SU1381677A1 - Position electric drive - Google Patents

Abstract

The invention relates to e.e. applied in electric drives of mine hoisting installations, high-speed elevators, and cableways. P, the spruce of the invention is the realization of the optimal in speed and dynamic working out of specified displacements. The device contains serially connected position adjuster, speed adjuster, two-time integrator intensity control and automatic speed control system in the channel, and a position sensor, speed sensor and current sensor in the feedback channel. Due to the introduction of the deduction path computation block, an automatic selection of the 1a deceleration point is made by continuously calculating the expected deceleration path as it moves. The specified noncancelization is effected with a limitation of the speed, acceleration, and jerk along the optimal trajectory of descent. 4 il. i (o

Description

with oo

05

The invention relates to electrical engineering, in particular, to direct current motor drives of mechanisms, non-displacement of which must be carried out with limiting cKOpocin, acceleration and jerk.

The aim of the invention is to improve the speed of the positional drive.

FIG. 1 shows a diagram of the drive; pas figs. 2 4 the nature of the change of signals in c) the mining of, respectively, medium, small and large specified movements.

The positional electric drive (Fig. 1) contains a direct current motor 1, connected to the output of converter 2, sequentially connected setting unit 3 position, speed setting unit 4, intensity setting unit 5, speed regulator 6, current control 7, output connected to the converter input. 1Я 2, the second input of the current regulator 7 is connected to the sensor 8 of the current of the electric motor 1, the second input of the speed controller 6 is connected to the sensor 9 ck (; growth, the second input of the speed setter 4 is connected to the sensor 10 of the position, block 11 precomputation deceleration intensity. The intensity setting device 5 is performed twice and integrating 1. The precomputation unit 1 1 contains the following. Connected first DC: 1 driver 12, square root extraction unit 13, limiter 14, first large-scale amplifier 15, first heat gun 16, first temper house 17, second sum. maker 18, out d is connected to the third input 4 setpoint speed. The output of the second unit is 1: the connector 19 is connected to the second input of the limiter 14 and to the inverse input of the third adder 20, the output of which through valve 21 is connected to the second input of the first adder 16 and the input of the third adder 20 through the third divider 22 is connected to the output the fourth adder 23 connected to the second input of the first divider 12 and through the second mass-amplifier amplifier 24 with yy (eye input first) multiplier 17.

One input of the fourth adder 23 is connected via the third large-scale gain: 1-25, the fifth adder 26, the second priest 27 with the second input of the second adder 18, the second input of the second non-multiplier 27 connected to the fourth divider 28 and through the third multiplier 29 and the fourth scale amplifier 30 is connected to the input of the third scale amplifier 25. The inputs of the dividers 12. 19, 28 are connected and connected to the output m of the setpoint knob of the intensity indicator 5, the inverse output of which is connected to the heating input 7 of the controller My way out Accelerate the intensity setting unit connected to the second input of the fourth divider 28 and the third input multiply, l 29. The output of the setpoint for maximum acceleration of the intensity setting unit 5 is connected to the second input of the second divider 19 and the input of the third splitter 22. The output speed of the setting unit 5 is connected to the second inputs of the fourth and p that adders 5 23, 26.

FIG. 1–4, control signals and parameters are also indicated: S and 5 l — corresponding to the given and actual markers, SH, ST, Sn — precomputable replications, VH — output unit of speed, V and current speed and its direction, Vi and V2 are the speeds at fixed times, and and -a are the direct and inverse of the current acceleration, ai, v.iKi are the maximum acceleration settings for the deceleration period, g and Gu are jerk and its settings, to - tn - fixed points in time, ti-9, .j, 1h-4. t-4-t is the time intervals, t, the time of change of the acceleration from the current value to zero or vice versa, t, is the time of acceleration in the period of deceleration from the current value to zero, {g, is the time interval for which acceleration varies from setpoint to zero or vice versa, ti, is the time during which the deceleration is performed with acceleration am.ac, is the dummy time, t is the current time. The device works as follows. D: 1I processing a given reamer without reregulating or tightening in time, the command to start the deceleration must be given at such a point in the path so that the error, speed and acceleration simultaneously reach the numerical values. With this panel, we expect1) 1Y deceleration path S- continuously and is computed in block 11

5 as a function of the current and expected motion parameters (current speed and acceleration, maximum acceleration set points during the deceleration period and jerk setpoints) and fed to the input of the setpoint 4 speeds, altogether with the signals Si and S.I. Speed setting unit 4 is a bullet-comparator with a relatively non-large deadband, the value of which is determined by the resolution (i.e. sensitivity) of the system.

5 positioning. In the absence of a dead zone, undamped oscillations may occur in the vicinity of the equilibrium point.

With S.S.i -) - S: i, the input of the intensity setter 5 supplies a signal V u and the motor 1 accelerates, depending on the sign of the signal, from "forward or backward" or rotates at a steady (maximum) speed. When due to an increase in signals 5d and Sn (or only S,)

It becomes equal to 5. 5d- | --5m, the signal Vi goes to zero and a deceleration begins, during which the reduced equality is maintained.

0

The speed, acceleration and jerk of the driven mechanism 11g programmed by the intensity adjuster 5, performed according to one of the known schemes, and an additional signal is sent to the input of the current regulator 7 — and a signal about the specified acceleration, the value of which is chosen current (and hence the moment) (electromotor 1. In these cases; first and foremost intensities set by the driver 5, the acceleration and speed are worked out practically without distortions and delays, and the regulator (the speeds lip1b compensate for static Therefore, it can be assumed that the set and the actual speed and acceleration are almost the same. Therefore, to predict the deceleration path, you can use the speed, acceleration and jerk. KoTOpi.ie to the difference oi of the real parameters of the movement is not soda) - they press the number and therefore 1 are 11 |) unit1) respectful. F ()) 1ir () Vaiye of these sigialoi ti unit 5 intensity 11)) di 1c such c) 6pa3 (jM such that cnrHa.iiii a -. G) in the process from) the outflow of a given movement comes in 6; iuK II continuously and n signs always coincide with the direction E / K by Iiy psrmsi ni (forward, “, back“). , 5 and a signal of a, also i) the step) of the one and block 11, depends both on the nanoway of the ne) e 1e value. so and from) the mode of work) (overclocking, ishm, -accord) and ha 1acta) iy1 gs tab.

outrageous back

razg it slow-motion 1;) honey, 1st + + I

Depending on the value of the line; sp; un 1101C) movement when it is () working out three times a half)) | ) nroshchchl l: 1 () And. small tasks are not yeeyat,. ia- NOVIVNIHSYA (| .e. maxim, liyangh) shmichii CKopocTii and acceleration, with the meanings of the thornes ti x not enough time to complete the installation set. The reasons are only speed, at 6o, ibniiix g; 1.1 ai x speed also reached a value. The most common is the case of working out an average task. Therefore, with reference to it, we will consider the process of predicting the path of a slow path, 1 and S b. Cu 11.

At the moment of time to (Fig. 2), 10, a, given Si unresponsive, in cutting,: what is the mechanism of the pack,: 1 it is, for example, "forward." In the process of acceleration at time ti, as a result of the growth of the signals S.i and Si, the equality was established. -T-Sii. Therefore, the V-signal turned to zero and the deceleration began. At the same time, the current for the current time is numerically equal to the sum of the contour1) 1x dashed lines of the squares S and Si. Area (i.e., path) S ;. constitutes

(V44 AV) t ,,

 ,

. ,, air L-Y

When S. l; t, t, ti a ai .V AVi V2-V l, therefore

S.4 (V | + | -AV,) t,,.

The time t, is calculated (Fig. 1) by the dividing unit 28, the increment of the AV velocity is transferred by the inhabitant 29 and the large-scale amplifier

30, cv.MMa V + 4AV

15 telem 25 and adder 26, and the product

2 i

ten

(V-AV) - ir - multiplier 27.

P. hatch (i.e. path) Si (phi 2) composition, 1 et

20

S. fvdt. + (2l..v:, K..O, (2)

W

where .. .. „., L ± t, ..:, t,,;

25

t, .M ,, h, t: n) - {,, -.,.: ,, X

V + AV

O) S) S4; V- (, V ..

|.-.-- ti ,, therefore S. I - (tj; i + l, ,, + t., s).

PaiiOHCTBo V + in the process of slowing down 1-about,: 1 is generated at the intervals ti 2 and Ij l, because the change in the velocity V is compensated by the magnitude and opposite of 11 h / 1: PS. sign by incrementing. . Obviously, at these intervals sob-, 1K) gives 1c and the equality tj., I-4. C.1 is reduced, 1b-but, and the retardation process with S-S: I eoiist. The sum V - | -AV is calculated

V4av

(Fig. 1) adder 23, half-sum

ap-f

with a large-scale amplifier 24, time 1, 41. b. dividing block 22, time 1, m;., b, 1kom D1, 1G1, time 1. Sssmmato) L O. 11th slice k when working out average displacements at time ti always I ..;.; (), then the corresponding signal is transmitted through the gate 21 to the input sum of the mountain Hi. Sigpa, h, the corresponding ,, -.,., Also comes in the limiting input pa of the delimiter 14. Pa the main input of this delimiter receives a signal corresponding to

fictitious time

- j

The calculation is calculated using the 12 de, 1 zi, and 13 square root extracts. As when working out the average displacement

ti is always tri. mac., the signal at the output of the limiter 14 corresponds to .. Its double value is calculated by the mass-amplified amplifier 15, the total time 2t, m;, k. -j-t, M - adder 16, and product

+ s

multiplier 17,

the sum S i-HSi is calculated by the adder 18. During the deceleration process (i.e., at), it is precomputed: the 1 st path S is continuously decreasing, remaining in. a moment of time equal to the portion of a given displacement, which the en1.e needs to be worked out (i.e., numerically equal to the area bounded by the left ordinate of the current time and from above — the velocity curve). Indeed, in the interval ti -2, the path S; i as the acceleration a decreases. and, respectively, the time of the tr according to (1) also decreases and is inverted; aes to zero at ti ti, and the path Si, as shown, is consistent. On the interval {. : i due to the change in the sign of the acceleration and the path Sa becomes negative and numerically equal to the area bounded by the left ordinate t:., on the right the ordinate of the current time and above the speed curve. Il): JT () My it is subtracted in adder 18 from the path Si, which is still maintained. On the interval t :,,) -. and therefore the increment of the LU is kept constant and maximum. Therefore, it no longer compensates for the decrease in the current velocity V. In addition, Я ti-t.i t decreases. Therefore, the path S is also reduced. For example, d, t for the duration of the time t it is number 1cpp {equals the point ABC.D. But since the path Sa is subtracted from it, including the equal area of the LV area (the resulting Si path is still numerically equal to the square of the left border of the current order). In the 14-.s interval, the Si subnumber is equal to the 1T-1-KDM square, from which the S.i path, which is numerically equal to the LL.A. Therefore, the path Si still remains numerically in the total area, limited to the left of the ordinate of its time. On this inte-nal axis, the acceleration a decreases with linear, and the velocity V but the parabolic laws and vanish at time t ,. Therefore, for the current time, 3 they are

.lt ,,; V

gd

(3)

But they can be determined according to the block diagram of the block 11

tr-:

from where

, it ,;

(3) and

. ,, at,

(Comparing expressions (3) and (4), we get:

| t ,,, t and. (5)

In this interval, the signal at the output of the adder 20 becomes negative and does not pass through the valve 21, i.e. we get

1az 0. Therefore, according to (2) we get

V + AV,

.3 (V + AV) t, 3.

In this case, the expression for calculating the time t, 3 in blocks 12, 13 according to, we tangle from the expression - (3) taking into account equality (5)

ten

t, 3

five

0

five

0

five

0

five

0

five

Since, then the signal from the output of block 13 passes through the limiter 14 without distortion, i.e. .

When testing small displacements (Fig. 3), the equality .a- | -Sn is established at time ti also as a result of an increase in the signals Sa and SM. In this case, the calculation of the Sa path is performed in the same way as in the processing of average expectations.

Since at small displacements t. 0, then the calculation of the path Si is performed in the same way as for the average uncoupling at the interval t4--5 (Fig. 2), and at the intervals ti-2 and t2-: i (Fig. 3) ST const. On the interval, the paths Sa and Si are summed, on the intervals and l3, the path Sa is subtracted from the path Si.

When working on large displacements (Fig. 4) during movement with a steady-state speed a () and respectively, and S .. Consequently, Srf Si const. Therefore, the equality .i-t-Sii is established at the time ti only due to an increase in the signal S ... The further process of predicting the path Sn is performed in the same way as with average displacements.

Thus, the electric drive fulfills any magnitude of a given movement in the shortest possible time while observing the imposed restrictions on speed, acceleration and jerk, i.e. implements optimal speed control and dynamics.

Claims (1)

Invention Formula A positional drive containing a DC electric motor connected to the output of the converter, serially connected position setter, speed setpoint, intensity setpoint, speed regulator, current regulator, output connected to the input of the converter, the second input of the current regulator connected to the current sensor motor, the second input of the speed regulator is connected to the speed sensor, the second input of the speed limiter is connected to the position sensor, characterized in that, in order to realize the optimal o according to the speed and dynamism of the law of working out given displacements, a precomputation path for slowing down is inserted into it, and the intensity setter is double-integrated, with the precomputing path for slowing down containing the first divider in series, the square root extractor, the first limiter, the adder, the first multiplier, the second adder, the output of which is connected to the third input of the speed limiter, the output of the second divider is connected to the second input body and inverse input of the third adder, the output of which is connected via valve to the second input of the first adder, and the input of the third adder through the third divider is connected to the output of the fourth adder connected to the second input of the first divider and through the second large-scale amplifier to the second input of the first multiplier, one the fourth adder is connected via the third scale amplifier, the fifth adder, the second multiplier to the second input of the second adder, the second input of the second multiplier is connected to the fourth output through the third multiplier and the fourth large-scale amplifier — to the input of the third large-scale amplifier; the inputs of the first, second, and fourth dividers are combined and connected to the output of the intensity setting knob, the inverse output 0 whose acceleration is connected to the third input of the current regulator, the direct accelerator output of the intensity adjuster is connected to the second input of the fourth divider and the input of the third multiplier, the output of the maximum accelerator setting the intensity is connected to the second input of the second divider and the input of the third divider; the output of the speed of the intensity control knob is connected to the second inputs of the fourth and fifth adders. S // S. P ) gz  txi J J Gzmax. |. 29 phi.1 Z Fig.Z h tj F1 / gA