SU742867A1 - Twin motor follow-up drive - Google Patents

Description

The invention relates to automatic control systems and can be used in the construction of precision dual channel servo drives with a power reference channel. A twin-engine servo drive with a strong supporting canoe is known, which contains a sensitive element, adders, a reducer and an engine fij. The disadvantage of the known actuator is low accuracy. Closest to the proposed technical solution is a drive comprising a power unit of the reference channel, a source of the reference signal and a series-connected first adder, second adder, power unit of the controlled drive, differential and gearbox, the output of which is connected to the load element; The first output of the source of the reference signal and the output of the power unit of the reference channel are connected to the second inputs of the second adder and differential, and the output of the load cell is connected to the input of the first adder. The known drives allow to ensure the minimum movement speeds of the load element due to subtraction of high speeds of the power and reference channels on the mechanical differential, which improves the engine cooling conditions and allows providing a wide control range of the load element speed at small ranges of the motor speeds of the controlled and reference channels 2j. The disadvantages of the known drives are the under-utilization of the dynamic capabilities of the reference channel and the lack of correction of the drive when the parameters of the elements of the controllable and reference channels change, which does not provide the required accuracy and speed of the drive. The purpose of the invention is to improve the accuracy and speed of a twin-engine following drive. The goal is achieved by the fact that the drive is additionally introduced in series with a blocker, an integrator, a multiplier and a third adder, the second output of the reference signal source being connected to the second input of the 1 multiplier, the third output through the third adder to the input of the power unit of the reference canal,

and the output of the first adder is connected to the first input of the relay unit and the second input of the integrator.

The drawing shows the block diagram of the drive (0 /, - the input value, output value and drive error; 61 ,,, respectively. S, respectively, the rotation angles and speeds of the executive engines of the cruise control and support blocks © C1 Q - reference signal).

,; The circuit consists of the first adder 1, one input of which receives a signal Q (t), and the second input is connected to the outlet of the load element 2, the output of the adder 1 is connected to the first section of the second adder 3, the first input of the integrator 4 and the input of the pdne 5.

The second input of the adder 3 is connected to the first output of the source 6 of the reference signals, and the output is connected to the input C1 of the output unit 7 of the controlled drive, the output of which is connected to the first input of the differential 8, the second input of which is connected to the output of the power drive 9 of the main drive, t -, - with the input of the gearbox 10, the output of which is connected to the input of the load element 2. The input of block 9 is connected to the output of the third adder 11, the first input of which is connected to the second output of the source b, and the second input to the output of the multiplier 12, the first input of which with one with a third source output 6 and the second - yield 4.Second integrator input of the integrator 4 is connected to the output of relay 5

The drive works as follows

In the absence of a signal, (-t) due to signal 1 from source b, elements 7 and 9 provide, at the corresponding inputs of the differential C, speeds that are equal in magnitude but opposite in sign. Load element 2 is fixed.

Due to differences in the parameters of the elements and 9 speeds are different even when f (if) j 0, a static drive error D eliminates its integrator 4 integrates eer in the drive, and in block 12 the resulting value is multiplied with the signal UQ, creating at the input of the reference drive an additional signal necessary to provide the need for a morip to increase or decrease the amount at which it is provided. The relay block 5 provides the switching of the error integration sign & integrator 4 depending on the & .

When 0 (t) is present, the & value is necessary to control block 7 in order to provide the necessary deviation -Qfl. Magnitude sharply

is reduced due to the fact that Q is integrated again by the integrator 4, and due to the obtained value multiplied in multiplier 12, an additive is needed at the input of block 9. The difference is needed, now provided by both drives, and not by one controlled one . This increases the speed of the drive as a whole.

If the transfer functions of the drive 1.7,4,9 and 10 elements are equal

Ki (p) l, KKP) (.p) -,) | -% Kwtp) l,

and the differential is equal to the adder, then

). (0.-bd

e: -6lQl- 6i-6B- o- ui

, -u ,,,

Fiil: LMlilJl

P2 + NP

From the analysis of the last expression, it follows that in the proposed drive, the static and kinematic errors are zero, and the effect of the scattering K and

5 cd per drive accuracy excluded.

The use of the proposed solution allows to increase the accuracy and speed of the drive by introducing relatively simple elements without

Q changes to the original drive structure.

Claims (1)

Invention Formula The twin-engine servo drive containing the power unit of the reference channel, the source of the reference signal and the series-connected first adder, second adder, power, controllable drive unit, differential and gearbox, the OUT of which is connected to 0 by the load element, the second output of the reference signal and the output of the power unit of the reference channel, respectively, are connected to the second input and differential, and to the input of the first adder connected to the output of the load element, characterized in that, in order to increase the accuracy and speed of the drive, it contains a relay0 connected in series, an integrator, a multiplier and a third adder, the second output of the reference signal source is connected to the second multiplier input, the third output is through the third adder - with the input of the power block of the reference channel, and the output the first adder is connected to the first input of the block relay and the second input of the integrator. Sources of information taken into account in the examination 1, USSR Author's Certificate No. 322761, cl. B-05 B 11/00, 1971. 2, USSR Author's Certificate No. 363830, cl. O 05 B 11/00, 1973 CjhpoTOTHn).