SU798502A1 - Method of determining resonance frequency of servosystem drive - Google Patents

Method of determining resonance frequency of servosystem drive Download PDF

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Publication number
SU798502A1
SU798502A1 SU762385634A SU2385634A SU798502A1 SU 798502 A1 SU798502 A1 SU 798502A1 SU 762385634 A SU762385634 A SU 762385634A SU 2385634 A SU2385634 A SU 2385634A SU 798502 A1 SU798502 A1 SU 798502A1
Authority
SU
USSR - Soviet Union
Prior art keywords
drive
inertia
resonant frequency
resonance frequency
determining
Prior art date
Application number
SU762385634A
Other languages
Russian (ru)
Inventor
Александр Геннадьевич Микеров
Original Assignee
Предприятие П/Я А-7162
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Filing date
Publication date
Application filed by Предприятие П/Я А-7162 filed Critical Предприятие П/Я А-7162
Priority to SU762385634A priority Critical patent/SU798502A1/en
Priority to SU762385634D priority patent/SU1091026A1/en
Application granted granted Critical
Publication of SU798502A1 publication Critical patent/SU798502A1/en

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Description

Изобретение относитс  к измерени  предназначено дл  определени  резонансной частоты привода след щей системы и может быть использовано в радиотехнике, электротехнике, приборостроении и автоматике. Известен способ определени  резонансной частоты по известным моментам инерции ротора двигател  и объекта управлени  и коэффициенту жесткости редуктора 1 .. Недостаток такого способа - длительность процесса измерени  и мала  его точность. Наиболее близким к предлагаемому по технической сущности  вл етс  спо соб измерени  резонансной частоты привода след щей системы, заключающийс  в измерении амплитуды и частоты колебаний привода при воздействии на вход двигател  гармонического управл ющего воздействи  2. Недостаток этого способа - длительность процесса измерени  из-за необходимости большого числа послег доватеЛьных замеров на разных частотах. Цель изобретени  - сокращение времени определени  резонансной частоты . Цель достигаетс  тем, что закрепл ют выходной вал редуктора, измер ют тахометрйческую отрицательную обратную св зь на положительную, подают на вход усилител  ступенчатое входное воздействие, измер ют период возникших автоколебаний и вычисл ют резонансную частоту привода по формуле . 3. где Т - период автоколебаний; Зд - момент инерции ротора двигател ; G - момент инерции объекта управлени ; п - передаточное отношение редуктора. На чертеже представлена функциональное устройство, реализующее данный способ. Привод след щей системы, резонансную частоту которого определ ют, содержит усилитель 1, двигатель 2, вал 3 которого соединен с механическим редуктором 4, св занным через выходной вал 5 с объектом управлени  6 и тахогенератор 7, установленныйThe invention relates to measurement, which is intended to determine the resonant frequency of a drive of a tracking system and can be used in radio engineering, electrical engineering, instrumentation and automation. The known method for determining the resonant frequency from known moments of inertia of the rotor of the engine and control object and the stiffness coefficient of gearbox 1. The disadvantage of this method is the duration of the measurement process and its accuracy is small. The closest to the proposed technical entity is a method for measuring the resonant frequency of a drive of a tracking system, which consists in measuring the amplitude and frequency of oscillations of a drive when acting on the motor input of a harmonic control effect 2. The disadvantage of this method is the duration of the measurement process due to the large numbers after measurements at different frequencies. The purpose of the invention is to reduce the time to determine the resonant frequency. The goal is achieved by fixing the output shaft of the reducer, measuring the tachometer negative feedback to a positive one, feeding a step input into the amplifier input, measuring the period of self-oscillations that occur, and calculating the resonant frequency of the drive by the formula. 3. where T is the period of self-oscillations; Zd - moment of inertia of the rotor of the engine; G is the moment of inertia of the control object; n - gear ratio. The drawing shows a functional device that implements this method. The drive of the servo system, whose resonant frequency is determined, contains amplifier 1, motor 2, shaft 3 of which is connected to a mechanical gearbox 4 connected via output shaft 5 to control object 6 and tacho generator 7 installed

Claims (1)

Формула изобретения Способ определения резонансной частоты привода следящей системы, состоящего из объекта управления, двигателя с известными моментами инерции, усилителя, тахогенератора ' и механического редуктора, заключающийся в измерении амплитуды и частоты колебаний привода при воздействии на вход двигателя управляющего воздействия, отличающийся »0 тем, что, с целью сокращения времени определения резонансной частоты, закрепляют выходной вал редуктора, измеряют тахометрическую отрицательную обратную связь на положительную, по15 дают на вход усилителя ступенчатое воздействие, измеряют период, возникших автоколебаний и вычисляют резонансную частоту привода по формуле где Т - период автоколебаний;SUMMARY OF THE INVENTION A method for determining the resonant frequency of a drive of a servo system consisting of a control object, an engine with known moments of inertia, an amplifier, a tachogenerator 'and a mechanical gearbox, which consists in measuring the amplitude and frequency of oscillations of a drive when a control action is applied to the motor input, characterized in that, in order to reduce the time of determining the resonant frequency, fix the output shaft of the gearbox, measure the tachometric negative feedback to positive, by ayut input amplifier stepwise exposure is measured period, any self-oscillation and the resonance frequency of the drive is calculated according to the formula where T - period oscillations; Од - момент инерции ротора двигателя ;Od - moment of inertia of the rotor of the engine; Зн - момент инерции объекта управления;Z n - moment of inertia of the control object; п - передаточное отношение редуктора.p - gear ratio.
SU762385634A 1976-07-15 1976-07-15 Method of determining resonance frequency of servosystem drive SU798502A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SU762385634A SU798502A1 (en) 1976-07-15 1976-07-15 Method of determining resonance frequency of servosystem drive
SU762385634D SU1091026A1 (en) 1976-07-15 1976-07-15 Method of determination of resonance frequency of tracking system drive oscillations

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SU762385634A SU798502A1 (en) 1976-07-15 1976-07-15 Method of determining resonance frequency of servosystem drive

Publications (1)

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SU798502A1 true SU798502A1 (en) 1981-01-23

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SU762385634D SU1091026A1 (en) 1976-07-15 1976-07-15 Method of determination of resonance frequency of tracking system drive oscillations
SU762385634A SU798502A1 (en) 1976-07-15 1976-07-15 Method of determining resonance frequency of servosystem drive

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Application Number Title Priority Date Filing Date
SU762385634D SU1091026A1 (en) 1976-07-15 1976-07-15 Method of determination of resonance frequency of tracking system drive oscillations

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109443524A (en) * 2018-10-30 2019-03-08 珠海格力智能装备有限公司 Resonance processing method and device for target equipment

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2647513C2 (en) * 2015-12-14 2018-03-16 Федеральное государственное бюджетное образовательное учреждение высшего образования Иркутский государственный университет путей сообщения (ФГБОУ ВО ИрГУПС) Method for determining oscillation frequencies of a mechanical system by using a rotating pendulum

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109443524A (en) * 2018-10-30 2019-03-08 珠海格力智能装备有限公司 Resonance processing method and device for target equipment
CN109443524B (en) * 2018-10-30 2021-01-29 珠海格力智能装备有限公司 Resonance processing method and device for target equipment

Also Published As

Publication number Publication date
SU1091026A1 (en) 1984-05-07

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