SU1558317A1 - System of controlling automatic transporting module - Google Patents

Abstract

The invention relates to the automatic control of the movement of ground non-rail electrified vehicles along a direction specified by a current-carrying cable. The purpose of the invention is to expand the functionality of the controller by providing a continuous control signal to the executive mechanism of the rotation of the automatic transport module. The unit 4 of the dynamic properties of the system with sensors 3 of the variable states of the automatic transport module 1 moving along the current-carrying cable 2 generates a signal SGN S (T), which through the inertial filter 9 enters the input of the multiplier 8, changing the gain of the coordinate feedback loop depending on the discrepancy between the actual and desired behavior of the closed system formed by the sensors 3 connected through the elements 5 of the selection module signal and amplifiers 6 with the inputs of the adder 7. The output signal of the adder, Referring multiplying in block 4 on the setpoint signal, acts on the actuator 10 controlling the steering. 2 hp f-ly, 1 ill.

Description

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The invention relates to the automatic control of the movement of ground non-rail electrified vehicles along a given current-carrying direction.

The purpose of the invention is to expand the functionality of the system by providing a continuous control signal to the actuator of the rotation of the transport module.

The drawing shows a block diagram of the system.

The control system of the automatic transport module contains an automatic transport module I, a cable 2 defining a route, sensors 3 for measuring the variable states of the transport module. The outputs of all sensors are connected to the corresponding inputs of the setting unit 4 of the dynamic properties of the system, and through the corresponding elements 5 of the allocation module and amplifiers 6 - to the input of the adder 7, the output of which is connected to the first input of the multiplier 8, the second input of which is connected through the inertial filter 9 to the output master 4 dynamic properties of the system The output of the multiplier 8 is connected with the executive mechanism 10 and the input of the equalizer 11, the output of which is connected to the corresponding input of the master 4 of the dynamic properties of the system.

The system works as follows.

The signals from sensors 3i, 32, ..., 35, measuring the current value of the variable states of the automatic transport module, go to the corresponding elements 5 |, 52, ..., 5 about selecting the signal module, and from their output through amplifying elements 6i , 62, ..., 6s - to the input of the adder 7, from the output of which through the multiplier 8 - to the input of the actuator 10, thereby forming the main control loop - the coordinate feedback loop (CBS).

From the output of the sensors 3i, 32, ..., 3s, the signals also go to the corresponding inputs of the setpoint 4 of the dynamic properties of the system, which, depending on the combination of signals at the input, produces a signal equal to sgnS (t), where S (t) XCi + ЈA "T2.C2 + ... + .C6 + p (/);

t / at, U. 442, ..., UnaTf - OUTPUT6 NEPRAYS

sensors;

1,2, ..., 5; Ci, Cz, -., C; are the corresponding coefficients of the generator of the dynamic properties of the system, which determine the set of requirements for the quality of regulation;

p (0 output signal of the corrector P. The occurrence of the signal S (t) Ј0 call 0

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error in the auxiliary circuit, i.e. in the setpoint of the dynamic properties of the system. The value of the signal S (t) in the form of sgnS (t) is fed to the input of the inertial filter 9, the output of which i (t) is a continuous smoothed signal. The signal q () is fed to the second input of the multiplier 8, changing the gain of the coordinate feedback loop depending on the difference between the actual and the desired behavior of the closed-loop system. With finite transmission coefficients in the setpoint controller, the dynamic properties of system 5 (and depends on the parametric and coordinate perturbations acting on the automatic transport module, which vary within known limits, as well as the variable states of the module, therefore, the quality of the auxiliary circuit is uneven, which is usually This fact is due to the fact that, unlike the changing parameters of the transport module, the settings of the dynamic properties of the system are Eliminate self-oscillations and achieve S (t) 0 by introducing another negative feedback loop connecting the output of the multiplier 8 through the equalizer 11 to the input of the setter 4 of the dynamic properties of the control system.

Due to the introduction of this connection in the auxiliary contour of the control system - at certain ratios of the parameters of the contour elements, a stable sliding mode arises, at which S (/) - О, which means the system possesses specified dynamic properties.

The technical and economic efficiency of the proposed control system of the automatic transport module lies in the possibility of its use as a control system for the movement of automatic vehicles not only with the drive of the controlled wheels in the form of a direct current electric motor or electro-hydraulic actuator, but also with the automated drive of the controlled drives. wheels, or with electric. Turning in the form of motor-wheels.

Improving the quality of ATM control is achieved with significant changes in its parameters associated with changes in the mass of the transported cargo, displacement of the center of mass of the ATM, change in voltage of the onboard power sources, etc. The reliability of the system is enhanced by supplying a continuous control signal to the turn actuator.

Claims (3)

1. The control system of the automatic transport module, which includes a cable for specifying the movement route, a transport module with motion parameters sensors, an actuator and a controller containing an adder, the inputs of which are connected to the sensor outputs through the corresponding elements of the signal module and amplifiers, as well as The control system’s dynamic properties, the inputs of which are also connected to the outputs of the respective sensors, are characterized in that, in order to expand the functionality, the system The ma is equipped with an inertial filter, a multiplier and correctors, the adder output being connected to the first multiplier input, the second output of which is connected through the inertial filter to the output of the control unit of the dynamic properties of the control system, and the multiplier output connected to the actuator with the corresponding input of the setter of dynamic conditions of the control system. 2. A system according to claim 1, wherein the inertial filter comprises an integrating / C-circuit. 3. The system according to claim 1, wherein the equalizer is designed as an inverter.