SU611177A1 - Follow-up system - Google Patents

Claims (3)

(54) THE FOLLOWING SYSTEM is delivered to the output of the threshold device and the first move of the third pulse generator, and the output to the second input of the third pulse generator and the first input of the second adder, the second input of which is connected to the output of the rectifier, and the output to the key input that controls the input of which is connected to the output of the third pulse generator, and the output - with the inputs of the first and second pulse generator. FIG. 1 shows a block diagram of the proposed system; in fig. 2 - voltage plots of functional units of the system, where the following symbols are adopted: error meter 1, amplifier 2, actuator 3, tachogenerator 4, rectifier 5, first and second switches 6, 7, first, second and third pulse formers 8, 9, 10, key II, voltage source 12, threshold device 13, first and second adders 14, 1.5, U; - output nap | functional blocks, where i is a functional block, the magnitude of the threshold operation voltage of block 13. The system works as follows. When the error signal U (less than the threshold voltage Or ,,, the threshold unit 13 does not work. In this case, the system works like a system with a normal speed feedback. In the case when the signal Uj at the output of the rectifier 5 is greater, Than the specified threshold voltage Uno. (see Fig. 2a), the threshold unit 13 generates a pulse U | 3 (see Fig. 26). From the falling front of this pulse, the reference voltage U | 2 is formed at the output of the source of the reference voltage 12 (see Fig. 2c) and the signal and 10 at the output of the pulse shaper 10, the duration of which O is determined by the formation time of the reference voltage (see Fig. 2d), since the junction of the source 12 is connected to the second input of the pulse generator 10. Therefore, the pulse shaper 10 during the formation of the reference voltage Uij includes the key Piv this time is the signal Uis-c The output of the adder 15 is fed to the inputs of the pulse formers 8 and 9 (see Fig. 2d). Thus, the inputs of the pulse formers 8 and 9 receive a control signal He and 15. equal to the deviation of the error signal envelope Ui from the voltage Ui2 (see . FIG. 2e). The pulse shaper 9 of the signals of the U11 positive Ribsty field generates the pulses Us (see Fig. 2g) to switch the switch 7, which reduces the gain on the speed feedback signal, which leads to the formed acceleration of the actuating element 3. The pulse shaper 8 of the signals U11 negative polarity forms the UK impulse (p. fng. 2 h) to switch commutator 6, which increases the gain factor of the speed feedback signal, which leads to forced deceleration of stimuli of element 3. As seeing in Figs. 2a, by sequentially switching on and braking the actuator 3, depending on the deviation of the signal envelope in the error circuit U. from the reference voltage and 12, the system approximates the indicated signals. This avoids both a delayed transient process (see Fig. 2i) and overshoot (see Fig. 2k}, regardless of the energy ratios of the drives (the dotted line shows the error signal envelope without applying a nonlinear correction). Consequently, the introduction New elements in the system allows to increase its speed. Invention The following system, containing sequentially connected error meter, the first adder, the amplifier, the actuator, whose course through The first and second switches are connected to the second input of the first adder and directly to the second input of the error meter, the output of which through the rectifier is connected to the input of the threshold unit and the first and second pulse drivers, the outputs of which are connected to the control inputs corresponding switches, characterized in that, in order to increase system speed, a key, a second adder, a third pulse shaper, and a reference voltage source are installed in it, the stroke of which is connected to the input of the threshold device and the first input of the third pulse shaper, and the output to the second input of the third pulse shaper and the first input of the second adder, the second input of which is connected to the output of the rectifier, and the output to the input of the key controlling which input with the output of the third pulse shaper, and the output with the inputs of the first and second pulse shapers. Sources of information taken into account during the examination: 1. Author's certificate of the USSR J 482716, cl. G 05 B P / 01, 1973. 2. Khlypalo EI. Nonlinear automatic control systems. L., “Energie, 1967, p. 312-317. 3. USSR author's certificate number 484496, cl. G 05 B 13/02, 1% 8.  -)} L , , ° x: - V43 , t y