SU631863A1 - Follow-up system - Google Patents

Description

one

The image is related to the field of avomagics, in particular, to the following autocompensator systems.

: Pulse-tracking systems containing brushless DC motors l.

Of the known systems, the closest to the technical essence of the invention is the following system, comprising an amplifier, the first and second inputs of which are connected respectively to a feedback sensor and sensor, mechanically connected to the shaft of a brushless motor connected to the switch, the first input of which is connected to the output of a pulse-width modulator

AND.

in such a way. system command about the module and the sign of the moment of the engine comes from the amplifier to the engine on one channel.

The command about the moment module is enclosed in the voltage module, and the command about the sign of the moment is in the phase of this stress.

In slash systems that have one channel for transmitting commands about the module and phase of the engine torque, the necessary amplifier factor ky is determined by the equality of t -. iL

 output voltage

"Flp bodies in which the unloaded engine begins to rotate, (B)}

- moment of load, (gsm) |

M,

 - Kozffnpiant gain dvigaO-W fuels and lubricants.

) Tel to the moment ()

, AT

and e is the input voltage of the amplifier at which the loaded motor must rotate — sensitivity (B).

The total gain K (quality factor) in the following system, other things being equal, is directly proportional to the value K, and the dynamic properties of the system — overshoot, number of oscillations, and the transition process — the worse, the higher its quality factor, e. the more K y (other things being equal). The disadvantage of this next system is the low quality of the transient process in the system. The aim of the invention is to improve the quality of the transient process in the system. This goal is achieved by introducing a DC source into the proposed servo system. The first output of the amplifier is connected via a constant voltage source to the input of a pulse-width modulator, and the second output is connected to the second input of a switch. Thus, a separate channel is entered into the system for transmitting the engine torque command from the amplifier to the motor and a separate channel for transmitting the engine torque module command to the engine and an additional voltage source to the engine channel of the torque module current And,, directed according to the command about the module of the moment. At the same time, the gain required to obtain the previous sensitivity of the following system is determined by the form. The value chosen is only slightly less than the sum of "-FH 9" Obviously, in this case, the value of U is much less than K "is significantly less than Ir and better dynamic properties following system at the same sensitivity value. The drawing shows a block diagram of the following system. The system contains a setting device 1, a feedback sensor 2, an amplifier 3 consisting of a modulator 4, an alternating voltage amplifier 5, an output transformer in, with a primary winding in, and BTopHH windings b and 6, rectifier 7, demodulator 8 and source of voltage reference 9, source of constant voltage 10, pulse-width modulator 11, switch 12 and brushless d6 gagal 13. The next system works as follows. The difference in the measured voltage across the sensor 1 and the voltage from the off-line communication from the sensor 2 to the input of the amplifier 3 6 34 de is converted by the modulator 4 connected to the reference voltage 9, the voltage of the alternating current is amplified by the amplifier 5 and supplied to the winding 6 transformer 6. The winding of its winding 6 is rectified by rectifier 7 and fed to the input of modulator 11, where it is converted into a pulsed form. The duty cycle of these pulses is proportional to the input voltage of the modulator 11. This pulse voltage arrives at the inputs of the switch 12 of the motor 13 and acts on the switch on the power switch (not shown) so that the switch connects the motor phase to the source of its power supply cyclically - within each cycle, as determined by the sensor., the position of the engine rigor. In addition, there is another higher frequency cyclicality determined by the frequency of the modulator 11. This latter has a variable duty cycle. As a result, the average value of the current in the motor phase (and consequently, the motor torque) in its turn-on interval is proportional to the duty cycle of the output signal of the modulator 11. Thus, the motor torque modulus 13 is adjusted. For example, 5kenie from the winding 6 of the transformer is demodulated by a full-wave demodulator 8 connected to the source of the reference voltage 9, hook that. at the output of the demodulator 8, the signal exists at one phase of the output voltage of the amplifier 3 and is absent when it changes by 180, i.e. with a different polarity, the voltage unbalance at the input of the amplifier. The output voltage of the demodulator 8 is supplied (or not supplied) to the second input of the switch 12, where it acts on an amplifier (not shown), which is connected between the rotor position sensor and the power phase key in such a way that At the output of the demodulator 8, this amplifier works as a repeater of the rotor position sensor DBBagepep, and in the absence of a signal, at the output of this demodulator, the amplifier works as a device turning: the sensor signal phase by 180 (inverter), which leads to Naka torque of the engine 13 on the opposite. In order for the servo system to function properly, the total gain over the sign channel is set larger than the modulus channel. The techno-economic effect of the image & that is, by using it, one can get good dynamic characteristics of the tracking system, either without using special corrective devices at all, or using simple corrective devices.

In addition, the voltage requirements of the throttling of the motors in the system are reduced, which reduces the cost of production of the engine and the elements of the kinematic circuit of the tracking system.

Claims (2)

Invention Formula A tracking system comprising an amplifier, to the first and second inputs of which are connected respectively a setpoint and. a feedback sensor mechanically connected to the shaft of a brushless motor connected to a switch, the first input of which is connected to the output of a pulse-width modulator, characterized in that, in order to improve the quality of the transient in the system, it contains a DC source; moreover, the first output of the amplifier is connected to the input of a pulse-width modulator via a constant voltage source, and the second output is connected to the second input of the switch. Sources of information taken into account in the examination: 1.31ectroBigatel low power. L., Science, L. O., 1971, p. 123-168. 2. The patent of Germany No. 13О1398, М., cl. Q 01 R 17/02, 03.24.66.