SU1472870A1 - Device for simulation of servo drive error signal - Google Patents

Abstract

The invention relates to the field of automation and computer technology, in particular, to devices for testing and studying the dynamics of the following drives. The purpose of the invention is to simplify the design, increase the accuracy and reliability of the device by using contactless sensors and an electronic circuit with contactless conversion of the error output signal into a digital signal quantized by level and time, as well as expanding the linearity zone by introducing an electronic circuit with a two-count system management The device contains an analog software mechanism 1, a differential 2, a phase shifter 3, a quantization unit 4, a memory block 5, and a follower drive 6, as well as a rotation angle sensor (rotary transformer) 7, kinematically connected to the phase shifter using a gearbox 8. 2 ffl, 2 ill.

Description

The invention relates to automation and computer technology, in particular, to devices for testing and studying the dynamics of an analog-digital tracking drive operating in real-world conditions with an electronic digital computer (ECM),

The purpose of the invention is to expand the linearity of the simulated signal and increase the reliability of the device operation.

Figure 1 shows the block diagram of the device; on - diagram of his work.

The device contains an analog software mechanism 5 differential 2, a phase shifter 3, a quantization unit 4, a memory unit 5, a follower drive 69, a rotation angle sensor 7 (rotating with a transformer) and a gearbox 8.

In this case, the quantization unit i consists of a Phase-pulse converter 9S of the digital-analog converter 10S of the reference voltage generator 11, which contains a generator of 12 high-frequency oscillations (for example, a multivibrator), a differentiator 13z frequency divider 14, a power amplifier 15, a second frequency divider b, HE elements 17 and 18, the elements And 19 (3 inputs) and 20 (5 inputs).

The memory block 5 contains a key 219 a scaling element (resistor) 22 and a key 23, an operational amplifier 24 with a storage element (capacitor) 25 and a feedback resistor 26, a key 27 with a scaling element (resistor) 28 and a comparator 29 with a divider 30 voltage, block 31 one-sided conductivity (diode) and integrator 32.

Quantization unit 4 is functionally designed to convert

15

The magnitude of the phase angle of the voltage supplied to the input from the phase shifter 3 (error value) to a voltage is a constant current proportional to 5 the error value and quantized in amplitude and time.

s

The memory unit 5 is designed to store information about the magnitude of the error at the time of its updating with a clock frequency, as well as to turn off the error signal coming from 1 block 4 quantization, and connect the error signal from the sensor instead. ka 7 angle of rotation (rotating transformer) at the angle of rotation of the rotor of the phase shifter 3 more than 180.

The device works as follows.

The work program is generated in the analog software mechanism 1 and is inserted into the device by rotating the first input shaft of the differential 2, resulting in the rotation of its output shaft being transmitted to the rotor of the phase shifter 3, which causes a phase shift of its output voltage relative to the reference voltage (Fig. 2) . The output voltage of the phase shifter is fed to the input of the quantization unit 4, in which this voltage is fed to the input of the Phase-pulse converter 9, in which the selection 35 is a rectangular pulse with a duration proportional to the angle of the phase shift (filled with high-frequency pulses coming from the generator 11 voltage to the other input of the converter). Next, an error signal in the form of a certain number of pulses is fed to a digital-to-analog converter 10, in which the number of pulses is converted into a digital code, and then into

20

25

thirty

J

DC voltage, and in this form is fed to the output of the quantization unit 4.

In the 1 I reference voltage generator, the incoming voltage and the quantization unit 4, high-frequency oscillations are generated in the generator 12 and fed through the differentiator 13 to the input of the impulse converter 9. To increase the noise immunity of the entire device, the frequency of the necessary reference voltage is obtained by dividing the high-frequency oscillations in the frequency divider 14 and subsequent amplification to the required level in the power amplifier 15, from the output of which this voltage is applied to the input of the phase-pulse converter 9 and the output of the block quantization to excite the phase shifter, to the memory block 5 and the angle sensor 7 (rotary transformer). In addition, from the output of the first frequency divider 14, the signal is fed to the second frequency divider 16 (to obtain the clock of the digital computer) and to the input of the HE 17, from the frequency divider 16, the signal goes to the input of the HE element 18 and And 19 and 20 elements As a result, the output of the element 19 is a rectangular pulse for controlling the storage of information for the time of its updating, which is fed through the output of the quantization unit 4 and the input of the memory block 5, and at the output of the element 20, a square clock pulses the real ECV Which are provided to the input pulse position converter 9 and the input of DAC 10 for their periodic Cheney y- irradiation (in the initial setting position).

A DC voltage proportional to the drive error from the output of the quantization unit 4 is fed to the input of the memory block 5, in which it is fed through the normally closed contacts of the key 21, the scaling element (resistor) 22, the normally closed contacts of the key 23 to the inverting input operational amplifier 24 with a storage element (capacitor) 25 and a feedback resistor 26.

From the output of the operational amplifier, this voltage (in the form of a control voltage of direct current) is supplied 728704

em is at the output of the memory unit and, accordingly, at the input of the following drive 6, driving it. the movement is directed towards a decrease in the mismatch angle, which causes a decrease in the phase shift of the output voltage of the phase shifter 3 relative to its supply voltage, and in the dynamics

10 at the output of the differential 2 all the time the drive movement is subtracted from the movement of the analog software mechanism, and the rarity causes the rotor of the phase shifter to rotate by an angle 15 corresponding to the magnitude of the error in the closed control system.

In this case, in the range of the rotation angles of the rotor of the phase shifter 3 within + 180 °, the amplitude of the signal taken

20 from the sensor 7 of the angle of rotation of the rotating transformer and the input to the memory unit is less than the threshold value of the switch 27 and has no effect on the value of its output

25 voltage.

At angles of rotation of the rotor of the phase shifter 3 more than + 180 °, the amplitude of the signal of the angle of rotation 7 (rotating transformer) increases and

30 becomes greater than the threshold of operation of the key 27 in the memory block, i.e. the signal from the angle sensor is fed to the comparator 29, the threshold of which is set

35. Using voltage divider 30 and | via block 31 of one-sided conduction (diode) is fed to the control input of the switch 27, - performing the photoelectric-correcting reference

40 voltage, and from its output through the scaling element 28 is fed to the inverting input of the operational amplifier 24. At the same time, this signal through the integrator 32 is fed to

45 control input of the key 21, which, if activated, terminates the input signal from the quantization unit 4, while maintaining the polarity of the output voltage at the output of the operating force-50 of the body 24, preceding the switching time, and outputting the maximum output voltage in the range of angles rotation of the sensor (rotating transformer) within + 180 °, extending - L

55 wide area of linearity characteristics of the device i times, where i is the gear ratio of the gearbox 8.

The proposed device allows to extend the signal linearity zone.

at the output of the simulator and increase the reliability of the device by using contactless sensors and an electronic circuit with contactless conversion of the error signal into a digital signal, quantized by level and time.

Formula

Claims (3)

I. A device for simulating a digital error signal of a follower drive, containing an analog software mechanism, a follower drive and a differential, which is kinematically connected by inputs to the analog software mechanism and follow drive, as well as a quantization unit and a memory block, from This is because, in order to expand the linearity of the simulated signal and increase the reliability of the device, a reducer has been introduced into it, second affairs. - cs, the output of the high-frequency oscillation generator is connected to the control input of the first frequency divider, the installation input of which is connected to the zero potential bus, the first, second and third inputs of the first And element are connected respectively to the first, second and third inputs of the second And element, and the third and the fourth outputs of the bits of the second frequency divider; the first and second inputs of the installation of which are connected to the zero potential bus, the output of the second element is connected with the clock inputs of the phase-pulse and digital-analog converters, the output of the power amplifier is connected to the input of the reference voltage of the phase-pulse converter and the second output while quantizing, the first output xc which is associated with the output of a digital-to-analog converter, the output of the first element AND under a phase shifter and a rotation angle sensor, 25 is connected to the third flea output quantum-kinematically connected via a reducer to the output shaft of the differential that houses the phase shifter whose output is connected to the information input of the quantization unit; the first output of the quantization unit is connected to the information input of the memory unit connected to the control the input to the output of the angle-of-turn sensor; the second output of the quantization unit is connected to the inputs of the reference voltage of the phase shifter, the angle-of-rotation sensor, and the memory block; the third output the quantizing unit is connected to the clock input of the memory unit, the output of which is connected to the input of the follower drive, 2. The device according to claim 1, characterized in that the quantization unit contains two frequency dividers, two NOT elements, two I elements, a mode amplifier, series-connected pulse-phase and digital-analog converters, a high-frequency oscillator, a 50 D ° m setpoint generator voltage, the input is supported through a differentiator with a control input of the phase-pulse converter, the input of the power amplifier is connected to the input of the first element NOT, the output of the first frequency divider 55 Amplifier, the clock input of the memory unit and the first control input of the second ti are connected to the control input of the frequency divider, the first output of which is the second key, the output of the one-side unit is connected to the second electronic conductivity input is connected to the NOT item and the second control input is the equalizing input of the third key. The information input of the phase pulse converter is connected to the information input of the quantization unit. 3. The device according to claim 1, that is, that the block of memory contains a series-connected comparator, a unit of one-sided conductivity and an integrator, as well as a series-connected first the key, the first scaling element, the second key and the operational amplifier, the output of which is connected through the memory capacitor to the output of the second key, the output of the operational the amplifier is connected to the output of the memory unit and through the feedback resistor to the input of the second key, the information input of the memory unit is connected to the information input of the first key, the control input of which is connected to the output of the integrator, the control input of the memory unit is connected to the first the input of the comparator, the second input of which is connected to the output voltage of the memory unit through a third key connected in series and a second scaling element connected to the input of the operating Input: Reference voltage. Output: a) With a mismatch b) Lrirassomasobvni t D §When disagreements FIG. 2