SU657554A1 - Dc drive - Google Patents

Description

one

The invention relates to direct current positional actuators and, for example, can be used for the electric drive of the pressure device of the rolling kpet blooming.

A positional DC motor is known, comprising a serially connected path unit (position), an adder, a position controller of the intensity setter, a frequency controller of rotation, a current regulator, a controlled source of core voltage, a DC motor having current sensors, frequencies rotation, paths, the second inputs of the adder, the speed regulator, the current regulator are connected respectively to the outputs of the sensors of the path, the frequency of rotation, the current 1.

A disadvantage of this device is the dependence of the quality of transients on the signal level of the task on the engine path. Therefore, to ensure the same overshoot in

Transition processes along the way when working out movements with a triangular plot of rotational frequency, the gain of the position control is realized as a nonlinear error function having a parabolic dependence. However, a nonlinear position controller, having a parabopic characteristic, when the device is operating with a trapezoidal rotational frequency curve, causes an increase in overshoot and oscillation in the transition process along the way. In addition, the gain of a position adjuster having a parabolic characteristic reduces

s c with an increase in the mismatch along the way, which is characteristic of the time of current reversal during the transition to the deceleration mode, reducing the speed of the electric drive.

The circuit of the invention is to reduce the duration and stabilize the overshoot of Transient 1 processes.

This is achieved by the fact that the electric drive additionally contains two Calculated 3G heat module, three loop 1 -or nl, the first and second of which contain on their second inputs the sources of reference voltages two sypes, the first of which has a variable gain controlled by the output sieve of the second, controlled voltage limiter, integration unit, summation unit, dividing unit, the first input of which includes a voltage source, three voltage sources, a relay, four controllable keys, three keys, two diodes, and outputs A position controller is connected in parallel with the first and second normally closed control keys connected to the intensity master, in parallel with which the first key is connected, the third normally open control key is connected to the position controller by a paraleptic capacitor, providing the integral component of the law control, the output ifif1) of the analog converter is connected to the input of the first calculator module, the output of the rotational speed sensor is connected to the input of the second module fusion, the output of which is connected to the inputs of the integration unit and the first uip-organ, the output of which is connected to the input of the setpoint transmitter and through a normally open contact, a relay in parallel with which the second key is connected is connected to the input of the relay, the output of the first calculator module is connected to the first inputs the second null organ, the third null organ, the first amplifier, the second and third inputs of which are connected respectively to the outputs of the first voltage source and the integration unit, parallel to the capacitor of which is included the third normally closed controlled switch, the output of the first amplifier through a controlled voltage limiter is connected to the second input of the third null organ, the output of the static moment sensor is connected via the third switch to the first inputs of the second amplifier and the summation unit, the second input of which is connected to voltage sources , the output of the summation unit is connected to the second input of the division unit, the output of which is connected to the control input of the voltage limiter, the input of the first controlled key MeptJO, and the separator diode nen yield nuShe third-body and the inlet of the relay, second and third vhodg- actuated soedish us yield nul1 second, -org "on, the fourth input yn

2, rotational speed sensor 3, static torque sensor 4 and rotation angle sensor (path) 5, adjustable root voltage source 6, current regulator 7, rotation frequency regulator 8, intensity setpoint 9, wake-up controller 1O, D / A converter 11 , digital adder 12, track setpoint (angle of rotation) 13, calculator module 14, 15, integration unit 16, - amplifier 17, amplifier 18 with variable gain, varying in proportion to the output signal of amplifier 17, summation unit 19, dividing unit 20, controlled horran chitel 21, zero-bodies 22, 23, 24, voltage sources 25-30, the relay 31 controlled by the kpyuchi 32, 33, 34, 35, keys 36, 37, 38, separating diodes 39, 40.

Claims (2)

Track setpoint 13, digital totalizer 1 12, digit 1: analog input converter 11, position control 10, intensity setpoint 9, rotational speed control 8, current control 7, adjustable root voltage source 6 and direct current motor 1 are connected in series. The second inputs of the digital r / w muter 12, the frequency regulator vrP1-; m and 8, the current regulator 7 are connected respectively to the outputs of the sensors of the path 5, the frequency of rotation 3 and the current 2  The first 23 and the second 22.  The numps are connected to umpi. They are the inputs to sources of 26 and 25 onoji voltages.  The first unit 18 has a variable gain factor, the input of which is connected to the NM-stroke of the second successful 17.  To II- | -I (M) -ly 4 equal to klx:) cha is connected via a normally closed contact to the output of the second null organ.  Such an embodiment of the device allows the start of braking in a function by braking, which provides the required overshoot for both the triangular and trapezoidal velocity graph.  Turning off the engine speed reference signal for a deceleration time provides a higher current factor fill ratio, which reduces the deceleration time and, consequently, the duration of the transient process.  FIG.  1 shows the scheme of the proposed electric drive; in fig.  2 - diagrams explaining his work.  The electric drive contains a DC motor 1, having a current sensor at the input of the deptepi unit 20, a voltage source 30 is connected.  The output re) upturn of position 10 is parsed with; the first 32 and second 34 normally close 9 control keys are connected to the input of the intensity control 9, in parallel with which the first key 38 is switched on; the third normally open control 1 key 33 is connected to the position controller Yu a pair of allelic capacitor providing the position controller with an integral component of the control law.  The output of the digital-to-analog converter 11 is connected to the input of the first calculator module 14, the output of the rotation speed sensor 3 is connected to the input of the second calculator module 15, the output of which is connected to the inputs of the integrator 16 and the first zero-organ 23 whose output is connected to the input of the setpoint 13 and through the normally open contact of the relay 31, in parallel with which the second switch 37 is connected, is connected to the input of the relay 31.  The output of the first solver 14 is connected to the first inputs of the second null organ 22, the third null organ 24,. the first amplifier 18, the second and third inputs of which are connected respectively to the outputs of the voltage source 27 and the integration unit 16, parallel to the capacitor of which is included the fourth normally closed control key 35.  The output of the first amplifier 18 is via a controlled voltage cutter 21 connected to the second input of the third null organ 24, the output of the static moment sensor 4 is connected to the first inputs of the second amplifier 17 and summation unit 19 via a third terminal 36, the second inputs of which are connected to sources Resolutions 28 and 29.  The output of the summation unit 19 is connected to the second input of the division unit 20, the output of which is connected to the control input of the voltage limiter 21, the input of the first control key 32 through the separation diodes 40 and 39 is connected to the output of the third zero-body 24 and the input of the relay 31.  The inputs of the second 34 and third 33 controlled keys are connected to the output of the second null organ 22.  The input of the fourth controlled key 35 through a normally closed contact of relay 31 is connected to the output of the second nude member 22. 55 Principle operation of the device follows from the following.  FIG.  2, etc. 1 of the t-ray of the change of the coordinates M (the moment of the digester), CO (the engine rotational speed), S (the angle of rotation of the engine) for a triangular plot of speed (Fig. 2a) and trapezoidal (FIG.  2b) -.  FIG.  2 t in the 1st acceleration and deceleration of the engine (electric drive); S, - ask1P :. th way to practice; 5 y is the way of braking; - ch1X) that engine rotation, corresponding to the beginning of the braking.  The plots in FIG.  2 corresponding to the electric drive, on the shaft of which there is a static moment L.   conSt Acceleration path S p, corresponding to the graphics of FIG.  2a, is determined by the known formula Sp-VV P K / M -M) - (2-) - acceleration of drive acceleration; K - coefficient; ALD-engine torque.  The expression (1) defines -t р 2 (5з-5t) the frequency of rotation of the engine after the lapse -bn; au - p - tp -V2-ep (S, the rate of inhibition is determined by the well-known formula ST.   I- (6) t d-t () is the acceleration of deceleration of the electric drive.  Rem retarding t-p will determine from the alarm that after the time t j expires the frequency of rotation of the motor Oi stats equal to the hive. Substituting expressions (4) and (7) into expression (5), after conversion, we get 7 s; Substituting expressions (2), (6) into expression (c) is an inverse type. chop / shy on / one learning A.   (9 ESpi at the input of the control of re-registration of the rotation frequency is set by the intensity adjuster, then p 8.  and equation (c) takes the form ST TS of the graph of FIG.  26, the value is set and equal to the steady-state engine speed.  Substituted the expression (7) into the expression (s), after converting n, we get m 2.  where K is a coefficient.  Substituting the expression (b) in the expression (ll) we get 2 (. ) If the intensity setting knob is set at the input of the rotational speed control loop, then gy and equation (11) is simplified ST where Kj is the coefficient.  This device, in contrast to the prototype, controls the motor flowed through, rather than the rotational frequency and, as the rest of the way, the path becomes equal to the braking path SY.  defined by equation (c) (triangular plot of rotation frequency) or equation (12) (trapez & plot of rotation frequency), both cook the braking of the drive.  Nup-organ 22 provides at its output a signal as soon as the output voltage of the calculator module 14, which is not available at the first input of the null-organ 22, exceeds the magnitude of the reference voltage from the output of the source 25 to the second input of the zero organ .  The hub-body 23 provides on its course the signal, as soon as the output voltage of the calculator module 15, arriving at the first input of Hynb-opraFia 23, exceeds 4 modupc; tsopichinu n. games g-) nor, coming from the output source ;: 2b.  The pulp organ 24 provides, at its output, a signal in the case of an aspen signal at the input, connecting to the output of the limiter 21, pre-modulus, buttuning from the output of the calculator module 14 to the second input of the zero-organ 24.  The division unit 29 provides for the division of the output signal of the source 30 by the output signal of the summation unit 19.  The output of dividing block 2O is associated with. the control input of the monitor {reader 21, by virtue of which there is no wedge, is not limited by limiter 21 to the output signal of the dividing unit 20.  Using the output voltage of source 30, according to expression (12), the required value is set to half.  square mouth of the first engine speed.  The summation unit 19 provides at its output a signal, proporizing the sum of M A n - 1 (-.  .  The value LL is set to the input of the summation unit from the output of source 29, the magnitude / L.  - via terminal 36 from the output of the static moment sensor 4.  Consequently, the output of the dividing unit 20 provides a signal proportional to the value (l2).  The amplifier 17 provides, in accordance with expression (9), at its output AAD-MS, a signal proportional to the value of the gain. The amplifier 17 is equal to -.  The value of ML to the input of the amplifier 2MdA l is set from the output of the source 28, the value Mj- through the key 36 from the output of the static moment sensor 4, the Integration Block 16 integrates the output signal of the calculator module 15 with the open key 35 and the zero signal at its output for the closed key status 35.  If there is a signal at the output of the zero-body 23, then Hf) H short-circuit the key 37, the relay 31 receives power, and by its normally open contact shunts a cable 17, and a normally closed contact removes the control signal from the key 35.  Relay 31 loses power if the output signal is zero) disappears briefly.  The path setter 13 provides the required y | 1 of the signal of the path set if at its blocking input associated with vi. the course of the zero-body 23, there is no C: cash.   KQ blocking the E “dial of the 13 gauge and the signal, it prohibits the controller to change the signal level of the task on its own. ode.  The controlled keys 32, 34, 35 are closed in the absence of a signal at their inputs.  The control key 33 locks when it receives a signal at its input.  The control signal to the input of the keys 33, 34 post from the zero-body control 22.  The control signal to the input of the battery 32 through the split power diodes 39, 40 comes from the output / 5 zero1: -organa 24 and the input of the relay 3 The control signal to c. the key 35 travels through the normally closed contact of the role 31 from the output of the nup-organ 22.  With the help of a voltage source 27 connected to the input of the amplifier 18, the output voltage of the amplifier 18 is corrected in the process of setting up the device, thereby compensating for the errors of the nodes and blocks of the device and the influence of the dynamics on the operation of the device.  1 can operate in two modes: with an intensity control 9 (keys 36, 38 open) and without control 9 (keys 36, 38 closed).  Consider the operation of the device in the mode without setting the intensity, when the keys 36, 38 in the circuit of FIG.  1 closed.  The static state of the device is characterized by the fact that the current of the core 3 and the frequency of rotation 3 of the motor are zero.  Since the position regulator 1O realizes the proportional-integral (pi) control law, the output voltage of the digital-to-threshold converter 11 in the static mode is zero.  The output voltage of the converter 11 in this mode is repeated at the output of the calculator module 14, and the null organ 22 provides a zero signal under the action of the voltage of the source 25.  Since JU is O, the output voltage of the calculator module 15, due to its input from the speed sensor 3, is zero and the body 23 under the action of the voltage of source 26 provides a zero signal at the output.  Surely, zero signals are provided at the inputs of the controlled keys 33-35.  The key 35 is closed and provides a zero signal at the output of the integrator 16 (null initial conditions).  Key 33 is open and allows operation of the Yus position controller of the integral component in the law of regulation.  The key 34 is closed and shunts the capacitor 32, which, depending on the polarity of the voltage of the source 27, may be located in the HI. IX states x.  Actually, since in a static mode all voltages at the input of amplifier 18, with the exception of Eian-source 27, are zero, then the source 27, coming through amplifier 18 and limiting unit 21 to the second input of the zero-body 24 Depending on its polarity, it determines the output state No. 1e of the null organ 24 and, therefore, the key 32.  At the first input of the null organ 24, connected to the output of the calculator module 14, in a static mode a zero signal is provided.  The good signal amplifier 17 and the dividing block 2O do not affect the device’s static state, since their influence is also directed to the state of the key 32, which is locked by the key 34 in static mode.  In the static mode, at the blocking input of the setpoint adjuster 13, the signal coming from the output of the Eiynb organ 23 is equal to zero and the operator has the opportunity to change the output signal of the sensor 13.  In dna mode, operation of the device depends on the output signal level and digital-to-analog converter 11.  If the U voltage U is modulo less than the voltage of source 25, then the zero-opraEi 22 provides zero output at its output, therefore, the key 33 is open, the key 34 is closed and the device operates like a conventional positioning system, which contains the slave frequency and current frequency control loops.  The input voltage of source 25 is chosen so that in aoEie MAGNETIC movements, the voltage U does not cause the operation of Euli-OE 22.  In the zone of medium and large displacements, the voltage U is greater in magnitude than the voltage (source J2 25.  Consider the operation of the device in the area of medium and large displacements on the example of a step change in the output signal of the setter 13.  In this case, the voltage (J changes abruptly.  The zero-body 22 is triggered, since / U / I U I Key 33 shunts the capacitance of the position regulator 1O, providing a proportional law of regulation to the regulator 1O.  The keys 34, 35 are softened.  The output voltage of the calculator module 14, which is proportional to the error peak S in the position when it enters the input of the amplifier 18, insures a signal at its output that is proportional to the magnitude (e).  As the motor drives the specified movement Sj, the value of U will decrease.  In order for the output of the usipitep 18 signal to remain proportional to the value of (e), the input of the amplifier 18 receives a signal from the output of the integrator 16, which, integrating the motor ramp up frequency U, compensates for the change in voltage U at the output of the amplifier 18.  Thus, at the output of the amplifier 18, a value proportional to the stopping distance SY of the engine is provided, which through the limiting unit 21 is fed to the input of the null organ 24, to the second input of which the value U is applied, proportional to the value So SY If the wind V is such it is triangular 1; the rotation speed control, the limiting unit 21 does not limit the output voltage of the amplifier 18. If the value determines the trapezoidal rotation frequency, then the limiting unit 21 limits the output voltage the power amplifier 18 to a level proportional to the value of (12), t. e.  at the output of the limiter 21, a value is provided proportional to the braking path.  After a step change in the output voltage of the setting device 13, the output voltages of the digital-to-analog converter 11, the regulators 10, 8 also change abruptly.  Moreover, the speed regulator 8 limits this voltage jump to the required level.  Under the action of the output voltage of the speed regulator 8 in the current control loop, a transient occurs and the current of the core rises to the level determined by the output signal of the frequency regulator 8.  The time and nature of the increase in the current of the core to a steady-state value is determined only by the dynamic characteristics of the current control loop.  After the end of the transient process in the current loop, the rotational speed of the motor increases linearly and, as soon as it exceeds the voltage of the source 26, triggers the 1green 23, which prohibits the operator to change the output of the generator 13.  The voltage of the source 26 W 1 is chosen sufficiently small and already with a slight difference in speed from the zero value of NUP1: r-organ 23 of the actuation.  The blocking of the setpoint 13 by the output of the zero-body signal 23 is necessary so that the change in the task for the input of the circuit can be carried out at a frequency of zero (or close to zero) the engine rotational speed.  If a new assignment to the position contour is filed with a and f o, then oscillation appears in the transition process of the position contour.  As the engine speed increases (and subsequent work at a steady speed) the motor travel increases, the voltage increases;) U decreases, and as soon as U becomes modulo less than the output voltage of limiter 21, the zero-body 24 is activated.  Key 32 opens.  The output voltage of the speed regulator 8 under the action of the voltage of the speed sensor 3 abruptly changes its sign.  The current is reversed and the motor starts to brake.  In this case, the current reversal time is determined only by the dynamic characteristics of the circuit being regulated. .  nor current kor.  In the known device, the current reversal time of the core is determined by the dynamic characteristics of the position loop and is several times longer than the current reversal time in the device in question.  After the end of the transition process in the current control loop, the rotational speed of the motor decreases linearly.  The path traveled by the engine increases and, as soon as the voltage and, proportional to the error in the path, becomes less than the modulus of the voltage U2, the null organ 22 provides a zero signal at its output.  The key 35 closes, providing a zero signal at the output of the integrator 16.  The opening of the key 33 ensures that the regulator of position 10 is proportional to the law of regulation.  The closure of the key 34 ensures the closure of the control loop, which ensures the end of the transient process in accordance with the VII with the setting of the position controller 10.  If it is necessary to change the task at the inlet of the position contour, without waiting for the previous task, then it is necessary to quench the engine speed first (brake the drive).  Com chi / tt tta. nzhtnio in this case () boS1t; shchuyas kr / pkovromonsh. or deputy (key 37, which means that the rotor 31 is supplied by the power supply terminal and the open contact, and by its normally closed contact, it removes the control signal from the key 35.  Key 35 aafvfbiKanTCfl, providing you with a zero signal at the output of the interrogation unit 16.  The output of the iTynij-organ 23 is a choreo normally open contact turnip 31 and a separating anode 39 positioning the memory input kpyuch 32.  Key 32 rae M1 1kats and the drive brakes.  As soon as the frequency of rotation of the drive becomes less than the magnitude of the module, determined by the voltage of source 26, the output signal of the zero-body 23 becomes equal to 1 tu, the blocking from the setpoint 13 is removed and the operator sets a new level for the position contour input.  When operating the device with the intensity setting unit 9 (keys 36, 38 are open), the acceleration and deceleration rates of the electric drive are the same and do not depend on the static moment, so the output signal of the static moment sensor 4 is not used in the device circuit (key 36 is open).  The operation of the device with the intensity setting device 9 differs from the operation of the base sensor 9 only in that the increase and reverse current of the core is in this case determined by the dynamic characteristics of the rotational frequency control loop, therefore, occurs more slowly than without the intensity setting unit.  If the device is designed to work only in the mode with the intensity control, it can be simplified by excluding the elements 4, 36, 38, 29, 19, 30, 2O, 17, 28 from the device diagram.  The gain of the amplifier 18 is set to 0.5 in accordance with the expression (s), and the level of limiting the back voltage of the limiter 21 is set to non-matching in accordance with the expression (13).  The positive effect of this device is that the overshoot of the transient in position does not depend on the signal level of the reference signal at the input of the position loop.  The duration of the transient process during the development is given by the displacement in comparison with the prototype is reduced by reducing the current reversal of the core.  Invention A direct current drive comprising a serially connected track adjuster, digital combiner, digit}) analog converter, positioner, intensity adjuster, rotational speed regulator, current regulator, variable source voltage, motor constant current, having current, rotational frequency, path and static moment sensors, the second inputs of the digital adder, the frequency controller rotating and the current regulator are connected respectively to the outputs of the path sensors, frequencies The rotation and current are characterized in that, in order to reduce the duration and stabilize the transient overshoot, the electric drive additionally contains two power modules, three zero-bodies, the first and second of which contain at their second inputs the sources of the reference voltages, two amplifiers, the first of which has a variable gain factor, the change input of which is connected to the output of the second amplifier, a controlled voltage limiter, an integration unit, a summation unit, a division unit, to the first input of which A voltage source, three voltage sources, a relay, four controllable keys, three keys, two diodes are connected, and the output of the position controller is connected in parallel to the first first and second normally closed keys connected to the input of the intensity adjuster, which is connected in parallel the first key, the third normally open controlled key is connected to the position controller parallel to the capacitor, which provides the position controller, the integral component of the law of regulation, the output of the digital-analog output the generator is connected to the input of the first calculator module, the output of the rotational speed sensor is connected to the input of the second calculator module, the output of which is connected to the inputs of the integrator and the first zero-body, the output of which is connected to the input of the setpoint generator and through a normally open relay contact, parallel to which the second switch is turned on, connected to the relay input, the output of the first calculator module is connected to the first inputs of the second null organ, the third null organ, the first amplifier, the second and third inputs of which are connected (Ш1 ootvetstven- i. y. S. 7§5 but with the outputs of the first source and of the unit and the integrator unit, the paraplastic capacitor of which includes the fourth normally closed controlled kilogram, the output of the first amplifier is connected to the second input of the third nullorgan through the controlled voltage limiter, the output of the static moment sensor is connected to the third through the first inputs of the second amplification and BPO-10 ka summation, the second inputs of which are connected to sources of non-voltage, the output of the summation unit is connected to the second input of the division unit, the output of which it is connected to the control input of the limit. 15 5 416 voltage is empty, the input of the first controlled key is connected to the output of the third null organ and the turnips input through dividing diodes, the inputs of the second and third controlled keys are connected to the output of the second null organ, the input of the fourth controlled key through a normally closed the relay contact is connected to the output of the second null organ.  Sources of information taken into account during the examination 1.  Lebedev E.  D.  and etc.  Control of DC motor drives, M. , Energie, 1970, p.  83, 3-35, p.  90, fig.  3-39. 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