SU1498978A1 - Control system for actuator - Google Patents

Abstract

The invention can be used in drives for controlling machine tools, industrial robots and manipulators. The purpose of the invention is to expand the functionality of the control system. In the supply line of the actuator 3, the regulator 6 and the flow sensor (D) are installed in series. The comparison device 5 and the control parameters forming circuit are connected by inputs with setpoint 4 and D 1, output - with controller 6. The circuit is designed as an integrator 8, a differentiator 9 and a series-connected timer 10, first and second blocks (B) 11, 12 division, B 13 sampling - storage, and B 7 multiplying. D 1 is connected to the inputs B 13, 12, 7. B 7 is connected to the inputs of the device 5 directly and through parallel connected integrator 8 and differentiator 9. D 14, 15 pressure and t-ry are installed in line 2 and connected to the inputs B 13. D 1, 14 is connected to the input of timer 10. The switch of the organ 3 is connected to the input of timer 10. Using the switch allows you to reduce the time of diagnostic movements. 4 hp ff, 4 ill.

Description

 with

00

with

00

The invention relates to a hydropneumatic avumatic and can be used in drives for controlling machine tools, industrial revolutions and manipulators.

The purpose of the invention is the expansion of functional capabilities.

FIG. shows a diagram of the control system of an actuator of a hydro-pneumatic drive with a flow sensor connected to the timer input as an ignitor of the beginning and end of the diagnostic movement; in fig. 2 - the same, with the avleni and temperature sensors in-line; in fig. 3 - the same, using a pressure sensor, a plug-in device, containing, and similar units with the device of FIG. 3 and characterized by the fact that there is no connection between the output of the pressure sensor 14 and the input of the timer 10, as well as the fact that it additionally contains a limit switch 16 mounted on the actuator 3 and connected to the input of the timer 10.

The system (Fig. 1) works as follows.

After switching on the hydro (pneumatic) drive, before the start of the cycle of the working movement, a diagnostic movement of the actuator 3 from one end position to the other is carried out on command from the setting unit 4. Signals about the beginning and

sent to the input of the timer, as a signal, the 15th end of the diagnostic movement of the executive body 3 is received from sensor 1 to timer 10. Timer 10 is activated, and the signal about the time of the diagnostic movement is fed to the input of the first dividing unit 11, where the determination

a scanner about the beginning and end of the diagnostic movement; in fig. 4 - the same, using the limit switch connected to the | timer input.

The control system (Fig. 1) contains

Additional body 3 is received from sensor 1 to timer 10. Timer 10 is triggered, and the signal about the time of the diagnostic movement is fed to the input of the first dividing unit 11, where the determination is made

between the two end positions

(one)

Flow sensor 1 (speed), installed - 20 speeds of the executive body 3 in the power supply line 2 of the executive body 3 hydro (pneumatic) actuator, unit 4, comparing device 5, controller 6 and multiplication unit 7 connected to the output of the sensor 1, the output of block 7 of multiplication jc where / is the distance between two final

provisions of the executive body 3;

t is the travel time of the actuator 3 between the end positions.

connected to the inputs of the integrator 8, the differentiator 9 and directly to the input of the comparative I sifter device 5, the outputs of the parallel I connected integrator 8 and the differential I 9 are connected to the inputs of the comparator device 5. In addition, the system stores a timer 10, the first dividing unit 11, the second dividing unit 12 and the sampling-storage unit 13. The integrator 8, the differentiator 9 and the sequentially connected timer 10, the blocks 11, 12, 13 and 7 form the control parameter formation circuit.

The timer 10 is connected to the output of the sensor 1, the output of the timer 10 is connected to the input of the first dividing unit 11, the output of which is connected to the input of the second dividing unit 12, the other input of the second dividing unit 12 is connected to the output of the sensor 1, the output of the second unit 12 divisions are connected with the input of the sampling-storage unit 13, another input of the sampling-storage unit 13 is connected with the output of the latch 1, the output of the sampling-storage unit 13 is connected to the input of the multiplication unit 7.

The control system of the executive body (FIG. 2) consists of the same units as the device shown in FIG. 1, and in contrast, it contains a pressure sensor 14 from a sensor 1 about the speed of the working medium in the supply line 2 during the diagnostic movement is fed to the input of the second dividing unit 12 and simultaneously to the inputs of the sampling-storage unit 13 and the multiplication unit 7. In the second block of division 12, the ratio of the speed of movement of the actuator 3 and the speed of the working medium in the power supply line 2 is calculated as a ratio

40

(2)

where and is the speed of the working medium in line 2 of the power supply.

The signal of the ratio value from the output of the second dividing unit 12 is fed to the input of the sampling-storage unit 13, where the ratio factor is set in accordance with the value received from sensor 1. The value of the K coefficient and the temperature sensor 15 are set to 50 of the sampling unit 13 - the storage is fed to the power supply lines 2 and connected to the input of the multiplication unit 7, the inputs of the sampling-storage unit 13. After the start of the working movement, the system used (Fig. 3) differs from Fig. 1 and 2 of the organ 3, the signal from sensor 1, since there is no connection between sensor 1 and c, enters the input of multiplication unit 7. In the block of timer 10 and a new connection is introduced between multiplication ke 7, the output of the pressure sensor 14 and the input 55 of the speed of the working movement of the 10th organ 3

FIG. Figure 4 shows the control system of the actuator of the hydro (pneumo) when -V K-U. (3)

the end of the diagnostic movement of the executive body 3 comes from the sensor 1 to the timer 10. The timer 10 is activated, and the signal about the time of the diagnostic movement is fed to the input of the first division block 11, where the determination is made

speeds of movement of the executive body 3 where / is the distance between the two end

between the two end positions

speeds of the executive body where / is the distance between two finite

(one)

the growth rate of the executive body /.- the distance between the two is finite

zo

The signal from the sensor 1 about the speed of the working medium in the power supply line 2 during the diagnostic movement is fed to the input of the second dividing unit 12 and simultaneously to the inputs of the sampling-storage unit 13 and the multiplying unit 7. In the second block of division 12, the ratio of the speed of movement of the actuator 3 and the speed of the working medium in the power supply line 2 is calculated as a ratio

40

(2)

where and is the speed of the working medium in line 2 of the power supply.

The signal from multiplication unit 7 is fed to the input of the comparing device 5. At the same time, this signal is fed to the inputs of the integrator 8 and the differentiator 9, the signals from the outputs of which the magnitude of the displacement and acceleration is received, to the inputs of the comparing device 5, which compares the incoming signals of the magnitude of the displacement , speed and acceleration of the executive body 3 with the signals arriving at the inputs of the comparison device 5 from the setting device 4. According to the comparison results, a control is generated at the output of the comparison device 5 conductive signal supplied to the input of regulator used, installed in the supply line 2.

During the operation of the hydro (pneumatic) drive, the diagnostic movements are repeated at certain intervals in accordance with the program defined by the setter 4. In the process of diagnosing the working movement, the speed of movement of the actuator 3 is determined similarly to the description of the operation of the device in FIG. I according to the formula (3). Similarly, further processing of the velocity of the executive body 3 takes place.

In the course of operation of the hydro (pneumatic) drive, when performing diagnostic movements, the values of the obtained coefficients 0 of the velocity ratio K are fed to the input of the sampling-storage unit 13 together with the values of flow (velocity), pressure, temperature from sensors I, 14, 15 and are remembered.

15 In the course of the working movement, the ratio of speeds / C to determine the speed of the working movement of the executive body 3 by the formula (3) is taken in block 13 of the sample-storage in accordance with the flow values (speed) calculated by the block 13 of the sample movements.

the ratio of the speed of movement of the actuator 3 and the speed of the working medium in line 2 of the power supply according to the formula (2). Values of the obtained values

pressure and temperature of the working medium in line 2 of the power supply from sensors 1, 14 and 15. The value of the chosen coefficient K is fed to the input of multiplication unit 7, where the velocity ratio K at jc goes to determine the speed of the working motor JF-XJ

The determined values of the speed of the working medium and the power supply line 2 are fed to the input of the sample-storage unit 13 and are stored together with the obtained value of the speed of the working medium.

During the working movement, the signal from the sensor 1 installed in the power supply line 2 is fed to the input of the multiplication unit 7 and the sampling-storage unit 13. The ratio of the speeds K to determine the speed of the working movement of the executive body 3 according to the formula (3) is taken in block 13 sample storage in accordance with the value of the speed of the working medium and received from sensor 1 installed in line 2 of the power supply and fed to the input multiplication unit 7, where the calculation of the speed of the working movement of the executive body 3 takes place.

The system (FIG. 2) operates similarly to the device in FIG. 1 except that after determining the speed of the diagnostic movement of the executive body 3 between the final positions by formula (1), the signal from the sensor 1 is fed to the input of the sampling-storage unit 13 simultaneously with the signals of the transmitter 14, 15 of pressure and temperature set in the line 2 meals. Then, the determination of the ratio of the velocities during the diagnostic movement using the formula (2) takes place. Next, the signal on the ratio value from the output of the second dividing unit 12 is fed to the input of the sampling-storage unit 13, where the ratio is set in accordance with the values obtained from sensor I, pressure sensor 14 and temperature sensor 15. After

no executive body 3.

The system (FIG. 3) works similarly to the system in FIG. 2, except that the signal about the beginning and the end of the diagnostic movement is not supplied by the flow sensor I, but by the pressure sensor 14.

The system (FIG. 4) operates similarly to the device in FIG. 3. In this case, the signal for the start and end of the diagnostic movement is supplied by the limit switch 16, which makes it possible to reduce the value of the diagnostic movement.

Thus, the proposed system allows finding actual movements of the executive body by speed or flow of the working medium in the power line, allows both positioning the working body and programmatically controlling the speed of the executive body, its acceleration and deceleration, the use of diagnostic information allows There is no need to improve accuracy, since diagnostic information is measured at various parameters of the working environment, which gives more accurate values of the speed and acceleration of movement. itelnogo body and in turn a more accurate value of the displacement actuator body, and the use of limit switch allows to reduce the time diagnostic movements.

40

45

50

Claims (5)

Invention Formula 55 1. The control system of the executive body, containing a regulator and a flow sensor, sequentially installed in the supply line of the executive body, and the beginning of the working movement, the speed of movement of the actuator 3 is determined similarly to the description of the operation of the device in FIG. I according to the formula (3). Similarly, further processing of the velocity of the executive body 3 takes place. In the course of operation of the hydro (pneumatic) drive, when performing diagnostic movements, the values of the obtained coefficients of the ratio of the speeds K are fed to the input of the sampling-storage unit 13 together with the values of flow (velocity), pressure, temperature from sensors I, 14, 15 and are remembered. 5 In the course of the working movement, the ratio of speeds / C to determine the speed of the working movement of the executive body 3 by the formula (3) is taken in block 13 of the sample-storage in accordance with the flow (speed) values received in block 13 of the sample 0 storage. pressure and temperature of the working medium in line 2 of the power supply from sensors 1, 14 and 15. The value of the chosen coefficient K is fed to the input of the multiplication unit 7, where the determination of the speed of the working motor takes place no executive body 3. The system (FIG. 3) works similarly to the system in FIG. 2, except that the signal about the beginning and the end of the diagnostic movement is not supplied by the sensor I of flow, but by the sensor 14 of pressure. The system (FIG. 4) operates similarly to the device in FIG. 3. In this case, the signal for the start and end of the diagnostic movement is supplied by the limit switch 16, which makes it possible to reduce the value of the diagnostic movement 5. Thus, the proposed system allows finding actual movements of the executive body by speed or flow of the working medium in the power line, allows both positioning the working body and programmatically controlling the speed of the executive body, its acceleration and deceleration, the use of diagnostic information allows There is no need to improve accuracy, since diagnostic information is measured at various parameters of the working environment, which gives more accurate values of the speed and acceleration of movement. itelnogo body and in turn a more accurate value of the displacement actuator body, and the use of limit switch allows to reduce the time diagnostic movements. 0 five 0 Invention Formula 55 1. The control system of the executive body, containing a regulator and a flow sensor, sequentially installed in the supply line of the executive body, and  A comparison device and a control parameter generation circuit associated with the inputs to the ramp and sensor, and the output with a flow controller, characterized in that, in order to enhance the functionality, the control parameter generation circuit at the same time pr b oliene in the form of an integrator, differential i and sequentially included timers of the first and second blocks of division, block-storage and multiplication unit, In this case, the flow sensor is connected to the inputs of the sample storage of the second block of the multiplier unit, and the latter is connected to the inputs of the comparison device directly, as well as through a parallel-connected integrator and differentiator. 2. The system according to claim 1, characterized in that it is equipped with a pressure sensor and a temperature sensor installed in the supply line of the executive body and connected to the inputs of the sampling-storage unit. 3. The system of PP. 1 and 2, characterized in that the flow sensor is connected to the timer input. 4. The system of claim 2, wherein the pressure sensor is connected to the timer input. 5. The system of PP. 1 and 2, characterized in that the actuator is provided with a limit switch connected to the timer input. ag.Z 2 fU8.