SU1767636A1 - Device for remote transfer of drive shaft angle of rotation - Google Patents

Description

one

(21) 4012751 / 24-07 (22) 11.26.85 (46) 07.10.92. Bul Mg 37

(71) Belarusian State University. V.I. Lenin

(72) I.M. Chushenkov

(56) 1. Petrov B.A. Manipul tori-L..Mashinostroenie, 1984, p. 139.

2. Designing follow-up systems of bilateral action. Podr d.S.Kuleshov - M., Mashinostroenie, 1980, p. 141.

3. USSR inventor's certificate No. 1176425, H 02 K 29/06, 1984. (54) DEVICE FOR REMOTE TRANSFER OF AN ANCHORING TURNING ANGLE

(57) The invention relates to electrical engineering and can be used in following two-way systems. The aim of the invention is to improve the accuracy

reflecting load moments. This goal is achieved by introducing adders 8, integrator 9 and two torque sensors 10, 11, Sensors 10, 11 are installed respectively on the driver and actuator shafts. The output of the sensor 10 is connected to one input of the comparison element 7, to the other input of which the output of the sensor 11 is connected. The output of the comparison element 7 is connected to the first input of the adder 8 and the output of the integrator 9. The output of the integrator 9 is connected to the second input of the adder 8, the output of which is connected to to the semiconductor switch (PC) input 4. The switching input of PC 4 is connected to the 3 position sensor, and to the power inputs of PC 4 - the windings of the stators of synchronous machines 1, 2. The device provides the reversibility of the moment and its sign and distance Ion transfer angle. 2 Il.

SL C

M0p

M

10 x

m

to

I

h

h about vj

about with about

The invention relates to electrical engineering and automation and can be used in servo two-way systems with valve motors and force-sensing sensing.

The aim of the invention is to improve the accuracy of the reflection of the load moments. . .-

In FIG. shows a functional diagram of the device; 2 (a, b) -vector diagrams illustrating the principles of its operation.

The device contains a synchronous machine 1 fixed on the master shaft, an executive synchronous machine 2 with a 3 position sensor, a semiconductor switch 4 with a switching 5 and 6 current-controlling inputs. The output windings of the stators of synchronous machines 1 and 2 are connected in parallel to the output of the semiconductor switch 4. The output of the position sensor 3 is connected to the switching input 5 of the switch 4. The device also contains a comparing element 7, an adder 8, an integrator 9 and two torque sensors 10.11, mounted respectively on the driver and actuator shafts. The output of each sensor 10, 11 moments is connected to the corresponding input of the comparison element 7. The output of the comparison element 7 is connected to the first input of the adder 8 and the input of the integrator 9. The output of the integrator 9 is connected to the second input of the adder 8, the output of which is connected to the control input 6 of the switch 4 .

In FIGS. 1 and 2, the following notation is used:

%, “And - angles of rotation of the setting and the Executive shaft (rotors of synchronous machines);

Yes - shaft mismatch;

M3, Mi - torque defining 1 and executive 2 synchronous machines (CM);

Mop, Mn - load moments on the drive and actuator shafts (operator)

Frz, Free, Fsz, Fairy - the vectors of the magnetic fields of the rotors and stators defining 1 and executive 2 CM.

The device for remote transmission of the angle of the drive shaft works as follows.

The magnetic field of the CM stators 1 and 2 is oriented perpendicular to the magnetic field of the rotor of the executive CM 2 Free thanks to the position feedback from sensor 3 to the switching input 5 of switch 4. Under the action of the Mop rotor

CM 1 is rotated so that M3 balances M0p. Here, the angle (Fr, Fr) is set to a, and the directions M3 and Mie are opposite, as shown in Fig. 2. The effective value of the stator winding supply voltages is then set by the output signal of the adder 8 as the sum of the moment difference between the shafts and the integral of this difference, calculated using comparing element 7 and integrator 9. For torques, therefore, can be written;

ft

Mo (Kin / (n Mop-Mn) dt + o

(one)

+ nMon-MH) sin a ± e3

M, - (Kin / (pMop-Mn) dt + o

+ P Mop-Mn) + Јi,

where K3, Ki are the coefficients determined by the structures of CM 1 and 2;

n is the ratio of Mn to M0p in the steady state;

BZ, Јi - protivoZDS CM 1 and 2, respectively;

The Do-amplitude of the supply voltage of the stator windings CM 1 and 2;

t-current time

The system of equations is written using FIG. 1 and 2, while the counter electromotive force Eu is considered perpendicular to Free and Frz, and the signs + and - correspond to the operation of the CM in the generator and motor modes.

Let in the initial state

pMop mn.

(2)

At the same time, at the output of the comparing element 7, the signal is zero, and the effective value of the supply voltage of the windings is given by the output signal of the integrator 9. Suppose that the increase in Mn. At the same time (see Fig. 2 a), the rotor of the executive CM 2 rotates clockwise, which leads to the rotation of the Fairy and FSZ, and therefore to an increase in M3. Since, at the same time, a signal appears at the output of the comparing element 7, the output signal of the integrator 9 grows until the expression (2) is fulfilled. Otherwise, the shafts will rotate with constant acceleration until

the operator does not stop rotation by increasing the M0p. The new equilibrium state (rest or rotation with a constant frequency) is established already at a slightly different value of a from (1) than in the previous case. The use of the adder 8 and the additional connection with its input to the output of the matching element 7 is used to improve the dynamics of the system.

Reducing Mn causes the reverse process. If, for example, M0p increases, the angle ai also increases at the output of the adder 8, which leads to an increase in MI and rotation of the actuating shaft in the direction of rotation of the driver with acceleration before execution (2). A similar process occurs with a decrease in M0p, only rotation occurs in the opposite direction.

If, however, the direction Mn is changed, the sign of the error signal at the output of the comparison element 7 also changes, and the equilibrium position can be reached only after inverting the control action at the output of the adder 8, i.e. transition of the field configuration from the one shown in FIG. 2, and to the one shown in FIG. 2, b (or vice versa). In this way, the reversibility of the moment and its sign, as well as the distance transmission of the angle of rotation, is ensured.

The positive effect of the device is to improve the accuracy of the reflection of the load moments and the sensation of their

th

Q f

РЗ

Fsz

0 °

cCfj

eFree

The fairies

-.

0L

by the operator. It is achieved by introducing torque sensors into the device and mathematically processing their signals to control the moments of synchronous machines.

Claims (1)

Invention Formula A device for remote transmission of the angle of rotation of the drive shaft, containing a synchronous machine mounted on the drive shaft, an executive synchronous machine with a position sensor, a semiconductor switch with 15 switching and control inputs, to the outputs of which the stator windings of synchronous machines are connected in parallel, and the output of the position sensor is connected to its switching input, and a comparison 20 element, characterized in that, in order to increase the accuracy of the reflection of the load moments, an adder, an integrator and two moment sensors installed respectively on the driver and executive shafts are inserted into the device, the output of each torque sensor is connected to the corresponding input of the comparison element whose output is connected to the first input of the adder and the input of the integrator, the output of the integrator is connected to the second input of the adder; the output of which is connected to the control input of the semiconductor switch. and W