SU1524021A1 - Follow-up system - Google Patents

Abstract

The invention relates to an automatic control, namely to the following systems of drives of metal-cutting machine tools. The purpose of the invention is to improve the accuracy of the system and its speed. The system contains serially connected setting device 1, phase discriminator 2, adder 3, amplifier 4, engine 5, tachogenerator 6, the output of which is connected to the second input of adder 3, gearbox 7 with backlash, working element 8, position sensor 9, sequentially connected integrator 10, comparator 11, comparison unit 12, pulse-phase converter 13, as well as memory 14. The signal input of the integrator 10 is connected to the output of the tachogenerator 6, the installation input - with the output of the comparator 11, the signal inputs of the comparison unit 12 and pulse a phase converter 13 is connected to the output of the position sensor 9 and to the recording input of the memory 14, the read input of which is connected to the output of the setting device 1, the signal input to the output of the comparison unit 12, and the output to the installation input of the pulse-phase converter 13, the output of which is connected to the second input of the phase discriminator 2. 1 Il.

Description

ate yu

four

ABOUT

o

The invention relates to automatic control and can be used in software systems for controlling machine tools.

The invention of the invention is an increase in accuracy and speed.

The drawing is a schematic diagram of the system.

The following 1; system with compensation backlash contains a serially connected setpoint 1, aaSopy discriminator 2, an adder 3, an amplifier 4, an engine 5, a tachogenerator 6, a reducer 7 with a backlash, an operating element 8 and a position sensor 9, as well as sequentially connected integrator 10, comparator II, comparator unit 12, a pulse-phase converter 13 and a memory device 14.

The following system works as follows.

The system parameters: the transmission factor of the tachogenerator 6, the time constant of the integrator 1 O, the switch setting of the comparator I1, the discreteness of the position sensor 9, for example, photopulse type and their stability are selected from the condition that the voltage of the integrator 10 varies from O to the threshold of the comparator 11 when rotation of the motor shaft 5 by one increment (pulse f) of the sensor 9 of the position. After switching over, the comparator 11 resets the integrator 10, which again switches the comparator II to the initial state. As a result, a pulse,;, appears at its output, similar to the pulse fj. AT

.one . JJ steady-state tracking mode, the pulses ffl and f, coincide, and their difference on

L and LJ coincide, and their difference between the output of the comparison block 12 is O

L f

but

0

In memory device 14, a difference of 4f is stored, equal to the backlash value in pulses f with a predecessor reverse of engine 5, and the process of processing is carried out on position sensor 9 through pulse phase converter 13.

When the engine 5 is reversed on the basis of a change in the sign of the setpoint f to the opposite, the value is read;

50

A tracking system comprising a series-connected master, phase discriminator, adder, amplifier, motor. Gachogenetic, transducer, working L. pi aH and sensor is polio, the output of gac generator is connected to BTopi; -; y input of the adder, which differs from the fact that, in order to increase the accuracy and speed of the system, by compensating the gearbox play, sequentially connected integrator, comparator and comparator unit, a pulse-phase converter and a memory device are introduced, the integrator signal input is connected to the output of the tachogenerator, the zero input is connected to the comparator output, the signal inputs of the pulse-phase converter and the unit comparison, the recording input of the memory device is connected to the output of the position sensor, the readout input of the storage device is connected to the output of the setpoint, the signal input is connected to the output of the comparison unit, and the input is set to the installation input of the phase-phase converter, the output which is connected to the second input of the phase discriminator.

device 14 into a pulse-phase conversion and control input pulse-phase

five

five

0

0

five

0

five

0

ow on the task to a value equal to the backlash. Engine 5 forcefully executes a predetermined misalignment with control of the shaft position by means of tachogenerator 6 generated signal i. At the same time, OT 1 is applied to the current value 1. poft in memory device 14 and their fixation 1 by the first and 1 pulse f, j at in (the engine is out of play). Further, .5 pulling off automatically 1: 11 automatic switch: 11 is switched off from the signal f to f.

In the absence of a task, the self-oscillations of the engine in the backlash are eliminated in the direction of opening the latching of the coupling by the integrated signal of the tachogenerator 6; in the opposite direction - sensor 9 position. As a result, the engine 5 remains at the backlash boundary, and in the storage device 14 the true value is stored.

Claims (1)

Invention Formula A tracking system comprising a series-connected master, phase discriminator, adder, amplifier, motor. Gachogenerulator, reducer, working L. pi aH and sensor is polio, the output of the gauge generator is connected to BTopi; -; y input of the adder, characterized in that, in order to improve the accuracy and speed of the system by compensating the gear backlash, they are entered sequentially a connected integrator, a comparator and a comparison unit, a pulse-phase converter, and a memory device, the integrator signal input connected to the output of the tachogenerator, the zero input to the comparator output, the signal inputs of the pulse-phase converter and the unit comparison, the recording input of the storage device is connected to the output of the position sensor, the readout input of the storage device is connected to the master output, the signal input to the output of the comparison unit, and the output to the installation input of the pulse-phase converter, the output of which connected to the second input of the phase discriminator.  and control input pulse-phase