SU1464138A1 - Follow-up system - Google Patents

Abstract

The invention relates to non-linear correction devices and can be used in tracking systems to compensate for the backlash. The system includes an engine 1, a reducer 2, a mismatch meter 3, summing amplifiers 4, 5, relay 6, comparison block 7, differentiator 8, module allocation blocks 9 and 10, D-trigger 11, block 12 for setting the U-trigger to zero state , comparator 13, elements And 14 and 15, null-organ 16, rectifying unit 17 and adder 18. The essence of the invention is that in the device at the moments when the error signal increases sharply when reversed due to the presence of backlash in the gearbox, a correction signal is generated, which accelerates the backlash sampling and reduces error only one parameter is monitored - a system error signal. 2 Il. U5

Description

The invention relates to non-linear correction devices and can be used in tracking systems to compensate for the backlash.

The purpose of the invention is to increase the reliability of the system.

FIG. 1 shows a functional system diagram; in fig. 2 - time diagrams of the system.

The system contains engine 1, gearbox 2, error meter 3, first 4 and second 5 summing amplifiers, relay 6, comparison unit 7, differentiator 8 ,, first 9 and second 10 module allocation units, D-flip-flop 11, unit 12 of installation D- trigger to zero state, comparator 13, First 14 and second 15 elements AND, zero-body 16, rectifier unit 17 and adder 18. Blocks 4 - 18 form a nonlinear correction device 19,

The system works as follows,

At the initial moment, when the power supply of the D-flip-flop is applied, the D-flip-flop unit 12 is triggered to the zero state, and a logic zero signal is set at the output of the D flip-flop 11, and a logic unit signal is output at the inverse output. By supplying the input signal of the servo system of positive polarity, a positive pulse is generated at the output of the null organ 16, in amplitude equal to the signal of the logical unit that is supplied through the block 17 and the second block .. 10 in the slit module at the inputs of the first element And 14, at the output of which a signal of the logical unit is formed, which arrives at the second input of the second element I 15, the first input of which receives the signal of the logical unit from the inverse output of the D flip-flop 11. At the output of the second element 15, a signal is generated unit arriving at the information input

D-flip-flop 11. At the output of the error meter when comparing the input bw and the output signals of the system, an error signal 0 is generated, which through amplifiers 4 and 5 is fed to the motor 1, the gearbox 2, which causes movement, leads to to the deterioration of the dynamic characteristics of the system. In the moments of the reverse appears

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dynamic error (Fig. 2) due to mechanical backlash play. To reduce the error at the time of the reverse, it is necessary to speed up the backlash sampling of the gear 2.

At the moment of reversal, when a dynamic error increases sharply due to the presence of backlash in the gearbox 2, pulses 9 are formed at the output of differentiator 8, both positive and negative, arriving at the input of the first block 9 of the module section, from the output of which positive pulses are received, To the clock input of the D-flip-flop 11. With the first pulse d running, to the clock input of the D-flip-flop 11, the signal of the logical unit is formed at the output of the latter. With the arrival of the second pulse 0 at the clock input of the D-flip-flop 11, the latter is shifted to the logical zero state. The output signal of the D-flip-flop 11 9, - is fed to the input of the comparator 13, which at the output generates a signal bl, coming to the second input of the comparator unit 7, the first input of which receives the signal 0, generated by the relay 6.

Comparison unit 7 compares signals 0. and Sj and generates a correction signal 0 ,, supplied to the input of the adder 18. As a result, the backlash sampling is accelerated and the system error is reduced.

Claims (1)

The following system, comprising the error meter, the first input of which is connected to the system input, the second input is connected to the output of the gearbox mechanically connected to the motor shaft, the output of the error meter is connected to the relay input and the first input of the adder, the output connected to the input of the engine, the first input of the comparison unit is connected to the output of the relay, and the output is connected to the second input of the adder, characterized in that, in order to increase the reliability of the system, a differentiator is introduced into it, the first and the second module of the module's separation, the D-flip-flop, the D-flip-flop installation unit, the comparator, the first and second elements AND, the zero-organ and the rectifying unit, the input of the differentiator connected 9 1