SU402856A1 - COMBINED NEXT SYSTEM - Google Patents

Description

one

The invention relates to the field of automatic regulation and can be used in high-precision tracking systems.

Combined follow-up systems are known, containing two micro-pulse-converter, an error meter, the inputs of which are connected to an angle sensor and a feedback sensor, the first and second amplifiers connected to the output of the error meter, the adder whose input is connected to the first amplifier, and the output to the third amplifier, the motor, the input of which is connected to the output of the third amplifier, and the output through the reducer is connected to the feedback sensor, while the angle sensor through the fourth amplifier is connected to Arathor, bound through the nerves to the input of the first differentiator PWM converter whose output is via a second differentiator to the first input nodklyuchen schirotno-imnulsnogo second transducer, a second input coupled to imnulsnym detector which outputs pulse-width NDT transducers coupled to an input of the adder.

The proposed system is characterized in that it contains a speed sensor of the drive shaft and a speed sensor of the output shaft connected to the gearbox, a second adder, inputs

which is connected to the speed sensors, and the output is connected to a pulse detector, two nullorgans, two keys, an amplitude detector, and the output of the second amplifier is connected

to the input.m of both keys and to the input of the first null organ, the outputs of which are connected to the first pulse-width converter and to a pulse detector, the input of the second null organ is connected to the output of the fourth

the amplifier, and its outputs through the corresponding switch are connected to two amplitude inputs of the detector, the third input of which is connected to the output of the second differentiator, and the output to the input of the comnarator.

These differences make it possible to increase the accuracy of the system with various harmonic control influences.

The block diagram of the proposed combined tracking system is shown in the drawing.

The system contains a meter mismatch N1 1, with mmator 2, amplifiers 3 and 4, the engine 5, the controller 6, the angle sensor 7, the sensor reverse

communications 8, amplifiers 9, 10, speed sensors 11, 12, zero-organs 13, 14, keys 15 and 16, amplitude detector 17, comparator 18, pulse detector 19, differentiators 20, 21, pulse-width converters 22 and 23 and

adder 24.

If the input of the system, the transmission qi of which, for example, has the form;

TO

W ()

pCTp + i)

the 6px harmonic effect comes in, then the closed loop will track the control action with an al-schlith:

ak

f / bm.

Y (- T + ku + sh

Moreover, the regulated value lags behind the control effect on the angle

f - arctg

/WITH

- Ha

As a result of this lag, overshoot and violation of system stability occur. In order for the angle to tend to July, it is necessary that the time constant of the system also tends to zero. But this, as a rule, is impossible, since the time constant of the system is determined by the design parameters and is made up of the time constant of demodulators, corrective links, which are in the direct sense of the closed loop, the motor, and the control object.

In the proposed combined servo system, the reduction of the angle φ is achieved with the help of a pulse-width correction signal.

The combined tracking system works as follows.

At time ti, the null organ 14 opens key 15. The positive half-wave envelope of the error in (t) is allocated on the amplitude detector 17. Moreover, the change of the envelope of the error occurs only up to the maximum value of the amplitude of the envelope, and the maximum value of the amplitude of the envelope error is remembered until the arrival pulse "Reset, which is formed by the falling edge of the pulse-pulsed signal T" The control envelope from the output of amplifier 9 is fed to one input of the room 18, to the other input of which the maximum amplitude value of the envelope of the error from the amplitude detector 17. At the comparison point, the comparator 18 generates a pulse, which is differentiated and triggers the pulse-width converter 22.

Pulse width converter 22 generates a pulse, under the action of which the output shaft p (t) of the system with maximum speed, will overtake the control shaft j (t) and carry the output shaft p (0 ahead of the control shaft j ( t), an error in () will change the sign, and the nullorgan 13 will generate a signal that will go to the pulse-width converter 22 and give a signal that the pulse has ended.

In addition, the impulse from the output of the null organ 13 at the moment of a sign change by the signal G (/) will turn on the pulse detector 19, which will trip the signal from the output of the adder 24 proportional to the difference of the speeds of the control shaft and the shaft of the control object.

After the termination of the forcing pulse TI, the neuropulse transducer 23 is activated, which forms a braking pulse T2. The duration of T2 is proportional

the signal coming from the pulse detector 19, and therefore the signal proportional to the difference in speed at the moment of the start of the impulse T2.

Subject invention

A combined tracking system comprising two pulse-width transducers, an error meter, the inputs of which are connected to an angle sensor and a feedback sensor, the first and second amplifiers connected to the output of the error meter, the adder, whose input is connected to the first amplifier, and the output - to the third amplifier, and the engine, the input of which is connected to the output of the third amplifier, and the output through the reducer is connected to the feedback sensor, while the angle sensor through the fourth amplifier is connected to the comparator rum connected through the first differentiator to the input of the first pulsating-pulse converter, the output of which through the second differentiator is connected to the first input of the second pulsating-pulse converter, the second input of which is connected to the pulse detector, while the outputs of the pulse-neutral converters are connected to the input of the adder, which so that, in order to improve the accuracy, the system contains the speed sensor of the drive shaft and the sensor

output shaft speeds connected to the gearbox, a second adder, the inputs of which are connected to the speed sensors, and the output is connected to a pulse detector, two zero-bodies, two keys and an amplitude detector, while

the output of the second amplifier is connected to the inputs of both keys and to the input of the first nullorgan, whose outputs are connected to the first pulse-width transducer and to the pulse detector, the input of the second nullorgan is connected to the output of the fourth amplifier, and its outputs are connected to two amplitude inputs detector, the third input of which is connected to the output of the second differentiator, and the output

to the input of the comparator. j,: 5,