SU391724A1 - DECODE CODE-ANGULAR DEVICE SHAFT MOVEMENT - Google Patents

Description

one

The invention is intended for use in digital control systems that perform direct digital control of the technological process, as well as in various automation and telemechanic devices, where the conversion of a binary code into analog signals is required with the working of the output coordinate according to known regulation laws.

There are decoding converters digital code-angle of rotation (single-channel and multichannel) on the basis of a drive-tracking drive.

Known devices convert a binary code into a proportional rotation angle. After feeding the converted code to the input, the corresponding angle of rotation is established at the output time t of conversion.

Testing the angle of rotation occurs uniformly at a constant speed for the minimum possible period of time. Such converters can be marked for testing of control actions only if there are local regulators in the control system.

The situation is different in digital control systems, where the computational complex implements a large number of control algorithms and cannot be limited to the implementation of the control law development algorithm. Thus, the use of conventional decoding converters for testing the control actions on an object is associated either with an unreasonably large expenditure of computer time per effect, or with the presence in the system of local controllers of local automatics containing a large amount of equipment. Thus, the main disadvantage of the existing code-angle decoding converters is the absence in the converter of the possibility of working out the output coordinate according to known laws of regulation.

The main objective of the invention is to develop some digital nodes in addition to the known code-angle decoding converter in order to change the output coordinate (rotation angle) according to the equation:

O. () /C.AKJ + K, + / Cz X

(yy-1) .G1 (

25

(1) (n +) - T,

where os (t)

the position of the regulator (actuator), in this case, the output of the converter (angle of rotation);

 - discrete values and deviations of the regulated value from its given value at times IT, 2T. . . PT; T is the time of one clock cycle (non-period

quantization);

Ki, K, z, K.g are the coefficients of the coefficient of variance | of each component of equation (I).

All three components of the equation — and the required integration time T — are in the form of a blind code from a computer complex, which is then released to perform other tasks, and the converter operates to work out the output coordinate (angle) according to a given law.

The purpose of the invention is to create a decoding converter which, in the course of the conversion, allows the output coordinate (shaft rotation) to change when the input code values of the motion law are present. This simplifies the entire control system, since for some objects there is no need in principle with this method of testing the control effects in the presence of legal regulators of local automation. This also makes it possible to significantly increase the performance of the computing complex with multi-channel digital control and technological process control. At the same time, the area of application of the decoding converter itself is significantly expanded.

The essence of the invention lies in the fact that, in order to expand the scope of application of the code-angle decoding converter, to realize the movement of the output coordinate (rotation angle) of the converter in each conversion step according to different laws, control, increase the throughput ability of the computing complex with multi-channel digital control and regulation of the object, as well as simplification of the entire control system due to the absence of a part of local controllers of local automatics; the value of a (t) is divided into three components according to equation (I). The first of them is proportional to

schA (ytg), the second is integral

component (ai), third / C3 {A T T - -A (n - 1) L} is the differential component of the motion (av) of the output coordinate (angle of rotation). The code values of these components received from the computer complex are recorded in the corresponding registers. Each register is a parallel-binary number-pulse converter. The conversion of the transformation process (in each cycle) is performed in time and ordinate as follows: the sum of the proportional and differential component is recorded in one numerical pulse converter, the differential component is recorded in another converter, the integral component is recorded in the third converter; the integration time, also received in the form of a code from the computer complex, is recorded in the frequency divider register.

The start signal starts the conversion. First, the proportional and differential components of the shaft movement are tested, the sum of these two components is developed at the highest possible speed (frequency / o). The end of the transformation of these components

captures the start of the converter in which the differential component is recorded and changes the state of the sign trigger, therefore, reversing the differential component with the same frequency is performed. The end of the reversible transformation of the differential component; it records the start of the converter and the change in the sign trigger. With the help of the converter, in which the integral component is written,

the integral part of the transformation (or the shaft movement) is already tested at a lower speed, which is determined by the code value of the integration time Hz (i.e., the corresponding frequency fi). The end of testing the integral component fixes the end of the given conversion cycle. Therefore, the essence of the invention is that the process of digital-to-analog conversion in each cycle develops in time and output value in such a way that the output coordinate (angle of rotation of the shaft) varies according to the known laws of the regulator as it happens in local automatic control systems .

FIG. 1 shows the proposed code-angle decoding converter; in fig. 2 shows a graph of the change in the output coordinates of the proposed device as a function

of time.

It contains a gearbox 1, a stepper motor 2, a ring switch for controlling the phase windings of a stepper motor, circuits, OR 5 circuits, converters

"Code is the number of pulses 6, 7, 8, the sign trigger I frequency divider 10, driver P. First code converter 6 performs testing of the sum of the proportional and differential parts of the movement, the second 7

produces a reversing test of the differential component of the output coordinate motion. The third 8 performs the development of the integral component of the motion. Frequency divider 10 is the source

pulse sequences for controlling converters. The trigger of sign 9 determines the direction of movement of the shaft. In addition, "in the drawing, the maximum frequency of the generator is indicated by / o, and an arbitrary frequency at the output of the divider is fj.

Signals are given to the device inputs — signs of the law of motion.

The device works as follows.

The value of the code to be converted, divided into three components, is recorded in three different number-pulse converters. In the first 6, the sum of the proportional and differential components is an + a, the second is written, the second is the differential component, and in the third 8 is an integral component axis.

In the frequency divider 10, the required frequency / g is recorded, which uniquely determines the required integration time Gu, and in the trigger of the sign 9, the direction of rotation. When all the specified initial code values are present, the start-up signal is recorded as "1 in the senior size of the first converter 6, and the stepping motor will work out the proportion and differential components of the high-frequency movements of the current frequency," corresponding to the maximum frequency of this type of stepper motor. . At the end of testing these two components, as a result of filling the counter of the converter 6 and returning its high bit to the initial state, the write signal "I to the high bit of the second converter 7 is formed and the sign trigger 9 is tilted.

In this way, the schagovy engine starts the reverse development of the differential component of the motion with the same high frequency fo. After the high-order counter of the converter 7 returns to the initial state, the write signal "1 to the high-order counter of the third converter 8" is generated and at the same time the trigger is returned to the initial state.

Thus, the scap motor continues to work the angle in accordance with the integral law, since the converter 8 is controlled by frequency pulses, from the frequency divider 10 and the value of the total displacement of the shaft will correspond to CM: Me only two components of motion are proportional and integral:

/ ir. + / C, iAI / n.

i

At the moment (see Fig. 2) 4 the transformation starts, i.e. the movement of the output coordinate. By the time 1, the working out of the proportional part of the movement ("i) and

Immediately, the development of the differential component of the movement (hell), which ends with the "time 2-". For a time (Gz- / 2), the differential component of the movement is reversed. At the moment tz, the development of the integral component of the motion begins, which ends after

- / f

a - 3

where tn is the moment of the end of the Transform. Subject invention

Decoding device "code-angular displacement of the shaft, containing a gearbox connected in series with a stepper motor and a ring switch, code converters and a sign trigger, characterized in that, in order to improve the accuracy, speed and simplification of the device,

introduced a frequency divider, drivers, schemes "AND AND" OR, the outputs of the code converters are connected through the corresponding first, second and third schemes "AND, connected in series with the scheme" OR,

the first inputs of the fourth and fifth schemes “And, the second INPUTS of which are connected to the outputs of the sign trigger, and the outputs are connected to a ring switch, one of the inputs of each code converter is connected to the output of the corresponding scheme“ And, the second inputs of the first and second schemes “And are connected directly and the second input of the third circuit “And through the second circuit“ OR ”to the frequency divider, the third inputs of the first and second circuits“ And

connected to the inputs of the device, the second inputs of the second and third code converters are connected via the third circuit "OR to the input of the sign trigger and through the drivers are connected, respectively, to the output of the first

code converter to the output of the fourth OR circuit, the first input of which is connected to the output of the second code converter, the second input to the device input, and the third through the sixth AND circuit connected to the output

the first code converter and with the input of the device |