SU697965A1 - Follow-up drive - Google Patents

Description

(54) FOLLOW DRIVE

The invention relates to the field of automation and can be applied in the development of following drives with synchronous communication on rotating transformers (BT), in which the 1-lx axis of the target object is connected to the axis of the BT receiver through a reducer, and the angle of rotation of the target object does not exceed +60 . The following drives are known that contain mechanical devices for compensating the kinematic error of the gearbox connecting the receiver's axis W and the target object axis 1. In such a drive, to correct errors in the worm gear, i.e., to compensate for the kinematic error, the stator of the HT receiver is connected a lever-cam mechanism with a special copier made according to the results of measuring the kinematic error and mounted on one of the shafts of the gearbox. The closest technical solution to this invention is a servo drive 2, comprising a series-connected amplifier, motor and gearbox, one of the output shafts of which is connected to the rotor of the rotating transformer-receiver, the stator gate of which is connected to one: - Hmene stator windings of a rotating transformer-CLP 1ka. The disadvantages of the known follow-up drives are the presence of difficult to manufacture and adjust the mechanical part, which has low reliability in operation, as well as the necessary location of the compensation device and its adjusting elements in the immediate vicinity of the HT receiver, access to which is often very difficult. The aim of the invention is to simplify the drive. This is achieved by the fact that the proposed servo drive contains a phase-sensitive rectifier and two circuits of a series-connected valve and a variable resistor connected in parallel to the output of the phase-sensitive rectifier, the input of which is connected to the sinus winding of the rotating transformer-receiver, and the valves in the circuits are connected counter. Figure 1 shows a functional diagram of the proposed follower drive; figure 2 is a special case

K-jMiKMiC iUHH kinematic error of the gearbox.

The follower drive circuit contains a rotating transformer-sensor (BT-sensor) 1 connected by a clock (synchronous coupling with a rotating transformer-receiver (BT-receiver) 2. The axis of the BT-receiver is connected through the gearbox 3 to the axis of the target object and the output shaft of the motor 4, whose input through the amplifier 5 is connected to the output of the BT receiver 2. Parallel to the cosine winding of the BT sensor 1, a fixed resistor b is connected, and parallel to the sinus winding of the BT sensor 1 a phase-sensitive rectifier input (FC B) 7, to the output of which two parallel circuits are connected, consisting of series-connected variable resistors 8, 9 and gates (e.g. diodes) 10, 11.

Due to the fact that the axis of the WT receiver 2 and the axis of the target object are connected through the gearbox 3, there is a kinematic error in the transmission of the angular position from the axis of the HT receiver to the axis of the target object, which is not provided with a drive.

When performing adjustments with a follow-up drive, first, an error is determined between the angular position of the axis of the WT sensor 1 and the axis of the target object over the entire range of operating angles. The kinematic error of gears, as a rule, has a close to sinusoidal dependence on the angle of rotation of the target object. Therefore, the sinusoidal part of the position error is determined by the kinematic error of the gearbox. Connecting unbalanced active loads parallel to the windings of the BT sensor introduces a synchronous corrective connection, wearing a sinusoidal character, which, with an appropriate selection of the load and limited angles of rotation of the pointing object, can basically compensate for the sinusoidal component of the kinematic error.

However, the amplitudes of sinusoidal dependences on the angle of rotation of the kinematic error and correction may not coincide.

To eliminate this drawback. to the sinus winding of the BT sensor is connected, a passive FWH 7, the input resistance of which is completely determined by its load on. To the output of the FWC 7, there are two pa) allelic circuits containing each variable resistor and diodes, the diodes being connected in opposite directions. Since the voltage phase of the sinus winding of the HT sensor changes by 180 when the drive passes through the zero position, the polarity of the DC voltage at the output of the FWC 7 will similarly change. As a result, it is possible to change the active load separately for each direction rotation of the gearbox, and therefore compensate for the kinematic error that changes its value depending on the direction of rotation of the gearbox.

Figure 2 shows a special case of compensation of the kinematic error of the gearbox: curve 12 represents

kinematic error of the gearbox; curve 13 - the amendment introduced by the compensator; curve 14 is the position error of the hover object.

The application of the proposed follower drive significantly increases reliability, simplifies the instrument part, the drive, and the error compensation process.

Claims (2)

1. USSR author's certificate number 179009, cl. G 01 N 3/18, 1964. 2. С.О.Dobrogursky and other computing devices. Mechanical Engineering, M., 1966, p.146-149 (prototype). -0-, p