SU788076A1 - Follow-up system - Google Patents

Description

The invention relates to automation, namely to the following systems, and can be used to improve their noise immunity and improve the quality of transients.

A non-contact direct-current DC drive is known, a serially connected error meter, a pre-amplifier {() amplifier, a first rectifier and a pulse-width modulator connected to the first input of a non-contact DC motor, whose shaft is mechanically connected to tachogenerator and through the reducer with the second input of the error meter, as well as the comparison element, the inputs of which are connected to the output of the first rectifier and through the second jg rectifier to the output of the tachogenerator, and the output of the comparison element through the first signature block is connected to the first input of the multiplication unit, to the second input of which the preamplifier output is connected to the second input of the second 25 signature block, and the output of the multiplication unit is connected to the second input of the contactless DC motor l.

The disadvantage of the known actuator is that for organizing a corrective effect the difference between the irreversible signals from the outputs of the first and second rectifiers is used, with the result that in the first and third quadrants of the phase plane cHCTevbj there appear areas where it diverges and In general, the quality of transients in the presence of overshoot is significantly deteriorated.

Closest to the invention is a tracking system comprising a serially connected error meter, an adder, a pulse-width modulator, a non-contact direct current motor, the second input of which is connected to the output of the error meter through the reverse unit and the second input of the error meter and through a tachogenerator and a multiplier - with the second input of the adder, to the second input of the multiplier through the after-connected phase-advance link and the signature block psd is the output of the measurement Itel mismatch 2.

The disadvantages of the device include low noise immunity and the dependence of the type of transient on the magnitude of the stepped input action, which is a consequence of the inclusion of the phase-advance link in front of the signature block. .

The purpose of the invention is to improve noise immunity and improve the quality of transients.

This goal is achieved by the fact that in the following system, with a mismatch, a mismatch meter, a sucmator, an amplifier, an executive motor, whose shaft is connected to the second input of the mismatch meter via a gearbox and directly to the tachogenerator shaft, the output of which multiplier unit is connected to the second the input of the adder and directly with the first input of the reference element, the input of the error meter is connected to the second input; the input of the error meter is connected with the output through the first signature block — the second in od multiplying unit, kotsfogo third input connected to the output of the second signature block, inserted in communication with the tachogenerator output to the input of the second signature block.

FIG. 1 is a block diagram of the device; in fig. 2-- epures based on the principle of its operation.

The device contains an error meter 1, a sucmator 2 / amplifier 3, an executive motor 4, a gearbox 5, a tachogenerator 6, a reference element 7, the first signature block 8, a multiplication unit 9, the second signature block 10, an input angle ©, systems, an output angle © about the system, the error signal 0, the output signal and the oscillator, the feedback signal Uoc at the second input of the adder 2.

The error meter 1 detects and converts to voltage the difference between the input 0 and output system C corners, which is fed through the adder 2 and the amplifier 3 to the executive motor 4, which through the gearbox 5 is connected to the second input of the error meter 1. Tachogenerator 6 is also mechanically connected to the motor shaft 4, the output signal Ujr of which in the comparison element 7 is compared with the error error @ of the output system of the error meter 1. The signal from the output of the comparison element 7 through the first signature block 8 goes to the second input of the multiplication unit 9, the third input of which through the second signature unit 10 receives the signal from the tachogenerator 6, and to the first input - directly from the output of the tachogenerator 6. The output of the multiplication unit 9 is connected to the second input of the adder 2.

The system works as follows

When a step input 9 is applied, for example, the polarity shown in Fig. 2, the input of the engine 4 is detected by the error meter 1 and amplified by the amplifier 3 a system error signal which initially has a maximum positive value. Accelerating, the executive motor 4 rotates the output axis in the direction of reducing the mismatch. At the same time, a rising positive signal U-rr appears at the output of the tachogenerator b. which up to time t is less than the signal ©, i.e. the output signal of the comparison element 7 is positive at this time interval. As a result, on the interval O – t, the signature block is in the +1 state and, after multiplying by the multiplier 9, the tachograph signal from the generator two times by +1 does not change its sign, i.e. remains positive, and therefore the tacho feedback is positive over this interval. Engine 4 by the sum of the error signals & and positive feedback and effectively accelerates, reducing the error cHCTeivSu. From the time t to t, j, the state of the first signature block 8 changes to -1, since the sign of the signal at the output of the comparison element 7 changes, the sign at the output of the second signature block 10 still remains +1, thus, after multiplying in speed multiplier 9, the speed feedback becomes negative and effectively damps the system. In the interval 12 t, the sign of the output voltage UT of the tachogenerator b changes, the output of the second signature block 10 becomes -1, and -1 remains at the output of the first signature signature block 8, i.e. after multiplying in block 9 multiply, the signal UQ. tacho feedback is positive. In the interval, the state of the signature block 8 becomes +1, the signature block 10 remains -1 / i.e. the output signals of the signature blocks have different signs and their multiplication gives -1, therefore the tachometric feedback is negative, the process repeats.

Thus, when the error of system Q is maximum, the tachometric feedback is positive, which significantly speeds up the transition process, having practically no effect on its oscillation.

l

Invention Formula

A tracking system comprising a serially connected error meter 5, an adder, an amplifier

an executive motor, all of which, through a reducer, is connected to the second input of the error meter and directly to the shaft of the tacogenerator, whose output is connected to the second input of the adder through the multiplication unit and directly to the first input of the reference element, to the second input of which the output of the error meter is connected output through the first signature block - the second input of the multiplication block, the third input of which is connected to the output of the second

Signature block, characterized in that, in order to increase noise immunity and improve the quality of transients, the input of the second signature block is connected to the output of a tachogenerator.

Sources of information taken into account in the examination

1. USSR author's certificate №566235, cl. G 05 B 11/01, 1977.

2. USSR author's certificate

0 №545969, class G 05 B 11/28, 1977 (prototype).

Claims (1)

The claims A tracking system containing a mismatch meter, an adder, an amplifier, an executive motor, the shaft of which is connected via the gearbox to the second input of the mismatch meter and directly to the tachogenerator shaft, the output of which through the multiplication unit is connected to the second input of the adder by the input of the repeater the signature block is the input of the multiplication block, the third input of which is connected to the output of the second and directly with the first comparison element, with the second of which the output is connected assoglasovaniya, exit the second signature block otlichayuschayas I that, in order to improve noise immunity and improve the quality of transients the second signature input unit connected to the output of the tachogenerator.