SU376751A1 - FOLLOWING SYSTEM - Google Patents

Description

one

The invention can be used in automatic control systems (ACS), in which it is necessary to maintain enhanced pointing accuracy when an external disturbance moment of an arbitrary shape is applied to the control object.

The following systems are known that contain the object of adjustment, the error angle meter, the output of which is connected through the series-connected adder and amplifier to the input of a direct current motor, and a block of differentiators whose output is connected to the first input of the adder.

To compensate for the error caused by the external disturbing torque, a signal proportional to the current of the actuator motor and a tachogenerator signal of the direct current passed through the differentiating circuit with the transfer function to the input of the differentiator unit.

y.

R

The following system is not known. It can provide sufficiently accurate error compensation under the action of a wide range of amplitudes and frequencies of disturbing influences, since the current of the actuator core is proportional to its torque in a small range of current amplitude (up to 1.5 / s, where / n is the rated current actuator), and the signal of collector pulsations at the output of the unit | Differ1. N1ziatorov with a small constant time t of the differentiating link (which is necessary to reduce the error of differentiation) is unacceptable pain them, which can lead to a decrease in the accuracy of the tracking and even the loss of controllability

follow system.

The proposed tracking system differs from the known one in that it contains a torque sensor connected between the shaft of the executive engine and the shaft of the object.

an adjustment, an angular acceleration sensor located on the shaft of the executive engine, and two conversion units. Moreover, the output of the torque sensor through the first conversion unit, and the output of the sensor

angular accelerations through the second | conversion unit 1 each; connected to the inputs of the block of differentiators.

The introduction of a torque sensor with a linear output characteristic over a large range of torque torques and an angular acceleration sensor, which provides a sufficiently clean signal proportional to the acceleration of the actuator, allows the system to improve tracking accuracy when operating.

a wide range of amplitudes and frequencies of disturbance.

A block diagram of the tracking system is shown in the drawing.

It contains a mismatch angle meter /, adder 2, amplifier 3, executive motor 4, control object 5, block of differentiators 6, first conversion block 7, second conversion block 8, angular acceleration sensor (DUU) 5, and torque sensor (DCM) ten.

The following system works as follows.

The error signal from the error angle meter I. It enters one of the inputs of the adder 2, on the other input of which a compensating sitnal comes from the block of differentiators. The output signal of the adder is amplified by the amplifier 3 and is fed to the engine terminal terminals 4. In this case, the shaft of the engine 4, rotating, drives the object of control through the torque sensor 10 and minimizes the error signal.

The DCM continuously measures the torque transmitted by the motor 4 to the control object. The output signal of the DCM can be represented as

: / dkm l: 1 (+ M8n),

where t / dkm - output signal DKM;

K. - coefficient of proportionality;

/ o is the moment of inertia of the object of regulation, 1to the shaft of the executive engine; - the external moment applied to the object of regulation and reduced to the shaft of the executive engine; e - revision of the executive shaft

engine

The remote control is continuously measuring the acceleration of the actuator shaft. Its output signal is equal to

7duu AG2-8,

where / (o is the coefficient of ropingness.

The output signals of the DCM and the DUU are processed by the corresponding conversion units 7 and S, which are used to convert AC signals to DC signals, smooth the pulsations of the AC current, and, if necessary, compensate for some types of DKM and DDU, to give signals to 1 of their sensors. close frequency characteristics, and arrive in a counter-phase at the inputs of the block of differentiators 6. If this is true

KJo K ,,

then the difference between the output signals of the DCM and the DUU (At /) is a signal proportional to the external perturbing moment вvp.

W t / dkm - ituu / S ,. / o e + / c. - K, (/ С, / о - / С,) S + m; „/ С.Mvn. This signal, (Proportional to external disturbance, is processed by blocks of differentiators and fed as a compensating signal to the second input of adder 2. The transfer function of the block of differentiators is selected according to the theory of compensation of disturbances (invariance theory).

The stability of the tracking system is ensured by the corresponding devices with the help of these devices (not shown in the drawing).

Subject invention

The following system, containing the object of regulation, the measuring angle of the error, the output of which through sequentially

connected adder and amplifier are connected to the input of the executive dvitately, and a block of differentiators, the output of which is connected to the input of the adder, characterized in that, in order to increase the tracking accuracy under the action of an external disturbing moment of an arbitrary type applied to the object of regulation, the system contains torque sensor connected between the shaft of the executive engine and the shaft of the object,

an angular acceleration sensor mounted on the shaft of the executive engine, and two 1 conversion units; the output of the torque sensor through the first conversion unit, and the output of the angular acceleration sensor

through the second conversion unit, "on the inputs of the differentiator unit" are connected.