum possible value) control voltage. Consequently, its driving moment also rises sharply, which, of the engine element (engine) 3 key 10 25, yielding the value of the moment of dry friction, brings the system out of rest. The instantaneous increase in the torque of the engine 3 can be somewhat reduced only due to the actually existing limitation of the amplifier 2.

After the engine 3 starts to move, non-zero signals are received from the output of the speed sensor 4 to the inputs of the element 6 and the second key 11. The result is the opening of the first key 10 and the closure

closed, and key 11 is open. As a result, the circuit consisting of blocks 8, 13, 14, and 10 is closed, and the output of the nonlinear element 12, which has a zero (nonlinear) point at the origin of coordinates, receives a zero signal at the fourth inlet of the adder 8.

Since, with a fixed position of the motor shaft 3, the value of the moment of dry friction due to sticking of the rubbing surfaces can reach a large value.

thirty

sometimes several times the second key 11 by several times. With the nonlinear moment of dry friction when the shaft rotates, a sufficiently large moment developed by this engine is required to start the movement of the engine 3. The moment developed by the actuator is directly proportional to the magnitude of the signal (voltage) applied to its input, and it, in turn, is proportional to the magnitude of the drive error. In conventional follow-up drives, the actuation of the actuator occurs at a larger value, which drastically reduces the accuracy characteristics of these drives.

Usually, to increase the static accuracy of the system without reducing its sustainability of the element 12 to the drive input (a constant signal is given with a sign determined by the direction of rotation of the engine. This signal compensates for the dry friction moment 40 during the system doubled its magnitude).

Claims (1)

Invention Formula A device for controlling the drive, containing a series-connected correction unit, the first amplifier and the actuating element, the output shaft of the cathode, when stationary, is mechanically connected to the sensor and binds the motor to measure the current in its windings and feed it to the drive input. The result is a local closed loop with positive feedback, which provides theoretically instantaneous confidence and the input shaft of the gearbox, the output shaft of which is mechanically connected to the control object and the position sensor, the output of which is connected to the subtracting input of the adder, the first summing input current, and, therefore, the propulsive-55 of which is connected to the input of the device, and moment up to a value equal to the moment soo-also element NOT NOT, the output connected any friction, at any arbitrarily small governing input of the first key, and magnification of the drive error J. However, because of the successively connected second key and not the impossibility of exact realization of pure differentiation, and also due to the presence of a constant amplifier time, in many cases it is not possible to instantly remove the engine from a fixed state with a sufficiently large dry friction moment and any sufficiently small error value i. The inventive device also uses a closed loop with positive feedback. However, this circuit is built only with amplifiers. Suppose the gain of the second amplifier 13 is K, and the ratio of the third amplifier 14 is 1 / K. As a result, when the actuator is stationary, the positive feedback is P rt -J x-. As a result, even with little 5 at the engine inlet 3 before 35 second key 11. Using nonlinear 45 element 12 to the input of the drive (a constant signal is given with a sign determined by the direction of rotation of the engine. This signal compensates for the moment 40 of dry friction during the system mapping (the moment of dry friction practically does not change its value during movement). second key 11. Using nonlinear Invention Formula A device for controlling a drive containing a series-connected correction unit, a first amplifier and an actuator, whose output shaft and gearbox input shaft, the output shaft of which is mechanically connected to the control object and position sensor, whose output is connected to the subtractive input of the adder, the first summing input 1381422 34 a linear element of the relay type with zero zero, in order to expand the range by the paural point, and the signal and control and increase the accuracy of the device, Equal to the inputs of the second key and the input contains serially connected the element is NOT connected to the sensor output of the second and third amplifiers, the input is in speed, and the outputs of the first switch and the non-linear amplifier are connected to the output of the summation element of the relay type, the sockets are connected, the input of the third amplifier is connected to the input with the second and third summation-correction block, and its output - with Adder inputs, characterized by the signal input of the first key.