SU1615684A2 - Angular speed governor - Google Patents

Abstract

This invention relates to an automatic control, in particular to digital angular position adjusters. The purpose of the invention is to improve the accuracy by compensating for the error of non-perpendicularity of the phases of the secondary winding of a sine-cosine rotary precision reference transformer. For this, a digital error compensation setting device 10 and a digital adder 11, included in the low-order circuits of the setting controller digital control code, are entered in the angular rate controller. The invention makes it possible to increase the accuracy of the angular velocity controller by a factor of 3 to 4. 1 il.

Description

The invention relates to a machine · where the control, in particular to digital controllers of the angular position of speed, is an improvement of the invention by car, st.

No.

R then

0 (then

1425617.

The purpose of the invention is to increase accuracy by compensating for the error of the non-perpendicularity of the phases of the secondary winding of the sine-cosine rotating transformer of an accurate reference.

The drawing shows a functional diagram of the controller.

The angular velocity controller contains functional converters 1 and 2, respectively, of fine and coarse readings, a signal selector 3, a power amplifier 4, an actuator 5, on the shaft of which a clutch 6 is installed, a sine-cosine rotary transformer (SCRT) 7 of a precise reference, a sine-cosine rotating transformer (SKVT) 8 pipe readings, a multiplier 9, a digital adjuster 10 error compensation and a digital adder 11 · Each functional converter contains digital multipliers I2 th 13 respectively cosine and sine functions that multiply digital-to-analog converters 14 and 15 and an algebraic adder 16.

The angular velocity controller operates as follows.

Functional Converter 2; • calculates the value of the error of the rough) reference of the controller

8 _G0 = ^u ₀ Sin (3 _Go ' ^Cos go_ ~

- U _o Cos | 5 _ro · SinK _ro where U _o g;

= U ₀ Sin (^ _{r (J} - θί _ΓΟ ), the amplitude value of the output signal of the functional converters of the exact and coarse samples; high order bits of the job code;

coarse reference angle

the output code of the digital setter 10 is equal to zero, then the functional converter 1 calculates the error value of the exact count of the controller ⁼ SovObgo ^- “Cos Sin ((X _T p +>

Pro ^ ro

When the lower order bits of the code are— | niya;

SCVT rotation angle of the exact reference;

the coefficient of transmission of the multiplier equal to the ratio of the price of the highest bit β _το to the price of the highest bit β _Το ,

It can be seen from the formula that in the error signal there is a systematic error with a maximum value at angles 00 _r0 = i p ', no error at the angles (X _r0 = = +, where η = 0,1,2, ....

If SECT 7 of the exact reference is precisely matched according to its cosine winding ^. _n ke (fie angle + -. --j corresponds to its zero signal), then in the presence of phase error Δοί. of any sign in the sinus winding and zero value of the reference codes β _ΓΟ κ | З _{then the} coordinated position of the controller is Δ ¢ 6 away from the true zero position taking into account the sign.

When administered to a second input of digital adder 11 · Vågå Δβ numerical value of the same sign that has an error Δοί, and selecting its value, the output achieve equality functional preobrazovaΛ ^ 'of Tell ^f 0 at angle _T0 -tt ·

The error formula for the exact reference of the controller in this case takes the form Lo = U _fl [sin (A _TO + b [i _TO ) Cos0 (To

- CosP _Tt> Sin (¢ ^ 1 Δοί ™) J

After simplifying the expression by exposing the sine and cosine of the sum of the two angles and introducing the equality = Δ (¾ we have ^ then = UoOin ^ Coso / To - Cos ^ _lo Sin0 / _TO ) it xCosiol _TO = U _o Sin (p _TO -oC _TO ) Cos Δ64 _ΤΟ,. The second factor of the last expression, due to the smallness of Δοί _το, can be taken equal to unity, therefore:

Thus, the phase error of the controller is compensated by the circuit with an accuracy of up to half the unit of the least significant bit of the code p _To ,

In addition, the scheme makes it possible to compensate for the error of the controller caused by the difference in the transformation coefficients of the output sine and cosine windings of an SCVT of an accurate reference. To do this, at angles zada- ₄ ^ -n 'Nia Σ -m- achieve control

RJ of the zero value of the error signal when accurately set to the angles Vn ¹ 4i

Compensation of the basic errors of SLE makes it possible to increase the bit depth of the digital task code.

In the tracking mode, the error signals of the exact and coarse samples J ^ h $ _th are summed up on the selector 3 in such a way that with large mismatches to the power amplifier 4, only the error signal of the coarse reference Sro passes through, ^and with small mismatches only the signal of the accurate reference O _Go . From the output of the power amplifier 4, the control signal is supplied to the actuating motor 5 and through the backlash-free clutch 6 turns the SCRT 7 and 8 to the agreed position.

The technical and economic effect of using the developed angular velocity controller is to increase the accuracy of measuring and working out phase misalignment by 3-4 times, the error in measuring the angle difference is less than the error in the phase position sensor of the SLE type.

Claims (1)

Speed controller 1 ₅ av.?. St. No. 1425617, which consists in the fact that, in order to improve accuracy by compensating for the error in the non-perpendicularity of the phases of the secondary winding of the sinuso-cosine20 precision transformer of counting, a digital error compensation encoder and a digital adder are introduced into it, and the least significant bits of the digital code generator 25 controller controls are connected to the corresponding inputs of the exact reading functional converter via a digital adder, in which the second group of inputs is connected to the '30 corresponding outputs of the digital error compensation unit.