SU446033A1 - Device for programmed motion control along a circular path - Google Patents

Description

one

The invention belongs to the field of a thematic control and has been started for use in software systems for controlling milling chambers with automatic machines and electronic beam processing plants,

Devices are known for programmed motion control along a circular path, comprising two integrators, to one of which an inverter is connected. A disadvantage of the known devices is the low accuracy of their operation.

The distinctive feature of the proposed device is that it contains a quad quadrant, two multipliers, two adders and a comparison element, the integrator outputs are connected via quadgers to the subtracting inputs of the comparison element, the output of which is connected to the first inputs of the multipliers, their second inputs are connected to the outputs of the corresponding integrators, and through adders connected to the inputs of the same integrators. This improves the accuracy of the device;

The drawing shows the functional scheme of the described device, which contains integrator I and 2, inverter 3, quadrants 4 iB, comparison element 6, multipliers 7 and B, and adders 9 and 10.

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The device works as follows. The output signals of the generator Ux 1 are proportional to the coordinates of the moving object x and

Have

five

 yiw

where Kk is the proportionality coefficient. The sum of the output signals of the quadrants is proportional to the square of the radius of the trajectory r of the moving object:

U, 2tJ / y2 KKBKfc () CfceK; cr

1 where Hfre is in transfer service

quad. The required value of the pa ° of the path is determined by the reference signal Von:

 op

The output signal of the comparison element 6 Od is proportional to the difference of the squares of the given and the actual radii of the trajectory of the fuse:

silt - Uon- (Ux) -Yvk.

If, for example. Goal g-, then the error signal UA is negative. In order to increase the actual radius of the trajectory r to the input signals of the integrator I and 2, it is necessary to sum the correction signals,

UM and U / cy, which coincide in sign with the output signals Ux and in their respective integrators. Such correction signals are generated in multipliers 7 and 8:

Ukx J,

where ANH is the multiplier transfer coefficient, Umnogs of 7 and 8 Mokhut have Ud similar relay characteristics at the input Ud;

Ufex Uj (sign {/ 4 -, U, y - I / I, sign u ,,

which simplifies their technical implementation

The signals Uku and represent the components of the velocity correction vector, which is directed along the radius of the object's trajectory, and these signals do not affect the frequency of the integrator generator,

BACKGROUND OF THE INVENTION

A device for programmed motion control along a circular path, containing two integrators, to one of which an inverter is connected, characterized in that, in order to improve the accuracy of the device, it contains two quadrants, two multipliers, two adders and a reference element, and the outputs integrators are connected via quadrs to the calculating inputs of the comparison element, the first output of which is connected to the first multiply inputs, their second inputs are connected to the outputs of the respective integrators, and the outputs through the summers with in zany with the inputs of the same integrators in