SU686018A1

SU686018A1 - Master for digital follow-up drive

Info

Publication number: SU686018A1
Application number: SU782602279A
Authority: SU
Inventors: Юрий Владимирович Марков; Виталий Васильевич Назаров
Original assignee: Предприятие П/Я Р-6896
Priority date: 1978-04-05
Filing date: 1978-04-05
Publication date: 1979-09-15

Description

II

Изобретение относитс к области автоматики и может быть использовано при исследовании , настройке и экспериментальном определении динамических характеристик след щих приводов.The invention relates to the field of automation and can be used in the study, tuning and experimental determination of the dynamic characteristics of the following drives.

Наиболее близким по технической сущности к данному изобретению вл етс задающее устройство, содержащее генератор импульсов, первый выход которого через формирователь сигнала ускорени подключен к первому входу блока управлени скоростью , блок управлени углом поворота, первый вход которого через запоминающий блок соединен с выходом блока управлени скоростью, а выход - со входом реверсивного счетчика угла поворота 1.The closest to the technical essence of this invention is a driver that contains a pulse generator, the first output of which is connected to the first input of the speed control unit through the acceleration signal generator, the steering angle control unit, the first input of which is connected to the output of the speed control unit through the storage unit and the output - with the input of the rotation angle counter 1.

Недостатком такого устройства вл етс мала точность.The disadvantage of such a device is low accuracy.

Цель изобретени - повыщение точности устройства.The purpose of the invention is to increase the accuracy of the device.

Это достигаетс тем, что в предлагаемое задающее устройство дл цифрового след щего привода введен анализатор, вход которого соединен со вторым выходом генератора импульсов, а первый и второй выходы соединены соответственно со вторымиThis is achieved by introducing an analyzer into the proposed driver for a digital servo drive, the input of which is connected to the second output of the pulse generator, and the first and second outputs are connected respectively to the second

входами блоков управлени скоростью и углом поворота.the inputs of the speed and angle control units.

На фиг. 1 представлена функциональна схема устройства; на фиг. 2 - диаграммы работы устройства, где показаны генератор импульсов 1, формирователь сигналов 2, блок управлени скоростью 3, запоминающий блок 4, блок управлени углом 5, реверсивный счетчик угла 6, анализатор 7, период воздействи Т, амплитуда угла разворота А, углова скорость а и угловое ускорениеа.FIG. 1 shows a functional diagram of the device; in fig. 2 shows diagrams of operation of the device, where the pulse generator 1, the signal conditioner 2, the speed control unit 3, the storage unit 4, the angle control unit 5, the reversible angle counter 6, the analyzer 7, the period of influence T, the amplitude of the angle of rotation A, the angular velocity a and angular acceleration.

Задающее устройство работает следующим образом.The driver operates as follows.

Устройство реализует гармонический сигнал , составленный из кусков функций У КХ и У КХ. Параметры движени управл емого объекта, например след щего электропривода (на чертеже не показан ), под воздействием гармонического сигнала св заны соотнощени миThe device implements a harmonic signal composed of pieces of the functions U KKH and U KKH. The movement parameters of the controlled object, for example, a follow-up electric drive (not shown in the drawing), are affected by the harmonic signal under the influence of

Г 2 4- 2л., где Т - период воздействи (с);G 2 4-2l., Where T is the period of exposure (s);

Claims

And - the amplitude of the angle of rotation (hail); a - maximum angular velocity (deg / s); and - the maximum angular acceleration (deg / s--). (1) the full definiteness of the function being formed in this device is the initial; 1 parameter: the period of the function T and the acceleration c. Since in this driver the harmonic signal is composed of a lumpy linear and parabolic function, to implement this method of representing the signal, the period of influence is divided into six equal zones (Fig. 2), in each of which the function changes according to a certain law. In zones 1, 4, the change of function occurs according to a linear law, and in zones O, 2, 3, 5 - parabolic. The control signals corresponding to the zone are generated in the analyzer of the zones of the period of the harmonic action 7. The second parameter to be set in the device is the acceleration, the value of which is generated in the accelerator

2. The functions of the velocity a and the angle a are formed by successively integrating the acceleration in real time. The frequency, proportional to the acceleration ft, is fed to one input of the speed control unit 3, the second input of which receives control signals from the analyzer of the zones of the harmonic action period 7. From the output of the speed control block 3, the frequency, 1) is accelerated to the input signal, block 4 in zones O, 2, 3, 5, and in zones O and 5 the increase in the code is resolved, and in zones 2 and 3 the decrease in the code, i.e., the score in the minus. From the speed 4 output, the frequency, proportional to the speed code Ta, is fed to one input of the angle control unit 5, the FSTOjn-K input from which the analyzer of zones 1 e: 11 is harmonic; 7 is controlled by control signals. From the output of the control unit of angle 5, the frequency is proportional to: on the speed code a, it goes to reverse 1; The second angle meter is b, where the score is plus paspenien in zones -O, 1, 2, the score is in minus - in zones 3, 4, 5. At the output of the reversible counter of angle b, a harmonic sinusoidal effect is formed, the maximum error of which in the parabolic sections reaches 1 , 2%, and on linear. Such - 0.9%. Claims A setting device for a digital tracking drive comprising a pulse generator, the first output of which is connected to the first input of the speed control unit through an acceleration signal generator. the rotation angle control unit, the first input of which is connected to the output of the speed control unit through a memory unit, and the output to the input of a rotation angle counter, characterized in that, in order to improve the accuracy of the device, it contains an analyzer whose input is connected to the second the output of the pulse generator, and the first and second outputs are connected respectively to the second inputs of the speed and angle control units. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 561169, cl. G 05 B 19/18, dated 08.25.75 (prototype).

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