SU1654784A1 - Vehicle control device - Google Patents

Abstract

The invention relates to the field of automatic control of moving objects and can be used in the engineering, mining and other industries. The purpose of the invention is to improve the accuracy of the device. In a known device, when driving a vehicle, the value of the amount of movement from the starting point of reference along a certain route along which labels are located is read, which are read by three markers installed on the vehicle, the output signals of which are fed to the reference signal conditioner, which forms the reference signal the number of labels, the feedback signal is compared with the signal corresponding to the specified value of the displacement amount, and when These signals are stopped. New in the device is the calculation of the value of the current value of the movement, the correction of the sequence (the value corresponding to the value of the current value of movement of the reference signal at the moments of reading the interleaved mark and using it as a feedback signal. 7 Il. In

Description

The invention relates to the field of automatic control of mobile objects and can be used in the engineering, mining and other industries.

The purpose of the invention is to improve the accuracy of the device.

FIG. 1 shows a block diagram of the proposed device; Fig. 2 illustrates an example of a portion of a traffic route along which the marks are located; in fig. 3 are graphs illustrating the achievement of a positive result when implementing a vehicle control device; in fig. 4 is a functional block diagram of the calculation of the amount of movement of the vehicle; Fig. 5 shows an algorithm for calculating the values of the current amount of movement; in fig. 6 is a functional diagram of the reference signal generator; FIG. 7 is a timing chart explaining the operation of the reference driver.

The vehicle control device (FIG. 1) comprises a serially connected vehicle position adjuster 1, a first adder 2, a control unit 3, a reversible converter 4 and an actuator 5, as well as sensors 6-8 for the presence of marks along the vehicle route connected by outputs to the first three inputs of the formuli ate

4 XI 00

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twirl 9 reference signal. In addition, the device contains serially connected unit 10 for calculating the amount of movement of the vehicle, unit 11 for comparison, block 12 for memory and a second adder 13 connected by an output to the second input of the first adder 2, and a second input for the output of block 10 for calculating the amount of vehicle movement , the first output of the reference signal generator 9 is connected to the second input of the comparator unit 11, the second output to the recording control input of the memory unit 12, and the second input to the output of the first adder 2 and to the input of the calculator 10 laziness amount of movement of the vehicle.

The vehicle travel amount calculation unit includes an analog-to-digital converter (A / D converter) 14, EVD 15 and a digital-to-analog converter 16.

The shaper of the reference signal contains a selective unit 17, consisting of three elements 2and 18.1-18.3 and one element ZILI 19, elements 2and 20.1 and 20.2, a pulse counter 21 digital-to-analog converter 22, a unit 23 for determining the sign of the signal, consisting of operational amplifier 24, four resistors 25.1-25.4, two zener diodes 26.1 and 26.2, diode 27, elements 28 and AND-NOT 29.

The device works as follows.

A motion reference signal from position sensor 1 is summed in adder 2 with a negative feedback signal. When a difference in magnitude appears between the signals at the inputs of adder 2, the error signal appears at its output, which enters control unit 3, at the input of unit 10 for calculating the vehicle displacement amount and at the second input of the driver 9 of the reference signal, by the sign of which driver 9, the reference signal determines to add or subtract the marks read by sensors 6-8, i.e., it recognizes the direction of travel of the vehicle. Depending on the sign of the input signal, control unit 3 sends a command to reversing converter 4, which produces a voltage signal proportional to the input signal, and outputs it to the electric motor of the actuator 5, positive or negative polarity, depending on the sign of the incoming signal, as a result the output shaft of the electric motor of the actuator 5 rotates in forward or reverse

direction and the vehicle moves forward or backward. When the vehicle is moving from the starting point (From. O) to the predefined setting point 1

the position of the distance are read marks Mi, located along the route of movement through equal sections of the path D Si (Fig. 2), sensors 6-8, installed on the vehicle. According to the counted number of marks, the shaper 9, depending on the sign of the signal at the second input of this block, informing about the direction of movement of the vehicle, forms a reference signal (Fig. 3,

5 feature a). From the error signal at the input of the adder 2, the value of the current displacement of the vehicle is continuously calculated (Fig. 3, characteristic b). In block 11 comparison

0, the difference between the signals arriving from the unit 10 for calculating the amount of movement of the vehicle to the inverse input and from the driver 9 of the reference signal to the direct input is determined. The difference signal from the output of the comparator unit 11, taking into account its sign, is stored in memory unit 12 by a signal received from the second output of the reference signal generator 9 to the second input of the memory unit 12 at the time of reading the next label. The signal from the vehicle displacement calculation unit 10 is summed in the adder 13 with the signal coming from the memory unit 12, and the resulting total corrected signal (Fig. 3, characteristic 6) is inverted in the same block, and then used as a negative feedback signal with zi, giving it from the output of the adder 13 to the second input of the adder 2. When

0 equal in magnitude of the signals at the two inputs of the adder 2 at its output there is no signal, therefore, at the output of the control unit 3 there is no signal arriving at the reversing input

5 of the converter 4, therefore, the voltage signal at the output of the converter is zero, the electric motor of the actuator 5 does not receive the supply voltage, and the vehicle stops. In the absence of a signal at the output of the adder 2, the unit 10 for calculating the amount of movement of the vehicle does not perform calculations.

Analog signal arriving at

5, the ADC input is converted into parallel code and read by a computer. From the value of the read signal, the computer calculates the current movement of the vehicle.

A mathematical description of the speed of a vehicle can be

be represented as an aperiodic Even, for which the output coordinate is the linear velocity, and the control action is the voltage applied to the input of the first adder 2.

 + Vn-i K1 un, dv,

where T is the mechanical time constant of the vehicle;

Vn-i is the linear velocity value preceding the next calculation cycle;

L Vn - change in linear velocity over a period of time ,;

un, dv - voltage applied to the electric motor;

K1 - coefficient of proportionality.

Un, Dv Di-K2,

where AUn is the magnitude of the error signal between a given value for movement and feedback value by position;

K2 is the proportionality coefficient of the control unit and the reversing converter.)

We write the aperiodic link in the form

-K4AVn-i.

Then the current linear velocity value is determined by the expression

Vn Vn-i + AVn.

The increment of movement for the next calculation step is determined by the expression

 At.

The current move value is calculated by the expression

Sn Sn-i + ASn,

where Sn is the current value of the calculated movement;

Sn-1 is the value of the calculated displacement preceding the next calculation cycle.

The algorithm for calculating the value of the magnitude of the current movement in real time is shown in FIG. 5, where the time counter is a computer timer.

The operation algorithm and circuit implementation of the reference signal generator 9 (Fig. 1) is explained in a functional diagram (Fig. 6) and in a timing diagram (Fig. 7). Shaper 9 reference signal operates as follows. In the presence of signals from sensors 6-8, the presence of labels (Fig. 1 and 6) at least at two inputs of the selective

block 17 (Uex.18.1.1, 11 in 18.1.2, and in.1.18.1.3). consisting of three elements 2I 18.1-18.3 and one element ZIL I 19. At its output, a pulse appears (Fig. 7, 1) o. 19.1.1).

This pulse arrives at the output of the reference signal generator 9 (11, output 2), then goes to the second input of the memory block 12 (Fig. 1) and serves as a signal for recording the next information arriving at the first input

12 memory block. The same pulse from the output of the electoral block 177 is fed to the pulse counter 21 (Fig. 6) through one of the elements 2I 20.1 or 20.2. those. through the channel on which the permit signal is present, coming from the signal sign determining unit 23.

An error signal from the output of the adder 2 (Fig. 1) is supplied to the input (11 in 2) of the signal sign determining unit 23. Depending on the sign (polarity) of the error signal, a resolving signal appears on the first or second output of the signal sign determining unit 23 (output 23.1, DBX.23.2) (Figs. 6 and 7). Pulse counter 21 adds or subtracts pulses from its content, depending on which of the two inputs (KWx. 20.1. And KVH.20.2) are received. The contents of counter 21 are issued via the data bus in the form

parallel digital code to the input of the digital-analog converter; the DAC 22 converts the signal from digital to analog and outputs it to the output (1 / out. 1) of the driver 9 of the reference signal (Fig. 6 and 7).

Claims (1)

Invention Formula A vehicle control device comprising a series-connected vehicle position adjuster, a first adder, a control unit, a reversing converter and an actuator, as well as sensors having labels located Along the route of the vehicle, the outputs are connected to the corresponding first inputs of the reference signal generator, characterized in that, in order to improve the accuracy of the device, it contains serially connected units for calculating the amount of movement of the vehicle, a comparison unit, a memory unit and a second adder connected by the output to the second the input of the first adder, and the second input to the output of the unit for calculating the amount of movement of the vehicle, the first output of the reference conditioner is connected to the second input of the unit comparison, the second output is with the control input of the memory block, and the second house of the calculator of the displacement value is with the output of the first adder and vehicle input. ABOUT W t  Lg l SMS J with Start ) M XMlfrM-V / r-f I Vi, Ґ „., No. (five FIG. AND D $ p - CH M No / n Sn Sfi-i + ASn & -1v / 6OD per c / wl I / I FIG 5 U8x2 Fig 7